CN104206121A - Strawberry picking end effector and working process thereof - Google Patents
Strawberry picking end effector and working process thereof Download PDFInfo
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- CN104206121A CN104206121A CN201410472131.XA CN201410472131A CN104206121A CN 104206121 A CN104206121 A CN 104206121A CN 201410472131 A CN201410472131 A CN 201410472131A CN 104206121 A CN104206121 A CN 104206121A
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Abstract
The invention relates to the field of a picking end effector, in particular to a large-tolerance strawberry picking end effector capable of picking up multiple strawberries once based on a hand-eye system, and a working method thereof. The invention aims to provide a strawberry picking end effector which can pick up clustered fruits, has low demanding degree on picking positioning of a mechanical arm, and a working method thereof. According to the picking end effector and the working method, the strawberry fruit region (single grain or adjacent graininess mature strawberry fruits) is taken as the picking objects; the separation of adhering mature fruits is not necessary; the algorithm complexity and calculation time consumption of identifying and positioning the target fruits can be reduced; the image degree coordinate of the target fruits can be exactly converted into a world coordinate according to an internal reference and an external reference of a camera, and the positioning precision and speed can be improved; many strawberries can be picked up once; under the condition that the mature fruits are close or adhered, the picking efficiency can be greatly improved; the picking end effector has large-tolerance; under the condition that the positioning precision on the mechanical arm is not demanding, the picking success rate can be improved.
Description
Technical field
The present invention relates to picking end effector field, particularly a kind of large tolerance strawberry picking end effector once can plucking many strawberries based on hand-eye system and the course of work thereof.
Background technology
Optionally picking fruit is the cargo handling operation of agriculturally time and effort consuming the most, and over 30 years, the mankind attempt to adopt robot to be engaged in such operation always.Strawberry, as a kind of Common Fruits, has vast cultivated area, and plucking work to the harvest season every year needs to bend over to pluck to ripe strawberry at set intervals, until the strawberry growth end of term.Operation process is heavy and dull.Therefore some agriculture developed countries have developed the strawberry picking robot device with machine vision respectively.In the research of these devices, strawberry picking method is mainly Machine Vision Detection ripening fruits, be partitioned into single ripening fruits and located, to be cut off by end effector or the disconnected carpopodium of heat, clamping fruit or carpopodium put it into method in accommodating container again.And in actual production, strawberry fruit mostly is tufted distribution, usually that several ripening fruitss flock together, and there is the situation that branches and leaves block fruit more, under these conditions, the Softening of single not only increases the time consumption of image recognition, segmentation, too increases the harvesting number of times of manipulator and plucks difficulty, reducing operating efficiency.In addition, single harvesting, has higher requirements to mechanical arm positioning precision, it reduces the fault tolerance of machinery, also has influence on harvesting operating efficiency and quality.
Summary of the invention
For above problem, the object of the present invention is to provide a kind of pluck tufted fruit, to mechanical arm positioning accuracy request need not be very overcritical high efficiency strawberry picking end effector and the course of work.
