CN112549065A

CN112549065A - Flexible end effector of intelligent harvesting robot

Info

Publication number: CN112549065A
Application number: CN202011440603.5A
Authority: CN
Inventors: 谢淮北; 王岩; 王从东
Original assignee: Anhui University of Science and Technology
Current assignee: Anhui University of Science and Technology
Priority date: 2020-12-08
Filing date: 2020-12-08
Publication date: 2021-03-26
Anticipated expiration: 2040-12-08
Also published as: CN112549065B; LU102384B1

Abstract

The invention discloses a flexible end effector of an intelligent harvesting robot, which comprises an end effector body and further comprises a flexible clamping jaw, wherein the flexible clamping jaw is sequentially provided with a linear fixing section, a front oblique line section, an arc-shaped section, a rear oblique line section, a bending clamping section and a sliding-in section from left to right, an arc-shaped sponge layer is arranged on the inner side of the bending clamping section, an inclined plate and an arc-shaped plate are sequentially arranged at the left end of the arc-shaped sponge layer, a rod-shaped hollow capsule body is arranged at the end part of the inclined plate, a grating plate is arranged at the lower end of the arc-shaped plate and is arranged in parallel with the inclined plate, the grating plate comprises an end plate A, a left offset plate, a middle plate, a right offset plate and an end plate B, and the sliding-in section is in. The invention can realize the harvest operation of spherical fruits or spheroidal fruits, remarkably reduce the damage degree of the target fruits, ensure the target fruits to be firmly and stably clamped, and is particularly suitable for the harvest operation of the target fruits with the same type and small volume difference.

Description

Flexible end effector of intelligent harvesting robot

Technical Field

The invention relates to the technical field of design of end effectors of intelligent agricultural harvesting robots, in particular to a flexible end effector of an intelligent harvesting robot.

Background

The plant factory is a high-efficiency agricultural system for realizing annual continuous production of crops by high-precision environmental control in a facility, and is a labor-saving production mode which automatically controls the environmental conditions of temperature, humidity, illumination, CO2 concentration, nutrient solution and the like for plant growth by using an intelligent computer and an electronic sensing system and ensures that the plant growth and development in the facility are not or rarely restricted by natural conditions. The plant factory is a high-level stage of modern facility agriculture development, is a production system with high investment, high technology and fine equipment, integrates biotechnology, engineering technology and system management, and enables agricultural production to be separated from natural ecological constraints. The agricultural robot is a new generation of unmanned automatic operation machine which can be controlled by different program software to adapt to various operations, can sense and adapt to the variety of crops or environmental changes, and has artificial intelligence such as detection (such as vision, etc.) and calculation, etc.

An agricultural robot, particularly a harvesting robot, plays an important role in the application of smart plant factories, however, the existing harvesting robot end effector is difficult to effectively reduce the clamping and harvesting damage of the surface of a target fruit, and cannot ensure the target fruit to be firmly and stably clamped; some harvesting robot end effectors cannot ensure that the opening size of the right end of the flexible clamping jaw is larger than that of the left end of the flexible clamping jaw, and cannot ensure that the opening angle of the left end of the flexible clamping jaw cannot be rapidly expanded, so that the problem that interference objects around a target object to be grabbed enter the flexible clamping jaw due to the fact that the opening angle of the right end of the flexible clamping jaw is too large, the flexible clamping jaw fails to grab the target object is solved, and the success rate of grabbing the target object is reduced; some harvesting robot end effectors can cause a target object to be clamped to directly contact with the bent clamping section, and damage the surface of the target object to be clamped occurs; some harvesting robot end effectors are difficult to better envelop on a spherical curved surface object to be clamped and provide stable support for the spherical curved surface object to be clamped, so that the support strength of each part of the grating plate and the spherical curved surface object to be clamped cannot be fundamentally ensured; the tail end executor of the harvesting robot is difficult to increase the clustering performance of the clamping force of the spherical hollow capsule and the target object to be clamped on the spherical curved surface, the provided clamping force is unstable, and the stability of clamping the target object to be clamped on the spherical curved surface cannot be ensured. Therefore, it is necessary to provide a flexible end effector of an intelligent harvesting robot, which has simple structure, fast and convenient operation, safety and high efficiency.

