Tail end executor of fragrant pear picking robot, and picking method

Abstract

The invention provides a tail end executor of a fragrant pear picking robot, and a picking method. The tail end executor comprises a manipulator butt joint disc, a shell of a motor A and four knife rests, wherein the manipulator butt joint disc is in butt joint with a robot mechanical arm, the shell of the motor A is connected with the manipulator butt joint disc and is positioned in a transmission mechanism, and the four knife rests are connected with connecting rods of the transmission mechanism and an installation frame. The method comprises the following steps of accessing points by usinga camera, carrying out fixation by using a sucking disc, carrying out cutting by utilizing arc-shaped blades, withdrawing the mechanical arm to release fragrant pears, and the like. According to the invention, shearing efficiency is improved, time consumption for carrying out image recognition and segmentation on fruit contours and fruit stems by a sensing mechanism is reduced, precision quality of picking operation is guaranteed, picking difficulty is lowered, and operation efficiency is improved

Description

technical field [0001] The invention belongs to the field of agricultural machinery, and in particular relates to an end effector and a picking method of a fragrant pear picking robot. Background technique [0002] Korla Fragrant Pear is originally produced in Korla, Luntai and Kuqa regions of Xinjiang. It has been cultivated for more than 1,300 years. It is a famous and excellent variety with strong regional characteristics, and it is also one of the best local pear varieties in this region and even in the country. Fragrant pears are distributed all over southern Xinjiang, with Korla as the main production area, with the largest planting area and the best quality. It is one of the main pillar industries of Xinjiang's characteristic fruits. [0003] Fragrant pears are generally round oval or spindle-shaped, and are small fruits. The main characteristics of fragrant pears are thin skin, crisp flesh, rich juice without dregs, and strong fruit flavor. There is a local saying t...

AI Technical Summary

Problems solved by technology

[0011] (1) The current method of picking fragrant pears is still mainly manual picking. Manual picking is not only inefficient, difficult, and labor-intensive during the time period, but also has unsafe factors when picking at high altitudes;

[0012] (2) The appearance of fragrant pears is irregular, and it is difficult for most rigid claws to properly grasp fragrant pears;

[0013] (3) After ripening, the pear skin is thin and the flesh is brittle. During the picking process, it is easy to cause damage to the pear skin, which can easily induce the growth of putrefaction bacteria and penicillium, and then accelerate the decay of pears and spread to surrounding undamaged pears;

The pulling and twisting design first clamps and grabs the fruit, and then simulates the action of twisting the fruit handle by human hands. When picking, first of all, it is required to strictly control the force of clamping the fruit, otherwise the fruit will be easily damaged. At this time, when picking, the fruit stems may be pulled, twisted, broken or dropped, which is not convenient for storage

The knife-cutting type mainly uses the motor to drive the circular saw or scissors to cut off the fruit stem directly. The cutting range of the cutter and scissors is limited, and there is a blind area for cutting, cutting and cutting the fruit stem.

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