In order to achieve the above object, the invention provides following technical scheme:
A kind of strawberry picking end effector, comprises camera unit, gripper contiguous block 2, ridge wall sensing unit 3 and gripper 4; The video camera 11 of described camera unit is arranged on the upside of gripper contiguous block 2; Described end effector is connected with mechanical arm by gripper contiguous block 2;
In described ridge wall sensing unit 3, ridge wall guide rail 32 is connected with gripper contiguous block 2, ridge wall guide rail slide block 35 is set below ridge wall guide rail 32, front and back end arranges the first ridge wall guide rail limited block 31 and the second ridge wall guide rail limited block 38 respectively, ridge wall guide rail slide block 35 between the first ridge wall guide rail limited block 31 and the second ridge wall guide rail limited block 38 along the forward and backward slip of ridge wall guide rail 32; First electromagnetic switch 33 and the second electromagnetic switch 37 are embedded in the straight-line groove of electromagnetic switch mount pad 34, and electromagnetic switch mount pad 34 is parallel to ridge wall guide rail slide block 35 glide direction with its straight-line groove and is fixed on wall guide rail 32 side, ridge; Magnet 36 is fixed on ridge wall guide rail slide block 35, and be in same plane with the first electromagnetic switch 33 and the second electromagnetic switch 37, manipulator connecting plate 39 is fixed on the downside of ridge wall guide rail slide block 35;
In described gripper 4, gripper holder 43 is fixed on the downside of the front end of manipulator connecting plate 39, and its symmetrical overlaps with symmetrical of video camera 11; Gear shaft 42 is fixed on drive motors 41 axle, and drive motors 41 is fixed on gripper holder 43 rear end face, electrical axis and gripper holder axes coincide; Finger guide rail 419 is fixed on gripper holder 43 front end face, the two ends, left and right of finger guide rail 419 are arranged respectively first-handly instructs rail limited block 46 and second finger guide rail limited block 417, the centre of finger guide rail 419 arranges the first finger slide block 45 and second finger slide block 418, and described first finger slide block 45 and second finger slide block 418 horizontally slip along finger guide rail 419 first-hand guidance between rail limited block 46 and second finger guide rail limited block 417; First finger connection 47 is connected 416 and points slide block 45 with first respectively and second finger slide block 418 is connected with second finger; One end face of described first finger connection 47 is connected upper rack 44, and other end connects blade finger 48; The end face that described second finger connects 416 is connected lower tooth bar 420, and other end connects grooving finger 415; Described upper rack 44 and lower tooth bar 420 engage with gear shaft 42 gear both sides respectively; Blade is pointed on the upside of 48 front ends and shear-blade 49 is housed, and clamping blade 421 is housed below shear-blade 49; The interval, downside of blade finger 48 is provided with the first pulley 410 and the 3rd pulley 413, the interval, downside of grooving finger 415 is provided with the second pulley 412 and the 4th pulley 414, hold together fruit rope 411 two ends to be individually fixed in and first-handly to instruct on rail limited block 46 and second finger guide rail limited block 417, described in hold together fruit rope 411 and walk around described 3rd pulley 413, first pulley 410, second pulley 412 and the 4th pulley 414 respectively.
The front end face of described cutting knife finger 48 and grooving finger 415 is one spherical, and the side of grooving finger 415 has grooving; Cutting knife is pointed 48 upper surfaces and is provided with shear-blade 49, and shear-blade 49 is pointed 415 grooving median planes with grooving after installing and overlapped; In the middle part of cutting knife finger 48, be provided with parallel with shear-blade 49 clamps blade 421, and the shear-blade 49 that is shorter in length than that clamping blade 421 stretches out cutting knife finger 48 stretches out the length that cutting knife points 48.
When ridge wall guide rail slide block 35 slide make magnet 36 be in the first electromagnetic switch 33 or the second electromagnetic switch 37 positive downside time, the electromagnetic switch of its correspondence triggers.