Disclosure of Invention

The invention aims to solve the technical problem, overcomes the defects of the prior art, and provides the flexible end effector of the intelligent harvesting robot, which has the advantages of simple structure, rapidness, convenience, safety and high efficiency in operation.

In order to achieve the purpose, the technical scheme adopted by the invention is as follows: the flexible end effector of the intelligent harvesting robot comprises an end effector body and a flexible clamping jaw, wherein the flexible clamping jaw is sequentially provided with a straight line fixing section, a front oblique line section, a circular arc-shaped section, a rear oblique line section, a bending clamping section and a sliding-in section from left to right, the straight line fixing section is horizontally arranged, an included angle between the straight line fixing section and the front oblique line section is an inclined angle A, an included angle between an extension line of the right end of the straight line fixing section and an extension line of the left end of the rear oblique line section is an inclined angle B, the inclined angle B and the inclined angle A are obtuse angles, the angle of the inclined angle B is smaller than that of the inclined angle A, the curvature radius central point of the circular arc-shaped section is positioned on the outer side of the flexible clamping jaw, the curvature radius central point of the bending clamping section is positioned on the inner side of the flexible clamping jaw, and the, the inner side of the bending clamping section is provided with an arc-shaped sponge layer, the left end of the arc-shaped sponge layer is sequentially provided with an inclined plate and an arc-shaped plate, the end part of the inclined plate is provided with a rodlike hollow capsule body, an included angle between the normal direction of the upper end contact point of the inclined plate and the inclined plate is an acute angle, the inclined plate is positioned on the left side of the normal of the upper end contact point of the inclined plate, the left side of the arc-shaped plate is provided with an arc-shaped groove, the arc-shaped groove is also positioned in the middle of the arc-shaped plate, a lower horizontal straight line surface, a right semicircular arc line surface and an upper inclined line surface are arranged in the arc-shaped groove, the included angle formed between the lower horizontal straight line surface and the upper inclined line surface is an acute angle, the lower horizontal straight line surface and the upper inclined line surface are respectively positioned on the upper end of the right semicircular arc line, the lower extreme of arc is equipped with the grid board, grid board and hang plate parallel arrangement, the grid board includes tip board first, left deviation board, median plate, right deviation board and tip board second, the interval between tip board first and the left deviation board is greater than the interval between left deviation board and the median plate, the interval between tip board second and the right deviation board is greater than the interval between right deviation board and the median plate, the tip of tip board first, left deviation board, median plate, right deviation board and tip board second all is equipped with spherical hollow utricule, left deviation board has a plurality ofly, and adjacent left deviation board interval reduces from tip board first to median plate in proper order, right deviation board has a plurality of, and adjacent right deviation board interval reduces from tip board second to median plate in proper order, left deviation board and right deviation board symmetric distribution are in the both sides of median plate, the width of tip board first, left deviation board, right deviation board, The width of left side offset plate, the width of median plate, the width of right side offset plate and the width of tip board second reduce in proper order, the length of tip board first, the length of left side offset plate and the length of median plate rise in proper order the length of median plate, the length of right side offset plate and the length of tip board second reduce in proper order, the shape of section of sliding into is recessed shape, the curvature radius center of the section of sliding into is located the downside of flexible clamping jaw and the upside of flexible clamping jaw respectively with the curvature radius center of crooked centre gripping section.

The right-hand member of end effector body is equipped with hollow section of thick bamboo, install sharp push rod in the hollow section of thick bamboo, the cover that slides is installed to the right-hand member of sharp push rod, it is circular to slide the cover, the symmetry is equipped with spacing hole all around of the cover that slides, the right-hand member at hollow section of thick bamboo is installed through spacing hole to the left end of sharp canned paragraph, flexible clamping jaw and spacing hole all have two at least, and the symmetric distribution.

The material of flexible clamping jaw is engineering plastics, the material of hang plate and arc is the flexible glue material.

When the intelligent harvesting robot is used on site, firstly, an operator installs the flexible clamping jaw at the right end of the hollow cylinder through the limiting hole, then the end effector body is installed at the tail end of a six-degree-of-freedom mechanical arm at the upper end of the intelligent harvesting robot, after the intelligent harvesting robot determines the position of a target fruit, the position of the target fruit is just positioned at the inner side of the position of the bent clamping section on the flexible clamping jaw, the intelligent harvesting robot starts to move a push rod in a linear push rod in the hollow cylinder through communication, a sliding sleeve at the right end of the linear push rod moves rightwards under the driving of force, the sliding sleeve sequentially passes through a linear fixed section, a front oblique line section and a circular arc section on the flexible clamping jaw, and the sliding sleeve stops moving at a certain position in a rear oblique line section on the flexible clamping jaw, and the opening position of the bent clamping section in the flexible clamping jaw is sharply, until the target fruit is clamped inside the curved clamping section in the flexible clamping jaw.

