Design of Flexible Spherical Fruit and Vegetable Picking End-effector Based on Vision Recognition

Abstract

In order to solve the problems of poor versatility and high clamping damage rate faced by the end-effector of picking robots in today’s picking operation, a universal spherical fruit and vegetable picking die end-effector based on vision recognition with adaptive flexible force clamping is designed. This end-effector is a pneumatic three structure, while integrating a small air source device, in the control of a variety of sensors, through the fusion of multiple sensing and algorithm improvement and other ways, so that the mold end-effector in the picking operation, through visual recognition to determine the type of fruit and vegetables, and then provide the optimal gripping force. At the same time, the fingertip is equipped with a pressure sensor to adjust the pressure output in real time to achieve the overall picking process, the pressure is kept constant, and in the judgment of the completion of fruit and vegetable picking, a torque sensor is equipped to presume the completion of the picking operation by twisting the fruit strength. Finally, the actual product was made and several fruit and vegetable simulation experiments were carried out. The experimental structure is good, which verifies that the end-effector has good versatility and flexibility.