Single fruit small fruit software picking hand

Abstract

The invention relates to the technical field of agricultural product picking equipment, in particular to a soft picking hand for small single fruit, which is suitable for picking small, easily damaged single fruit such as cherries, plums, and cherry tomatoes. The present invention does not use a common rigid structure or rigid-flexible structure in the main part of the picking hand, but uses a silicone material to make an airbag structure, and uses the deformation ability and recovery characteristics of the silicone material itself to realize soft actuation. The deformation produced by the inflation and deflation of the two sets of annular cavities completes the covering clamping of the fruit, and then the branches and leaves are cut off by the cutter module to complete the picking. The invention realizes the softening of the main part, increases the force-bearing area of ​​the fruit, improves the overall clamping force of the picking hand, and also improves the local stress concentration of the previous gripper. At the same time, the pressure self-adaptive grasping is realized by means of the induction module, which ensures that the force on the fruit surface is uniform. The structure of the invention is simple and light, easy to manufacture, and does not require complex algorithm control.

Description

technical field [0001] The invention relates to the technical field of agricultural product picking equipment, in particular to a software picking hand for single fruit small-sized fruit, which is mainly used for picking single fruit small-sized easily damaged fruit. Background technique [0002] Cherries, plums, and cherry tomatoes are fruits with high water content. The single fruit is not large in size, and the skin is delicate and easily damaged, making it difficult to pick. At present, it is mainly picked manually, and the picking is labor-intensive. Although the existing rigid manipulator has a mature control system and moves quickly and accurately, in the field of agricultural picking, the rigid manipulator has poor adaptability to picking crops, the gripper is not universal enough, and the shape of the fruit is generally irregular and rigid. Picking by robots is easy to cause fruit damage. [0003] Many creatures in nature have soft bodies, flexible movements, and ...

AI Technical Summary

Problems solved by technology

[0004] The currently used pneumatic software grippers generally adopt the form of bionic three-fingers, such as the adjustable pneumatic software gripper with patent number 201820945163.6, which has many rigid parts and complex structure. If the clamping force is too large, or the overall clamping force is not enough, it is easy to cause the fruit to fall off when picking irregularly shaped fruits. Most of the devices are completed by dragging or external shearing equipment, the structure is complex, and the control is cumbersome

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