Secondly, in the process that the sliding sleeve moves from the straight line fixing section in the flexible clamping jaw to a certain position on the rear oblique line section, a target fruit slides into the inner side of the bending clamping section through the concave sliding-in section at the right end of the flexible clamping jaw, the surface of the target fruit can simultaneously extrude the rod-shaped hollow capsule body and the spherical hollow capsule body, the inclined plate and the grating plate can deform under the action of the extrusion force of the target fruit, the rod-shaped hollow capsule body at the end part of the inclined plate can transmit the force to the arc plate to deform the arc plate, the grating plate at the lower end of the arc plate can deform greatly due to the arc groove in the middle of the arc plate to adapt to the target fruit with larger volume, and meanwhile, the end plate A, the left offset plate, the middle plate, the right offset plate and the end plate B on the grating plate can deform to different degrees according to the curvature radius of the point of the spherical hollow capsule body at the end part, which is contacted with the target fruit, so as to adapt to the shape of, the end plate A, the left offset plate, the middle plate, the right offset plate and the end plate B on the grating plate can improve the support of different strengths for the target fruit according to the different widths of the end plate A, the left offset plate, the middle plate, the right offset plate and the end plate B, and the spherical hollow capsules at different positions can be applied to the target fruit to be bundled in the same plane as much as possible according to the different lengths of the end plate A, the left offset plate, the middle plate, the right offset plate and the end plate B on the grating plate.

And finally, when the flexible clamping jaw is sleeved with the target fruit in a sliding manner and stops moving at a certain position in the rear inclined line section, the target fruit is in the bent clamping section of the flexible clamping jaw and is completely enveloped in a relatively closed space formed by the grating plate, the arc sponge layer and the sliding-in section, and the grabbing operation of the target fruit can be completed.

