Under-actuated manipulator claw for picking fruits and vegetables

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

technical field [0001] The invention belongs to the application field of robots, and is particularly suitable for an underactuated manipulator for fruit and vegetable picking in industrialized agricultural production. Background technique [0002] Fruit picking is the most time-consuming and labor-intensive link in the fruit production chain. Picking operations are highly seasonal, labor-intensive, and expensive. Therefore, ensuring timely harvesting of fruits and reducing harvesting costs are important ways to increase agricultural income. Due to the complexity of picking operations, picking automation is still low. At present, domestic fruit picking operations are basically carried out manually, and the cost accounts for about 50% to 70% of the cost, and the time is relatively concentrated. As an important type of agricultural robots, picking robots can reduce the labor intensity and production costs of workers, improve labor productivity and product quality, and ensure ...

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

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