A course of work for strawberry picking end effector, it comprises the following steps:
A. mechanical arm drives described end effector to make blade point 48 along travelling forward perpendicular to the direction on ridge to point 415 front ends with grooving and be against on the wall of ridge, end effector continues travel forward along the direction perpendicular to ridge thus make ridge wall guide rail 32 along ridge wall guide rail slide block 35 forward slip, when the first electromagnetic switch 33 is positioned at directly over magnet 36, first electromagnetic switch 33 is triggered, and end effector stops moving along the direction perpendicular to ridge;
B. mechanical arm drives end effector to move along the direction on ridge, and video camera 11 constantly gathers current position image, until find ripe strawberry fruit region, obtains strawberry fruit regional center position coordinates and strawberry fruit peak width 1;
C. mechanical arm drives end effector to move to place on the lower side, strawberry fruit regional center position, simultaneously drive motors 41 driven gear axle 42 turn clockwise make blade point 48 and grooving finger 415 be flared to and be a bit larger tham strawberry fruit peak width 1;
D. mechanical arm drives end effector along moving to bottom strawberry carpopodium straight up, and strawberry herein all falls into blade finger 48, grooving finger 415 and holds together in the rectangular area of fruit rope 411 composition;
E. mechanical arm drives end effector to move backward along the direction perpendicular to ridge, thus ridge wall guide rail 32 is slided backward along ridge wall guide rail slide block 35, when the second electromagnetic switch 37 is positioned at directly over magnet 36, second electromagnetic switch 37 is triggered, after second electromagnetic switch 37 is triggered, end effector stop motion, strawberry is held together fruit rope 411 and is held together between blade finger 48 and grooving finger 415; Drive motors 41 driven gear axle 42 is rotated counterclockwise, and blade finger 48 and grooving finger 415 close, and shear-blade 49 cuts off strawberry carpopodium, clamping blade 421 and its lower semisection of grooving finger 415 clamping;
F. mechanical arm drives end effector to move to strawberry receiver place, and drive motors 41 turns clockwise, and blade finger 48 and grooving finger 415 decontrol strawberry, and strawberry falls in receiver.
Compared with prior art, beneficial effect of the present invention is:
1, with strawberry fruit region for plucking object, the separation of adhesion ripening fruits need not be carried out again, reduce the algorithm complex that identifies localizing objects fruit and time consumption;
2, adopt ridge wall sensor, the distance of video camera to ridge wall can be calculated, according to the projection principle of video camera, the image coordinate of objective fruit can be converted to world coordinates more exactly, improve positioning precision and speed;
3, once can pluck many strawberries, when ripening fruits near or adhesion, can picking efficiency be increased substantially;
4. there is large tolerance, not high to mechanical arm positioning accuracy request, improve and pluck success rate.
Accompanying drawing explanation
Fig. 1 is the overall schematic of strawberry picking end effector of the present invention;
Fig. 2 is the schematic diagram of ridge of the present invention wall sensing unit;
Fig. 3 is the schematic diagram of gripper of the present invention;
Fig. 4 is the explosive view of gripper of the present invention;
Fig. 5 is that gripper of the present invention drives execution schematic diagram;
Fig. 6 is the shearing clamping strawberry stalk schematic diagram of gripper of the present invention;
Fig. 7 a is that first of strawberry picking end effector of the present invention plucks view;
Fig. 7 b is that second of strawberry picking end effector of the present invention plucks view;
Fig. 7 c is that the 3rd of strawberry picking end effector of the present invention plucks view;
Fig. 7 d is that the 4th of strawberry picking end effector of the present invention plucks view;
Fig. 7 e is that the 5th of strawberry picking end effector of the present invention plucks view.
[primary clustering symbol description]
1 strawberry fruit peak width
11 video cameras
12 light sources
2 gripper contiguous blocks
3 ridge wall sensing units
31 first ridge wall guide rail limited blocks
32 ridge wall guide rails
33 first electromagnetic switch
34 electromagnetic switch mount pads
35 ridge wall guide rail slide blocks
36 magnet
37 second electromagnetic switch
38 second ridge wall guide rail limited blocks
39 manipulator connecting plates
4 grippers
41 drive motors
42 gear shafts
43 gripper holders
44 upper racks
45 first finger slide blocks
46 first-handly instruct rail limited block
47 first fingers connect
48 blade fingers
49 shear-blades
410 first pulleys
411 hold together fruit rope
412 second pulleys
413 the 3rd pulleys
414 the 4th pulleys
415 grooving fingers
416 second fingers connect
417 second finger guide rail limited blocks
418 second finger slide blocks
419 finger guide rails
420 times tooth bars
421 clamping blades
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in further detail.
As shown in Figure 1, be the overall schematic of strawberry picking end effector of the present invention, Fig. 2 schematic diagram that is ridge of the present invention wall sensing unit, Fig. 3 schematic diagram that is gripper of the present invention, Fig. 4 be the explosive view of described gripper, Fig. 5 be gripper of the present invention drive perform schematic diagram, front view that Fig. 6 is gripper of the present invention.