Compared with the prior art, the invention has the beneficial effects that: the fruit harvesting machine can realize the fruit harvesting function, particularly the harvesting of spherical fruits or quasi-spherical fruits, can effectively reduce the clamping and harvesting damage on the surface of target fruits, ensures the target fruits to be firmly and stably clamped, and is particularly suitable for the harvesting operation of the target fruits with the same type and small volume difference; the horizontally arranged linear fixing section is beneficial to the connection of the flexible clamping jaw and the hollow cylinder through the limiting hole; the inclination angle B and the inclination angle A are obtuse angles, so that the opening size of the right end of the flexible clamping jaw is larger than that of the left end of the flexible clamping jaw; the angle of the inclination angle B is smaller than that of the inclination angle A, so that the flexible clamping jaw can conveniently bend the opening angle of the clamping section and the sliding-in section, the sliding sleeve is facilitated to slide in at the left end of the flexible clamping jaw and smoothly enter the rear inclination section from the front inclination section through the arc-shaped section, the inclination angle A can ensure that the opening angle of the left end of the flexible clamping jaw cannot be rapidly expanded, the inclination angle B ensures that the opening angle of the right end of the flexible clamping jaw is rapidly expanded, the opening angle of the right end of the flexible clamping jaw is ensured, and a target object to be clamped; the inclination angle B and the inclination angle A are obtuse angles, so that the range of the opening angle of the flexible clamping jaw from left to right can be prevented from being rapidly expanded, the opening angle of the tail end of the flexible clamping jaw is ensured, the problem that interference objects around a target object to be grabbed enter the flexible clamping jaw due to the fact that the opening angle of the right end of the flexible clamping jaw is too large, the target object grabbing failure of the flexible clamping jaw is caused, and the success rate of grabbing the target object is reduced; the center point of the curvature radius of the arc-shaped section is positioned on the outer side of the flexible clamping jaw, the center point of the curvature radius of the bent clamping section and the center point of the curvature radius of the arc-shaped section are positioned on the same straight line, so that the opening angle of a rear oblique line section area in the flexible clamping jaw is not too large, the opening angle of the flexible clamping jaw at the bent clamping section is limited, and the sliding sleeve can be ensured to smoothly pass through a front oblique line section and enter the rear oblique line section through the arc-shaped section; the arc sponge layer can effectively reduce the damage degree of the surface of the target object to be clamped; the inclined plate and the rod-shaped hollow capsule body can be used for facilitating the target object to be clamped to be in contact with the rod-shaped hollow capsule body, so that the direct contact between the target object to be clamped and the bent clamping section is reduced, and the surface of the target object to be clamped is prevented from being damaged; the rod-shaped hollow capsule body can not only transfer the force applied by the target object to be clamped to the inclined plate through the force of the rod-shaped hollow capsule body, but also reduce the damage caused by the direct contact between the target object to be clamped and the inclined plate; the included angle formed between the lower horizontal straight line surface and the upper inclined line surface is an acute angle, so that the arc-shaped plate can generate larger deformation at the arc-shaped groove under the action force between the rod-shaped hollow capsule body and the arc-shaped plate, and the flexible clamping jaw can grab a target object with larger volume; the extension surface on the right side of the lower horizontal straight line surface and the lower end surface of the inclined plate are positioned in the same plane, so that a force applied by a clamped target object acts on the rod-shaped hollow capsule body, the inclined plate is deformed under the action of the force, and the rod-shaped hollow capsule body at the end part of the inclined plate is extruded at the lower end of the arc-shaped plate, so that the grid plate is greatly inclined and deformed, and the size of the target object clamped by a bent clamping section area in the flexible clamping jaw is increased; the grating plates and the inclined plates are arranged in parallel, so that the deformation of the grating plates and the deformation of the inclined plates are ensured to be the same under the same force at the same positions; the arrangement of the end plate A, the left offset plate, the middle plate, the right offset plate and the end plate B can ensure that a contact part of a target object to be clamped and a grid plate in the bent clamping section of the flexible clamping jaw provides support and can also ensure that the target object to be clamped is enveloped in the bent clamping section of the flexible clamping jaw by the grid plate; the distance between the end plate A and the left offset plate is larger than the distance between the left offset plate and the middle plate, and the distance between the end plate B and the right offset plate is larger than the distance between the right offset plate and the middle plate, so that the end plate A, the left offset plate, the middle plate, the right offset plate and the end plate B are suitable for a target object to be clamped with a spherical curved surface, the end plate A, the left offset plate, the middle plate, the right offset plate and the end plate B can be better enveloped on the target object to be clamped with the spherical curved surface, stable support is provided for the target object to be clamped with the spherical curved surface, the spherical hollow capsule body can also avoid the target object to be clamped from being in direct contact with the grid plate, and damage to the target object to be clamped is reduced; the end plate A, the left offset plate, the middle plate, the right offset plate and the end plate B which are different in width are arranged, so that the end plate A, the left offset plate, the middle plate, the right offset plate and the end plate B are respectively in contact with the spherical curved surface to-be-clamped object to provide supports with different rigidity, and the support strength of each part of the grating plate and the spherical curved surface to-be-clamped object is guaranteed; the contact points of the spherical hollow capsule body and the target object to be clamped of the spherical curved surface can be ensured to be in the same plane by arranging the end plate A, the left offset plate, the middle plate, the right offset plate and the end plate B with different lengths, the clustering performance of the clamping force of the spherical hollow capsule body and the target object to be clamped of the spherical curved surface is improved, stable clamping force is provided, and the stability of clamping the target object to be clamped of the spherical curved surface is ensured; the sliding-in section with the lower concave shape is beneficial to sliding in a target clamping object and smoothly enters the bent clamping section of the flexible clamping jaw, the curvature radius center of the sliding-in section and the curvature radius center of the bent clamping section are respectively positioned at the lower side of the flexible clamping jaw and the upper side of the flexible clamping jaw, so that the opening of the sliding-in section of the flexible clamping jaw can be limited from being too large, the phenomenon that an interference object enters the flexible clamping jaw due to the fact that the opening of the sliding-in section of the flexible clamping jaw is too large, the target object is clamped by the flexible clamping jaw fails to be caused, the flexible clamping jaw is deformed due to the movement of the sliding sleeve by the linear push rod, the bent clamping section is used for grabbing the target object; adopt engineering plastics to help the deformation of flexible clamping jaw as the material of flexible clamping jaw, the deformation that hang plate and arc can utilize the material reduces the damage degree that snatchs the object to the target, and simple structure, convenient operation, economical and practical.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the flexible jaw of FIG. 1;

FIG. 3 is an enlarged view of a portion of FIG. 2 at A;

FIG. 4 is a schematic view of the construction of the grid plate of FIG. 1;

FIG. 5 is a schematic structural view of the slipping sleeve of FIG. 1;

fig. 6 is a schematic structural view of the apparatus for integrally holding a target object.

