Flexible end effector for cone picking robot

A picking robot and end effector technology, applied in picking machines, manipulators, harvesters, etc., can solve problems such as poor shape adaptability of fruits, and achieve the effect of good shape adaptability

Active Publication Date: 2010-08-18
ZHEJIANG UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] In order to overcome the disadvantages of poor adaptability to the size and shape of fruits in the prior art, the present invention provides a flexible end effector for a cone picking robot with good adaptability to the size and shape of fruits

Method used

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  • Flexible end effector for cone picking robot
  • Flexible end effector for cone picking robot
  • Flexible end effector for cone picking robot

Examples

Experimental program
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Embodiment Construction

[0018] With reference to accompanying drawing, further illustrate the present invention:

[0019] The flexible end effector of the cone picking robot includes a frame 1, and the frame 1 is provided with a gripper mechanism for grabbing fruits and vegetables, and the gripper mechanism includes a base 21 and fingers 22, and the fingers 22 It includes a fixed rod 221 fixed on the base 21 and a connecting rod 222 hinged to the fixed rod 221. The connecting rod 222 is connected with a rubber tube 223 that pushes it to swing relative to the fixed rod 221. The rubber The top end of the tube 223 is sealed, and the bottom end is connected to an inflation mechanism. The base 21 is provided with at least three fingers 22 .

[0020] The frame 1 is fixed with a guide rail 3, a slider 4 slidably installed on the guide rail 3, a cylinder 5 that pushes the slider 4 to move back and forth along the guide rail 3, and a cutting device that separates the grasped fruits and vegetables from their b...

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PUM

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Abstract

The invention provides a flexible end effector for a cone picking robot. The flexible end effector comprises a frame, wherein the frame is provided with a fruit and vegetable gripping paw mechanism which comprises a pedestal and fingers; each finger comprises a fixed lever and a connecting rod; the fixed lever is fixed on the pedestal; the connecting rod is hinged with the fixed lever; the connecting rod is connected with a rubber tube which drives the connecting rod to oscillate relatively to the fixed lever; the top end of the rubber tube is sealed, and the bottom end of the rubber tube is connected with an air inflation mechanism; and the pedestal is provided with at least three fingers. The flexible end effector has the advantages of good adaptability to the sizes and shapes of fruits and capability of gripping fruits and vegetables and separating fruits and vegetables from fruit branches.

Description

technical field [0001] The invention relates to a flexible end effector of a cone picking robot. technical background [0002] The working object of the picking robot is a living body. In order to ensure that the picking target is not damaged, the end effector should be flexible and safe, and implement compliant control; due to the individual differences and the complexity of the shape of the picking objects, the end effector should have certain Adaptability within the scope, including the adaptability of individual size and target shape; in addition, since the promotion targets of agricultural robots are rural areas and farmers, the cost should be reduced as much as possible under the premise of meeting the requirements of picking operations. [0003] In 1985, Japan's Kawamura et al. developed a blade-type end effector with pneumatic transmission of 3 rubber fingers for fruit picking operations. The tomato harvesting robot developed by Japan N.konda et al. has an end effec...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A01D46/30B25J9/08B25J15/08
Inventor 鲍官军张水波陈亮杨庆华
Owner ZHEJIANG UNIV OF TECH
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