As shown in Figure 1, described end effector comprises camera unit, gripper contiguous block 2, ridge wall sensing unit 3 and gripper 4; Wherein, described camera unit comprises video camera 11 and light source 12, and video camera 11 is arranged on the upside of gripper contiguous block 2; Described end effector is connected with mechanical arm by gripper contiguous block 2, thus realizes the motion of end effector at spatial points.
As shown in Figures 1 and 2, wherein, described ridge wall sensing unit 3 comprises the first wall guide rail limited block 31, second ridge, ridge wall guide rail limited block 38, ridge wall guide rail 32, first electromagnetic switch 33, second electromagnetic switch 37, electromagnetic switch mount pad 34, ridge wall guide rail slide block 35, magnet 36 and manipulator connecting plate 39.
Wherein, described ridge wall guide rail 32 is connected with gripper contiguous block 2 by bolt, ridge wall guide rail slide block 35 is set below ridge wall guide rail 32, the forward and backward side of ridge wall guide rail slide block 35 arranges the first ridge wall guide rail limited block 31 and the second ridge wall guide rail limited block 38 respectively, and ridge wall guide rail slide block 35 can along ridge wall guide rail 32 slide anteroposterior between the first ridge wall guide rail limited block 31 and the second ridge wall guide rail limited block 38.First electromagnetic switch 33 and the second electromagnetic switch 37 are embedded in the straight-line groove of electromagnetic switch mount pad 34, and electromagnetic switch mount pad 34 is parallel to ridge wall guide rail slide block 35 glide direction with its straight-line groove and is fixed on wall guide rail 32 side, ridge.Magnet 36 is fixed on ridge wall guide rail slide block 35, same plane is in the first electromagnetic switch 33 and the second electromagnetic switch 37, when ridge wall guide rail slide block 35 slide make magnet 36 be in the first electromagnetic switch 33 or the second electromagnetic switch 37 positive downside time, the electromagnetic switch of its correspondence triggers, transmit order to mechanical arm, mechanical arm stops at the motion of ridge wall guide rail slide block 35 glide direction.Manipulator connecting plate 39 is fixed on the downside of ridge wall guide rail slide block 35.
As shown in Fig. 1,3,4,6, described gripper 4 comprises drive motors 41, slide block 45 pointed by gear shaft 42, gripper holder 43, upper rack 44, lower tooth bar 420, first, second finger slide block 418, first-handly instruct that rail limited block 46, second finger guide rail limited block 417, first point connection 47, second finger connects 416, blade finger 48, shear-blade 49, clamping blade 421, first pulley 410, second pulley 412, the 3rd pulley 413, the 4th pulley 414, hold together fruit rope 411, grooving finger 415 and finger guide rail 419.
Described gripper holder 43 is fixed on the downside of the front end of manipulator connecting plate 39, and symmetrical of symmetrical of gripper holder 43 and video camera 11 overlaps.Gear shaft 42 is fixed on the axle of drive motors 41, and drive motors 41 is fixed on gripper holder 43 rear end face, electrical axis and gripper holder axes coincide.Finger guide rail 419 is fixed on gripper holder 43 front end face, the two ends, left and right of finger guide rail 419 are arranged respectively first-handly instructs rail limited block 46 and second finger guide rail limited block 417, the centre of finger guide rail 419 arranges the first finger slide block 45 and second finger slide block 418, and described first finger slide block 45 and second finger slide block 418 horizontally slip along finger guide rail 419 first-hand guidance between rail limited block 46 and second finger guide rail limited block 417.First finger connection 47 is connected 416 and points slide block 45 with first respectively and second finger slide block 418 is connected with second finger.One end face of described first finger connection 47 is connected upper rack 44, and other end connects blade finger 48; The end face that described second finger connects 416 is connected lower tooth bar 420, and other end connects grooving finger 415.Described upper rack 44 and lower tooth bar 420 engage with the gear both sides of gear shaft 42 respectively.Blade is pointed on the upside of 48 front ends and blade 49 is housed, and clamping blade 421 is housed below shear-blade 49.The interval, downside of blade finger 48 is provided with the first pulley 410 and the 3rd pulley 413, the interval, downside of grooving finger 415 is provided with the 3rd pulley 412 and the 4th pulley 414, hold together fruit rope 411 two ends and be individually fixed in first-hand guidance on rail limited block 46 and second finger guide rail limited block 417, hold together fruit rope 411 and walk around described four pulleys respectively.