In the figure: 1. an end effector body; 11. a hollow cylinder; 111. a linear push rod; 1111. a sliding sleeve; 1112. a limiting hole; 2. a flexible jaw; 21. a linear fixed section; 22. a front diagonal segment; 23. a circular arc section; 24. a rear diagonal segment; 25. bending the clamping section; 251. a circular sponge layer; 26. a slide-in section; 211. an inclination angle A; 212. an inclination angle B; 3. an inclined plate; 31. a rod-shaped hollow capsule body; 4. an arc-shaped plate; 41. an arc-shaped groove; 411. a lower horizontal linear surface; 412. a right semicircular arc surface; 413. an upper inclined line surface; 5. a grid plate; 51. an end plate A; 52. a left offset plate; 53. a neutral plate; 54. a right offset plate; 55. an end plate B; 6. a spherical hollow capsule body.

Detailed Description

In order to make the technical means, the original characteristics, the achieved purposes and the effects of the invention easy to understand, the invention is further explained by combining the specific embodiments and the drawings.

As shown in fig. 1, 2, 3, 4 and 5, the flexible end effector of the intelligent harvesting robot comprises an end effector body 1 and a flexible clamping jaw 2, wherein the flexible clamping jaw 2 is provided with a straight line fixing section 21, a front oblique line section 22, an arc-shaped section 23, a back oblique line section 24, a bending clamping section 25 and a sliding-in section 26 from left to right in sequence, the straight line fixing section 21 is horizontally arranged, an included angle between the straight line fixing section 21 and the front oblique line section 22 is an inclined angle a 211, an included angle between an extension line of the right end of the straight line fixing section 21 and an extension line of the left end of the back oblique line section 24 is an inclined angle b 212, the inclined angle b 212 and the inclined angle a 211 are obtuse angles, the angle of the inclined angle b 212 is smaller than that of the inclined angle a 211, a curvature radius central point of the arc-shaped section 23 is located on the outer side of the flexible clamping jaw 2, a curvature radius central point of the, the curvature radius center point of the bending clamping section 25 and the curvature radius center point of the arc-shaped section 23 are located on the same straight line, the arc-shaped sponge layer 251 is arranged on the inner side of the bending clamping section 25, the inclined plate 3 and the arc-shaped plate 4 are sequentially arranged at the left end of the arc-shaped sponge layer 251, the rod-shaped hollow capsule 31 is arranged at the end portion of the inclined plate 3, the included angle between the normal direction of the upper end contact point of the inclined plate 3 and the inclined plate 3 is an acute angle, the inclined plate 3 is located on the left side of the normal of the upper end contact point of the inclined plate 3, the arc-shaped groove 41 is arranged on the left side of the arc-shaped plate 4, the arc-shaped groove 41 is further located in the middle of the arc-shaped plate 4, a lower horizontal straight line surface 411, a right semicircular arc-shaped line surface 412 and an upper inclined line surface 413 are arranged in the arc-shaped groove 41, the included angle formed between the lower horizontal straight line surface 411 and the upper inclined line surface The lower end of the surface 412, the extension surface on the right side of the lower horizontal straight line surface 411 and the lower end surface of the inclined plate 3 are located in the same plane, the lower end of the arc-shaped plate 4 is provided with a grid plate 5, the grid plate 5 is arranged in parallel with the inclined plate 3, the grid plate 5 comprises an end plate a 51, a left offset plate 52, a middle plate 53, a right offset plate 54 and an end plate b 55, the distance between the end plate a 51 and the left offset plate 52 is larger than the distance between the left offset plate 52 and the middle plate 53, the distance between the end plate b 55 and the right offset plate 54 is larger than the distance between the right offset plate 54 and the middle plate 53, the end parts of the end plate a 51, the left offset plate 52, the middle plate 53, the right offset plate 54 and the end plate b 55 are all provided with spherical hollow capsules 6, the left offset plates 52 are two, and the distance between the adjacent left offset plates 52 is sequentially reduced from the end plate a 51 to the middle plate 53, the number of the right offset plates 54 is two, the distance between the adjacent right offset plates 54 is sequentially reduced from the end plate B55 to the middle plate 53, the left offset plates 52 and the right offset plates 54 are symmetrically distributed on two sides of the middle plate 53, the width of the end plate A51, the width of the left offset plate 52, the width of the middle plate 53, the width of the right offset plate 54 and the width of the end plate B55 are sequentially reduced, the length of the end plate A51, the length of the left offset plate 52 and the length of the middle plate 53 are sequentially increased, the length of the middle plate 53, the length of the right offset plate 54 and the length of the end plate B55 are sequentially reduced, the slide-in section 26 is concave, and the curvature radius center of the slide-in section 26 and the curvature radius center of the bending clamping section 25 are respectively positioned on the lower side of the flexible clamping jaw 2 and the upper side of the flexible clamping jaw 2.

