Fruit picking robot

Abstract

The invention discloses a fruit picking robot which comprises a grabbing part, an arm part, a fruit stem shearing part, a visual system, a lifting part, a rotating part and a movable base, wherein thegrabbing part is connected with the arm part, the arm part is connected with the lifting part, the visual system is located above the grabbing part and is connected with the arm part, the fruit stemshearing part is connected with the arm part, the lifting part is connected with the rotating part, and the rotating part is connected with the movable base; the fruit picking robot is exquisite in structure, the flexibility degree is high, the working space is large, and an s-shaped pressure sensor, a flat plate pressure sensor and a tension spring are utilized, so that the closed-loop real-timecontrol of a finger connecting rod mechanism I by a controller can be realized, a target object is flexibly grabbed, and mechanical damage caused by picking is reduced; the lifting part and the rotating part increase the picking freedom degree, fruit stems are retained while the target is picked by the shearing part, and fruits can be stored more easily.

Description

technical field [0001] The invention relates to the field of agricultural picking machines, in particular to a fruit picking robot. Background technique [0002] With the rapid development of computer and electronic control technology, robots gradually tend to be automated and intelligent, and are used in many fields. Agricultural robots have gradually entered the field of agricultural production, and will promote modern agriculture to the direction of equipment mechanization and production intelligence. development; fruit and vegetable picking is an important link in agricultural production with strong seasonality, high labor intensity, and high operational requirements. However, the development of the fruit and vegetable industry in my country is relatively prominent, but the agricultural labor force is relatively small, and fruit and vegetable picking still mainly relies on a large number of workers. Manpower, not only the labor cost is high but also the picking efficiency ...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the deficiencies in the prior art, the present invention proposes a fruit picking robot, which can identify and locate the picking target through the visual system 4, and then through the grasping part 1, the arm part 2, the stem cutting part 3, and the lifting part 5. The rotating part 6 and the moving base 7 pick the target, which solves the problem that the manipulator in the prior art is very easy to cause mechanical damage to the fruit and cannot quickly locate the picking target. At the same time, the fruit stem is retained, which is more conducive to fruit harvesting. save

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