As shown in Figure 5, described gripper 4 provides power by drive motors 41, realizes the opening and closing of blade finger 48 and grooving finger 415.Wherein, motor 41 driven gear axle 42 moves in the direction of the clock, with the upper rack 44 of its engagement and lower tooth bar 420 do direction contrary away from motion, thus drive cutting knife finger 48 and grooving finger 415 to do symmetry to both sides along finger guide rail 419 to open and move, gripper 4 opens.Motor 41 moves by with counter clockwise direction, and gripper 4 closes.
As shown in Fig. 4,6, the front end face of described cutting knife finger 48 and grooving finger 415 is one spherical, to reduce frictional force when contacting with ridge wall.Grooving is pointed 415 sides and is had grooving.Cutting knife is pointed 48 upper surfaces and is provided with shear-blade 49, and shear-blade 49 is pointed 415 grooving median planes with grooving after installing and overlapped; In the middle part of cutting knife finger 48, be provided with parallel with shear-blade 49 clamps blade 421, and the shear-blade 49 that is shorter in length than that clamping blade 421 stretches out cutting knife finger 48 stretches out the length that cutting knife points 48.When grooving finger 415 and cutting knife finger 48 close completely, its distance is maximum carpopodium diameter; The spacing of shear-blade 49 and grooving finger 415 be 0 (or be slightly smaller than 0, consider carpopodium cutting deformation), to ensure that carpopodium is completely cut-off; Folder refers to the distance between blade 421 and grooving finger 415 to be slightly smaller than minimum carpopodium diameter, and (carpopodium diameter is generally within the scope of 1-2.4mm, therefore this minimum range generally gets 1mm, but specifically can determine according to different strawberry cultivars), to ensure that folder refers to that blade 421 is cut carpopodium and do not cut off by carpopodium again.So just can realize still being clamped between clamping blade 421 and grooving finger 415 after strawberry stalk cuts off.
As shown in figure 7 a-7e, be five of the strawberry picking end effector of the present invention schematic diagrames plucking states.The course of work of strawberry picking end effector of the present invention comprises:
A. as shown in Fig. 7 a, 7b, mechanical arm drives described end effector to travel forward along the direction perpendicular to ridge, making blade finger 48 point 415 front ends with grooving is against on the wall of ridge, end effector continues travel forward along the direction perpendicular to ridge thus make ridge wall guide rail 32 along ridge wall guide rail slide block 35 forward slip, when the first electromagnetic switch 33 is positioned at directly over magnet 36, first electromagnetic switch 33 is triggered, and end effector stops moving along the direction perpendicular to ridge.
B. mechanical arm drives end effector to move along the direction on ridge, video camera 11 constantly gathers current position image, until find ripe strawberry fruit region (or many ripe strawberries of tufted), obtain strawberry fruit regional center position coordinates and strawberry fruit peak width 1.
C. as shown in Figure 7 c, mechanical arm drives end effector to move to place on the lower side, strawberry fruit regional center position, simultaneously drive motors 41 driven gear axle 42 turn clockwise make blade point 48 and grooving finger 415 be flared to and be a bit larger tham strawberry fruit peak width 1.