As shown in fig. 1 and 5, the right-hand member of end effector body 1 is equipped with hollow section of thick bamboo 11, install sharp push rod 111 in the hollow section of thick bamboo 11, slip cover 1111 is installed to the right-hand member of sharp push rod 111, slip cover 1111 is circular, the symmetry all around of slip cover 1111 is equipped with spacing hole 1112, the right-hand member at hollow section of thick bamboo 11 is installed through spacing hole 1112 of the left end of sharp canned paragraph 21, flexible clamping jaw 2 and spacing hole 1112 all have two, and the symmetric distribution.

As shown in fig. 1, 2 and 3, the flexible clamping jaw 2 is made of engineering plastics, and the inclined plate 3 and the arc plate 4 are both made of soft plastics.

When the intelligent harvesting robot is used on site, firstly, an operator installs the flexible clamping jaw 2 at the right end of the hollow cylinder 11 through the limiting hole 1112, then installs the end effector body 1 at the tail end of a six-degree-of-freedom mechanical arm at the upper end of the intelligent harvesting robot, after the intelligent harvesting robot determines the position of a target fruit, the position of the target fruit is just positioned at the inner side of the position of the bent clamping section 25 on the flexible clamping jaw 2, the intelligent harvesting robot starts to move a push rod in a linear push rod 111 in the hollow cylinder 11 through communication, under the driving of force, a sliding sleeve 1111 at the right end of the linear push rod 111 moves rightwards, the sliding sleeve 1111 sequentially passes through a linear fixed section 21, a front oblique line section 22 and an arc section 23 on the flexible clamping jaw 2, the sliding sleeve 1111 stops moving at a certain position in a rear oblique line section 24 on the flexible clamping jaw 2, and the flexible clamping jaw 2 deforms to enable the opening position of the bent clamping section 25 in the flexible clamping jaw 2 to be, until the target fruit is clamped inside the curved clamping section 25 in the flexible clamping jaw 2.

Secondly, in the process that the sliding sleeve 1111 moves from the straight line fixing section 21 to a certain position on the rear inclined line section 24 in the flexible clamping jaw 2, the target fruit slides into the inner side of the bending clamping section 25 through the concave sliding-in section 26 at the right end of the flexible clamping jaw 2, the surface of the target fruit can simultaneously extrude the rod-shaped hollow capsule 31 and the spherical hollow capsule 6, the inclined plate 3 and the grid plate 5 can deform under the action of the extrusion force of the target fruit, the rod-shaped hollow capsule 31 at the end part of the inclined plate 3 can transmit the force to the arc plate 4 to deform the arc plate 4, the grid plate 5 at the lower end of the arc plate 4 can deform greatly due to the arc groove 41 in the middle part of the arc plate 4 to adapt to the target fruit with larger volume, and meanwhile, the end plate a 51, the left offset plate 52, the middle plate 53, the right offset plate 54 and the end plate B55 on the grid plate 5 can contact with the target fruit according to the point of the spherical hollow capsule 6 at the end part The curvature radius of the grid plate 5 is deformed to different degrees to adapt to the shape of the target fruit, the end plate A51, the left offset plate 52, the middle plate 53, the right offset plate 54 and the end plate B55 on the grid plate 5 can support the target fruit with different strengths according to different widths, and the end plate A51, the left offset plate 52, the middle plate 53, the right offset plate 54 and the end plate B55 on the grid plate 5 can also make the spherical hollow capsules 6 at different positions exert the target fruit force to be bundled in the same plane as much as possible according to different lengths.

