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Multi-manipulator truss tomato picking robot and picking method thereof

A picking robot and manipulator technology, which is applied to manipulators, agricultural machinery and implements, harvesters, etc., can solve the problems of high cost and low picking efficiency, and achieve the effect of convenient operation, low cost and guaranteed stability.

Active Publication Date: 2019-09-20
SUZHOU AGRIBOT AUTOMATION TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Existing robotic arms are mostly articulated and costly
[0006] Most of the existing picking robots are single-arm picking, and the picking efficiency is low

Method used

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  • Multi-manipulator truss tomato picking robot and picking method thereof
  • Multi-manipulator truss tomato picking robot and picking method thereof
  • Multi-manipulator truss tomato picking robot and picking method thereof

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Embodiment Construction

[0066] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0067] Such as figure 1 As shown, a multi-manipulator string tomato picking robot includes a mobile platform vehicle 1, a mechanical arm 2, an end effector 3, a visual recognition device 4, a fruit collection device 5 and a control module, wherein:

[0068] Such as figure 2 As shown, the mobile platform vehicle 1 includes a bottom traveling mechanism 1-1, a lifting mechanism 1-2, a fruit frame support frame 1-3 and a navigation device 1-4. The lifting mechanism 1-2 is fixedly connected to the top plane of the bottom running mechanism 1-1, and the navigation device 1-4 is fixedly connected to the front end of the bottom running mechanism 1-1. The bottom walking mechanism 1-1 is a rail-type walking mechanism. The wheels of the walking mechanism are in close contact with the guide rails laid on the aisle between the adjacent rows of tomato planting rows...

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Abstract

The invention relates to a multi-manipulator truss tomato picking robot and a picking method thereof. The truss tomato picking robot comprises a movable platform car, mechanical arms, end executors, visual identification devices and a control module, wherein the mechanical arms which are arranged in the travelling direction of the movable platform car at equal intervals are vertically fixedly connected to the plane of the top of a lifting mechanism; each end executor comprises an electric clamping jaw, rockers, a first connecting rod, a main clamping body, a second connecting rod, a cutter blade and an auxiliary clamping body; every two rockers, the corresponding first connecting rod, the corresponding second connecting rod and two gears which are arranged in the electric clamping jaw and mutually meshed form a five-link mechanism, and enveloping of truss tomatoes is achieved. The structure is simple, the operation is convenient, the cost is low, the picking efficiency and the success rate are high, whole-bunch harvesting of the truss tomatoes is achieved without damaging the truss tomatoes, and the damage rate of the truss tomatoes and main stems is reduced.

Description

technical field [0001] The invention belongs to the technical field of intelligent agricultural machinery, and more specifically relates to a multi-manipulator string tomato picking robot and a picking method thereof. Background technique [0002] China is a big producer and consumer of fresh tomatoes, with a planting area of ​​732,600hm 2 , the per capita annual consumption is about 21kg, among which bunch tomatoes occupy an important position in the total consumption of fresh tomatoes because of their rich nutrition, convenience and variety. The string tomatoes planted in my country basically rely on handwork to complete the harvest, and the picking workload is large and the level of mechanization is low. At present, some tomato picking robots have been researched at home and abroad, mostly for picking ordinary tomatoes, and less picking for string tomatoes. The main reasons are: 1. String tomatoes grow in spikes, with multiple fruits on a string During the process, it i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A01D45/00B25J11/00B25J5/00B25J19/04
CPCA01D45/006B25J5/00B25J5/007B25J11/00B25J19/04
Inventor 袁挺张帅辉张帆吕琳张俊雄李伟
Owner SUZHOU AGRIBOT AUTOMATION TECH
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