D. as shown in figure 7d, mechanical arm drives end effector along moving to bottom strawberry carpopodium straight up, and strawberry herein all falls into blade finger 48, grooving finger 415 and holds together in the rectangular area of fruit rope 411 composition;
E. as shown in figure 7e, mechanical arm drives end effector to move backward along the direction perpendicular to ridge, thus ridge wall guide rail 32 is slided backward along ridge wall guide rail slide block 35, when the second electromagnetic switch 37 is positioned at directly over magnet 36, second electromagnetic switch 37 is triggered, after second electromagnetic switch 37 is triggered, end effector stop motion, strawberry is held together fruit rope 411 and is held together between blade finger 48 and grooving finger 415; Drive motors 41 driven gear axle 42 is rotated counterclockwise, and blade finger 48 and grooving finger 415 close, and shear-blade 49 cuts off strawberry carpopodium, clamping blade 421 and its lower semisection of grooving finger 415 clamping.
F. mechanical arm drives end effector to move to strawberry receiver place, and drive motors 41 turns clockwise, and blade finger 48 and grooving finger 415 decontrol strawberry, and strawberry falls in receiver.
Claims (4)
1. a strawberry picking end effector, is characterized in that: comprise
Camera unit, gripper contiguous block (2), ridge wall sensing unit (3) and gripper (4); The video camera (11) of described camera unit is arranged in gripper contiguous block (2) upside; Described end effector is connected with mechanical arm by gripper contiguous block (2);
In described ridge wall sensing unit (3), ridge wall guide rail (32) is connected with gripper contiguous block (2), below, ridge wall guide rail (32) arranges ridge wall guide rail slide block (35), front and back end arranges the first ridge wall guide rail limited block (31) and the second ridge wall guide rail limited block (38) respectively, ridge wall guide rail slide block (35) between the first ridge wall guide rail limited block (31) and the second ridge wall guide rail limited block (38) along ridge wall guide rail (32) forward and backward slip; First electromagnetic switch (33) and the second electromagnetic switch (37) are embedded in the straight-line groove of electromagnetic switch mount pad (34), and electromagnetic switch mount pad (34) is parallel to ridge wall guide rail slide block (35) glide direction with its straight-line groove and is fixed on wall guide rail (32) side, ridge; Magnet (36) is fixed on ridge wall guide rail slide block (35), be in same plane with the first electromagnetic switch (33) and the second electromagnetic switch (37), manipulator connecting plate (39) is fixed on downside, ridge wall guide rail slide block (35);
In described gripper (4), gripper holder (43) is fixed on the downside of the front end of manipulator connecting plate (39), and its symmetrical overlaps with symmetrical of video camera (11), gear shaft (42) is fixed on drive motors (41) axle, and drive motors (41) is fixed on gripper holder (43) rear end face, electrical axis and gripper holder axes coincide, finger guide rail (419) is fixed on gripper holder (43) front end face, the two ends, left and right of finger guide rail (419) are arranged respectively first-handly instructs rail limited block (46) and second finger guide rail limited block (417), the centre of finger guide rail (419) arranges the first finger slide block (45) and second finger slide block (418), described first finger slide block (45) and second finger slide block (418) horizontally slip along finger guide rail (419) first-hand guidance between rail limited block (46) and second finger guide rail limited block (417), first finger connects (47) and is connected (416) with second finger and points slide block (45) with first respectively and second finger slide block (418) is connected, described first finger connects the end face of (47) and to be connected upper rack (44), and other end connects blade finger (48), the end face that described second finger connects (416) is connected lower tooth bar (420), and other end connects grooving finger (415), described upper rack (44) and lower tooth bar (420) engage with gear shaft (42) gear both sides respectively, blade finger is equipped with shear-blade (49) on the upside of (48) front end, and clamping blade (421) is equipped with in shear-blade (49) below, the interval, downside of blade finger (48) is provided with the first pulley (410) and the 3rd pulley (413), the interval, downside of grooving finger (415) is provided with the second pulley (412) and the 4th pulley (414), hold together fruit rope (411) two ends to be individually fixed in and first-handly to instruct on rail limited block (46) and second finger guide rail limited block (417), described in hold together fruit restrict (411) walk around described 3rd pulley (413), the first pulley (410), the second pulley (412) and the 4th pulley (414) respectively.