Finally, when the sliding sleeve 1111 stops moving at a certain position in the rear inclined line section 24 on the flexible clamping jaw 2, the target fruit is completely enveloped in a relatively closed space formed by the grid plate 5, the arc-shaped sponge layer 251 and the sliding-in section 26 by the grid plate 5 in the bending clamping section 25 in the flexible clamping jaw 2, and the grabbing operation of the target fruit can be completed.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a flexible end effector of intelligent harvesting robot, includes the end effector body, its characterized in that: the clamping device is characterized by further comprising a flexible clamping jaw, wherein a straight line fixing section, a front inclined line section, a circular arc section, a rear inclined line section, a bending clamping section and a sliding-in section are sequentially arranged on the flexible clamping jaw from left to right, the straight line fixing section is horizontally arranged, an included angle between the straight line fixing section and the front inclined line section is an inclined angle A, an included angle between an extended line of the right end of the straight line fixing section and an extended line of the left end of the rear inclined line section is an inclined angle B, the inclined angle B and the inclined angle A are obtuse angles, the angle of the inclined angle B is smaller than that of the inclined angle A, the curvature radius central point of the circular arc section is positioned on the outer side of the flexible clamping jaw, the curvature radius central point of the bending clamping section is positioned on the inner side of the flexible clamping jaw, the curvature radius central point of the bending clamping section and the curvature radius central point of the circular arc section are, the tip of hang plate is equipped with the hollow utricule of bar-like, contained angle between the normal direction of hang plate upper end contact point and the hang plate is the acute angle, the hang plate is located the left side of the normal of hang plate upper end contact point, the left side of arc is equipped with the arc recess, the arc recess still is located the middle part of arc, be equipped with down horizontal straight line face, right semicircle cambered surface and last tangent plane in the arc recess, the contained angle that forms between lower horizontal straight line face and the last tangent plane is the acute angle, lower horizontal straight line face and last tangent plane are located the upper end of right semicircle cambered surface and the lower extreme of right semicircle cambered surface respectively, the extension plane on lower horizontal straight line face right side and the lower extreme surface of hang plate lie in the coplanar, the lower extreme of arc is equipped with the grid board, grid board and hang plate parallel arrangement, the grid board includes tip board first, Left offset plate, well board, right offset plate and tip board second, the interval between tip board first and the left offset plate is greater than the interval between left offset plate and the well board, the interval between tip board second and the right offset plate is greater than the interval between right offset plate and the well board, the tip of tip board first, left offset plate, well board, right offset plate and tip board second all is equipped with spherical hollow utricule, left offset plate has a plurality of, and adjacent left offset plate interval reduces from tip board first to well board in proper order, right offset plate has a plurality of, and adjacent right offset plate interval reduces from tip board second to well board in proper order, left offset plate and right offset plate symmetric distribution are in the both sides of well board, the width of tip board first, the width of left offset plate, the width of well board, the width of right offset plate and the width of tip board second reduce in proper order, the length of tip board first, the length of left offset board and the length of median plate rise in proper order the length of median plate, the length of right offset board and the length of tip board second reduce in proper order, the shape of section of sliding into is concave shape down, the curvature radius center of section of sliding into is located the downside of flexible clamping jaw and the upside of flexible clamping jaw respectively with the curvature radius center of crooked centre gripping section.

2. The intelligent harvesting robotic flexible end effector of claim 1, wherein: the right-hand member of end effector body is equipped with hollow section of thick bamboo, install sharp push rod in the hollow section of thick bamboo, the cover that slides is installed to the right-hand member of sharp push rod, it is circular to slide the cover, the symmetry is equipped with spacing hole all around of the cover that slides, the right-hand member at hollow section of thick bamboo is installed through spacing hole to the left end of sharp canned paragraph, flexible clamping jaw and spacing hole all have two at least, and the symmetric distribution.

3. The intelligent harvesting robotic flexible end effector of claim 1, wherein: the material of flexible clamping jaw is engineering plastics, the material of hang plate and arc is the flexible glue material.