Research And Design Of The Series Of Tomato Picking Robot

Tomato as a common fruits and vegetables is widely cultivated area in our country,during the ripening of tomato fruits need to spend a lot of labor to the successful completion of the picking,but the more artificial picking labor model has been unable to meet the tomato industry development needs.With robot technology in agricultural production vigorously development and application,this paper design the tomato picking manipulator is aimed at liberate the workforce,reduce labor intensity,improve the efficiency of tomato harvest,create greater economic benefits.This paper studies the application of tomato picking robot hand is a series of tomato,the specific research content of this topic is as follows:First of all,through the study on the growth characteristics,on tomato cultivation mode,can make a better combination of agricultural machinery and agronomy.Then according to the growth characteristic of type string of tomato selecting suitable picking manipulator mechanism.Eventually,the study identified five degree of freedom manipulator,a joint to move up and down,and the remaining four revolute joints.This reduces the control difficulty of the manipulator,also saves the processing cost of the manipulator;Secondly,according to the requirements of the string type of tomato picking operation,the transmission mechanism of the manipulator is designed,and the corresponding motor is matched.In this paper,the end of the manipulator actuators were improved,before the shear type end effector blade on the increase in the gap,the design relationship on Tomato stems shearing time.At the same time,the design also added a special fruit bearing device to reduce the drop rate of tomato.In this paper,the virtual simulation analysis of tomato manipulator arm is also carried out to verify the stability of the robot arm;Finally,this study in order to ensure on accurate identification of tomato maturity and design on Tomato Picking Robot using a wide range of binocular visual recognition system,through threshold segmentation processing can better identify the whole string of tomato.Taking into account the string type of tomatoes picking position in the stem,so the auxiliary marker set in fruit stem position can help determine the fruit stalk position,ensure that the design of the picking manipulator successfully completed on the tomato picking.