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Pneumatic sensing end effector of fruit and vegetable picking robot

A technology for picking robots and end effectors, which is applied to picking machines, manipulators, harvesters, etc. It can solve the problems of complex growth environment of fruits and vegetables, easy damage of skin, and easy damage of fruits and vegetables, so as to increase the wrapping range and improve stability , the effect of reducing the volume

Pending Publication Date: 2022-03-18
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The skins of most fruits and vegetables are easily damaged during the picking process, and they grow adjacent to each other during the growth process, and some fruits and vegetables grow in complex environments. These problems put forward higher requirements for the effective picking of picking robots
[0004] Traditional robotic rigid end effectors usually have problems such as low efficiency, complex control, poor stability, and easy damage to fruits and vegetables. Therefore, it is of great significance to study an end effector that can achieve stable grasping and non-destructive picking, and it has become an urgent need to be solved. technical problem

Method used

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  • Pneumatic sensing end effector of fruit and vegetable picking robot
  • Pneumatic sensing end effector of fruit and vegetable picking robot
  • Pneumatic sensing end effector of fruit and vegetable picking robot

Examples

Experimental program
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Effect test

Embodiment 1

[0032] see Figure 1-Figure 3 , a pneumatic sensing end effector for a fruit and vegetable picking robot, including a flange 1, a bracket 2, a slide rail 3 and two flexible fingers with different lengths, the two flexible fingers are respectively a long flexible finger 4 and a short flexible finger 5, each The root flexible finger includes a series of flexible knuckles 41 connected in sequence; the slide rail 2 is installed on one end of the flange 1, the bracket 2 is installed on the slide rail 3 through bolts, and the long flexible finger 4 and the short flexible finger One end of the finger 5 is respectively installed on the corresponding support 2 as the root of the finger, and the other end of the long flexible finger 4 and the short flexible finger 5 forms a finger free end;

[0033] The inward side of the flexible finger forms the contact working surface of the flexible finger inner side, and the working surface of the flexible finger facing away from the flexible finge...

Embodiment 2

[0036] This embodiment is basically the same as Embodiment 1, especially in that:

[0037] In this embodiment, the slide rail 3 is provided with a plurality of installation positions for adjusting the spacing and position of the two brackets 2 on the slide rail 3 , thereby adjusting the grasping range of the flexible fingers.

[0038] The inner side of the flexible knuckle 41 in contact with the object to be grasped has a hemispherical protrusion or a semicylindrical protrusion, and the curved surface of the protrusion faces the object to be grasped.

[0039] The long flexible fingers 4 and the short flexible fingers 5 are made of flexible silicone material or other flexible materials, and embedded with non-woven fabric.

[0040] The sensing sensor includes a piezoresistive sensor 42 and a piezoelectric sensor 43, which are used to feed back picking force and hardness signals of fruits and vegetables through resistance and voltage.

[0041] The flange 1 is used to connect the...

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Abstract

The invention relates to a pneumatic sensing end effector of a fruit and vegetable picking robot. The pneumatic sensing end effector comprises a flange plate, a sliding rail, a support, a long flexible finger, a short flexible finger, a piezoresistive sensor, a piezoelectric sensor, connecting parts among all the components and the like. The flexible finger comprises the air flow channel, the branch flow channel, the air inlet and the flexible knuckles, the air pump is connected into the air cavity of the flexible finger through the air pipe and communicates with the branch flow channel through the air flow channel, the flexible knuckles can be controlled to bend upwards and downwards through air pressure, and fruits and vegetables are grabbed and released. A flexible finger module of the end effector is provided with a piezoelectric sensor and a piezoresistive sensor, and hardness and picking force of fruits and vegetables can be fed back through voltage and resistance. The flexible fingers are made of silica gel materials, the problem that fruits and vegetables are adjacent can be effectively solved through the two-finger structure of the end effector, and lossless picking and stable grabbing of the single fruits and vegetables are achieved.

Description

technical field [0001] The invention relates to the technical field of agricultural robot fruit and vegetable picking, in particular to a pneumatic sensing end effector of a fruit and vegetable picking robot. Background technique [0002] Fruit harvesting is the most important part of the agricultural production process, and it is also one of the most time-consuming, labor-intensive and time-sensitive production links in the fruit and vegetable production process. The labor input accounts for about 40% of the entire production and planting process. 50%. Agricultural picking robots can replace or partially replace manual picking and alleviate the demand for agricultural labor. Its research has gradually become a new development direction in the field of robotics. [0003] The skins of most fruits and vegetables are easily damaged during the picking process, and they grow adjacent to each other during the growth process, and some fruits and vegetables grow in complex environm...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00B25J13/08A01D46/30
CPCB25J15/0023B25J13/08A01D46/30
Inventor 张健滔杨乐平何斌翟彬梁刘士辉
Owner SHANGHAI UNIV
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