Linear motor driven terminal executor of picking robot

Abstract

The present invention relates to picking robot technology, and is especially one kind of linear motor driven terminal executor of picking robot. The linear motor driven terminal executor consists of fingers, link rod and crank, gears, linear motor, air bag, push plate, casing, vacuum generator, sucking disc, fixing clip and other parts. The mover of the linear motor moves linearly to drive the sucking disc back and forth for sucking the fruit, to make the fingers open or close to hold the fruit via the transmission of the gears, crack and the four-rod mechanism, and to drive the push plate forwards for compressing the air bag to blow out leaves and facilitating picking. The present invention needs only one motor, and has compact structure, high precision and smooth and reliable motion.

Description

technical field [0001] The invention relates to the field of picking robots, in particular to an end effector of a picking robot driven by a linear motor. Background technique [0002] The end effector of a fruit picking robot is generally grasped by a finger mechanism, and then the fruit is separated by a shearing mechanism or a twisting action. During the picking process, it is often difficult for fingers to grasp smoothly due to the growth of multiple fruits in bunches, and it is easy to bruise adjacent fruits; at the same time, due to the occlusion of leaves, it is often difficult for picking robots to find fruits and interfere with the picking action. The existing picking robot end effector is difficult to effectively deal with the above problems, which greatly affects the success rate of fruit picking. For example, the end effector of the citrus picking robot developed by Li Fangfan of National Chung Hsing University in Taiwan (Development of the robotic arm for picki...

AI Technical Summary

Problems solved by technology

During the picking process, it is often difficult for fingers to grasp smoothly due to the growth of multiple fruits in bunches, and it is easy to damage adjacent fruits; at the same time, due to the occlusion of leaves, it is often difficult for the picking robot to find the fruit and interfere with the picking action

The end effector of the existing picking robot is difficult to effectively deal with the above problems, which greatly affects the success rate of fruit picking

For example, the end effector of the citrus picking robot developed by Li Fangfan of National Chung Hsing University in Taiwan (Development of the robotic arm for picking citrus fruit. Journal of Agricultural Machinery, 1999, 8(3): 1-8.) can only be driven by a DC motor to complete The opening and closing of three fingers; and the tomato picking robot end effector (End-Effectors for Tomato Harvesting Robot. Artificial Intelligence Review 12: 11-25, 1998.) developed by N.Kondo of Okayama University in Japan, by adding a suction cup to make The target fruit is separated from the fruit bunch, but the corresponding DC motor and rack and pinion mechanism must be added to drive, which increases the complexity of the mechanism and the difficulty of control, and still cannot deal with the occlusion problem of leaves

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