Under-actuated manipulator claw for picking fruits and vegetables

A robotic claw and under-actuated technology, which is applied in the direction of picking machines, manipulators, program-controlled manipulators, etc., can solve the problems of manual work, low picking automation, time concentration, etc., and achieve strong flexibility, easy operation and maintenance, and simple control. Effect

Inactive Publication Date: 2012-05-09
ZHEJIANG UNIV
View PDF9 Cites 75 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Picking automation remains low due to the complexity of picking operations
At present, domestic fruit picking operations are b

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Under-actuated manipulator claw for picking fruits and vegetables
  • Under-actuated manipulator claw for picking fruits and vegetables
  • Under-actuated manipulator claw for picking fruits and vegetables

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0019] The present invention will be further explained below in conjunction with the drawings:

[0020] Such as figure 1 As shown, the driving manipulator claw of the present invention mainly includes a frame 1, a driving transmission mechanism 2 and a finger mechanism 3.

[0021] Such as figure 2 As shown, the frame 1 includes an upper base 4, a finger holder 5, a supporting column 6 and a lower base 7; the upper base 4 is connected with one end of the supporting column 6 by a stud bolt, and the lower base 7 is connected with the other end of the supporting column 6 by a bolt; The finger fixing member 5 is bolted to the upper base 4 and is located below the upper base 4, and the frame 1 is bolted to the stepping motor 8.

[0022] The drive transmission mechanism 2 includes a stepping motor 8, a screw 9, a nut 10, a lifting platform 11 and a guide column 12; the screw 9 is fixed directly above the stepping motor 8, the lifting platform 11 is bolted to the nut 10, and the guide colum...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses an under-actuated manipulator claw for picking fruits and vegetables. At present, fruits and vegetables are manually picked basically. The under-actuated manipulator claw for picking the fruits and the vegetables comprises a machine frame, a driving transmission mechanism and a finger mechanism, and particularly comprises an upper base, a finger fixing component, a supporting post, a lower base, a step motor, a screw rod, a nut, a lifting platform, a guiding post, a far finger, a middle finger, a near finger, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a driving rod, a first torsion spring and a second torsion spring. A plurality of fingers are driven by one step motor at the same time, an under-actuated finger mechanism is adopted, and the torsion springs are used as a limiting mechanism, so that the under-actuated manipulator claw for picking the fruits and the vegetables has enwrapping and clawing functions; and a contact force sensor is arranged on a clawing surface, so that the clawing force can be fed back and controlled through detection of the contact force; the under-actuated manipulator claw for picking the fruits and the vegetables is simple in structure and easy to control; and the self adapting capability of the under-actuated manipulator claw to the shape of an object is improved; and the clawing stability is improved. Therefore, the fruits and the vegetables can be picked in a damage-free way.

Description

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Owner ZHEJIANG UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2023 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap