Robot end effector for picking flat and cut stalk of fruit, and operation method

Abstract

The invention provides a robot end effector for picking the flat and cut stalk of a fruit, and an operation method. The robot end effector mainly comprises a semicircular bar-shaped swinging cutter and two 1 / 4 spherical surface fingers. When picking is carried out, the fruit enters space between the two 1 / 4 spherical surface fingers, the 1 / 4 spherical surface fingers quickly close, meanwhile, an annular air bag is expanded to upwards slide to a picking position to form reliable and flexible grasping for the fruit, and the opening slots of the 1 / 4 spherical surface fingers adapt to the azimuth deviation of the fruit stalk; the semicircular bar-shaped swinging cutter is level with the pedicel to finish fruit stalk cutting; and the annular air bag contracts to enable the fruit to fall into a fruit sending flexible pipe to finish recovery. Through an organic combination of the 1 / 4 spherical surface fingers, the semicircular bar-shaped swinging cutter and the movable annular air bag in a barrel, robot flat and cut stalk picking and recovering operation of the size and the pose adaption of the fruits on a tree can be realized, and the robot end effector has a simple and reliable structure.

Description

technical field [0001] The invention relates to the field of agricultural robots, in particular to a robot end effector and an operation method for picking fruits with flat stems. Background technique [0002] With the sharp reduction of the agricultural labor force, the robotic picking of fresh fruits has become a key topic at home and abroad, and various picking robot solutions for different fresh fruits are emerging. my country's fruit production is huge and the proportion of fresh food is huge, but currently harvesting is completely dependent on manual labor, and the labor cost for picking alone has reached 0.7-1.2 yuan / kg, so there is an urgent need to realize robot picking. [0003] According to the standard "NY-T716-2003 Technical Specifications for Citrus Picking" of the Ministry of Agriculture, during manual picking of citrus, the fruit stalk should be cut flat at the fruit pedicle, and the fruit should not be pulled by hand to prevent damage to the fruit pedicle. ...

AI Technical Summary

Problems solved by technology

[0004] Flat stems require widespread adoption in fruit harvesting by hand, but pose great challenges for robotic harvesting

Existing picking robot end effectors are generally divided into two categories. The first category picks the fruit by pulling, twisting, and breaking the fruit stem. Fruit stems are harvested by cutting fruit stems. Due to individual differences in fruit, posture differences, and difficulties in visual positioning and cutting tool positioning, it is also difficult to achieve flat stem picking.

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