2. strawberry picking end effector as claimed in claim 1, is characterized in that: the front end face of described cutting knife finger (48) and grooving finger (415) is one spherical, and the side that grooving points (415) has grooving; Cutting knife finger (48) upper surface is provided with shear-blade (49), and shear-blade (49) is pointed (415) grooving median plane with grooving after installing and overlapped; Be provided with parallel with shear-blade (49) of cutting knife finger (48) middle part clamps blade (421), and the shear-blade (49) that is shorter in length than that cutting knife finger (48) is stretched out in clamping blade (421) stretches out the length that cutting knife points (48).
3. strawberry picking end effector as claimed in claim 1 or 2, it is characterized in that: when ridge wall guide rail slide block (35) slide make magnet (36) be in the first electromagnetic switch (33) or the second electromagnetic switch (37) positive downside time, the electromagnetic switch of its correspondence triggers.
4. a course of work for strawberry picking end effector as claimed in claim 1, is characterized in that: comprise the following steps:
A. mechanical arm drives described end effector to make blade point (48) along travelling forward perpendicular to the direction on ridge to point (415) front end with grooving and be against on the wall of ridge, end effector continues travel forward along the direction perpendicular to ridge thus make ridge wall guide rail (32) along ridge wall guide rail slide block (35) forward slip, when the first electromagnetic switch (33) is positioned at directly over magnet (36), first electromagnetic switch (33) is triggered, and end effector stops moving along the direction perpendicular to ridge;
B. mechanical arm drives end effector to move along the direction on ridge, video camera (11) constantly gathers current position image, until find ripe strawberry fruit region, obtain strawberry fruit regional center position coordinates and strawberry fruit peak width (1);
C. mechanical arm drives end effector to move to place on the lower side, strawberry fruit regional center position, and simultaneously drive motors (41) driven gear axle (42) turns clockwise and makes blade point (48) and grooving to point (415) and be flared to and be a bit larger tham strawberry fruit peak width (1);
D. mechanical arm drives end effector along moving to bottom strawberry carpopodium straight up, and strawberry herein all falls into blade finger (48), grooving finger (415) and holds together in rectangular area that fruit rope (411) forms;
E. mechanical arm drives end effector to move backward along the direction perpendicular to ridge, thus ridge wall guide rail (32) is slided backward along ridge wall guide rail slide block (35), when the second electromagnetic switch (37) is positioned at directly over magnet (36), second electromagnetic switch (37) is triggered, after second electromagnetic switch (37) is triggered, end effector stop motion, strawberry is held together fruit rope (411) and is held together between blade finger (48) and grooving finger (415); Drive motors (41) driven gear axle (42) is rotated counterclockwise, blade finger (48) and grooving finger (415) close, shear-blade (49) cuts off strawberry carpopodium, and clamping blade (421) and grooving finger (415) clamp its lower semisection;
F. mechanical arm drives end effector to move to strawberry receiver place, and drive motors (41) turns clockwise, and strawberry decontroled by blade finger (48) and grooving finger (415), and strawberry falls in receiver.
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| CN201410472131.XA CN104206121B (en) | 2014-09-16 | 2014-09-16 | A kind of strawberry picking end effector and the course of work thereof |
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| CN201410472131.XA CN104206121B (en) | 2014-09-16 | 2014-09-16 | A kind of strawberry picking end effector and the course of work thereof |
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| CN114557195A (en) * | 2022-03-10 | 2022-05-31 | 南京晓庄学院 | Ridge culture strawberry automatic picking device based on machine vision and selection cutting method thereof |
| CN114734432A (en) * | 2021-07-06 | 2022-07-12 | 深圳蓝胖子机器智能有限公司 | Manipulator is accepted to material |
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