Picking end effector for reducing damage to plants and fruits

Abstract

The invention discloses a picking end effector capable of reducing plant and fruit damage, which comprises a base and a motor base, and also comprises a dual-output motor and a clamping device, an output shaft at the lower end of the dual-output motor is provided with a large synchronous pulley, the clamping device comprises a lower clamping jaw and an upper clamping jaw, the right end of the lower clamping jaw is provided with a rotating device, and the upper clamping jaw is provided with a rotating shaft. The rotating device comprises a small synchronous belt wheel and a friction disc, a curved surface groove is formed in the upper side of the friction disc, micro-nano scale array bristles are arranged on the inner side of the curved surface groove, the upper clamping jaw is sequentially provided with a guide sliding groove, an L-shaped bending area, a supporting device and an arc-shaped baffle from left to right, the supporting device is located over the friction disc, and the arc-shaped baffle is located in the L-shaped bending area. The supporting device comprises an arc-shaped groove, a strip-shaped clamping groove is formed in the arc-shaped groove, and a movable ball is installed in the strip-shaped clamping groove. The harvesting success rate of fruits is increased by applying multiple picking modes, and the probability that branches and leaves of plants are snapped in the picking process is reduced.

Description

technical field [0001] The invention relates to the technical field of design of end effectors of intelligent agricultural harvesting robots, in particular to a picking end effector that reduces damage to plants and fruits. Background technique [0002] The plant factory is an efficient agricultural system that realizes annual continuous production of crops through high-precision environmental control in the facility. It uses intelligent computers and electronic sensing systems to automatically control environmental conditions such as temperature, humidity, light, CO2 concentration, and nutrient solution for plant growth. , a labor-saving production method that makes the growth and development of plants in the facility not or rarely restricted by natural conditions. The plant factory is an advanced stage of the development of modern facility agriculture. It is a high-input, high-tech, and well-equipped production system that integrates biotechnology, engineering technology, ...

AI Technical Summary

Problems solved by technology

However, the picking mode applied by the end effector of the existing harvesting robot is relatively single. During the picking process, the branches and leaves of the plant are easily broken, and it can also cause irreparable damage to the target fruit, which greatly reduces the harvesting efficiency of the fruit; The robot end effector can neither constrain the cherry tomato fruit in the arc-shaped grooves of the two upper jaws, nor can it contact the bottom of the cherry tomato fruit with the curved surface groove of the friction disc

Some harvesting robot end effectors cannot make the cherry tomato fruit rotate along the vertical centerline of the cherry tomato fruit in the clamping device, it is difficult to effectively reduce the connection ability of the fruit and the plant connection, and it is impossible for the fruit to pass through the connection between the fruit and the plant Bent picking pattern supports the separation of fruit from the plant

Generally, the end effector of some harvesting robots cannot increase the fit between the fruit and the friction plate, reduce and enhance the static friction effect between the fruit and the friction plate, and make it difficult to make the fruit and the friction plate rotate synchronously

Some harvesting robot end effectors cannot cover remote transmission components such as small synchronous pulleys, which can effectively prevent the stems and leaves of plants from entering the transmission components and cause transmission failure. Make the fruit move, increasing the risk of picking failure; some harvesting robot end effectors can neither make the connection between the base and the motor base nor realize the rotating motion function of the base. When the fruit is clamped, the fruit cannot The junction between the fruit and the plant separates the fruit from the plant through a bending picking mode

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