Magnetorheological conformable clamp holder and robot for picking multiple types of fruits and vegetables

Abstract

The invention discloses a magnetorheological conformable clamp holder and a robot for picking various kinds of fruits and vegetables. The magnetorheological conformable clamp holder comprises a clamping handle, a magnetorheological liquid bag, a shell and a clamping handle translation mechanism; the magnetorheological liquid bag is arranged at the inner side of one end of the clamping handle, is filled with magnetorheological liquid, is connected with a control circuit, and fulfills the function of forming a shape most appropriate for clamping the fruits and vegetables by means of electric magnetization regulation. The robot for picking various kinds of fruits and vegetables comprises a working table, a manipulator and an end effector arranged at the tail end of the manipulator, and the end effector consists of the magnetorheological comformable clamp holder and a shearing mechanism. According to the magnetorheological conformable clamp holder and the robot, when the fruits and vegetables of different kinds are picked, the picking of the fruits can be well performed without replacing clamping devices, and the picking efficiency is high; the picking requirements on different positions within the space can be met, the movement is flexible, and compared with a stepping motor used by the traditional picking manipulator, servo motors can be used for controlling more accurately.

Description

technical field [0001] The invention relates to the field of agricultural picking, in particular to a magneto-rheological adaptable gripper and a robot for picking multi-type fruits and vegetables. Background technique [0002] As a large agricultural country, China's fruit and vegetable industry is one of the important industries in agriculture. Fruit picking robot is one of the important means to develop modern fruit and vegetable industry. However, compared with the rapid development of the current fruit planting industry, there is less research on picking robots at home and abroad, mainly some simple picking manipulators, which have a single function and poor versatility, usually only for a single clamping of a certain fruit Picking, so not only the cost of customizing the manipulator is higher, but also the problem of inconvenient implementation of the application due to the change of the picking object. Since the fruit and vegetable picking objects are organic organi...

AI Technical Summary

Problems solved by technology

However, compared with the rapid development of the current fruit planting industry, there is less research on picking robots at home and abroad, mainly some simple picking manipulators, which have a single function and poor versatility, usually only for a single clamping of a certain fruit Picking, so not only the cost of customizing the manipulator is high, but also the problem of inconvenient implementation of the application due to the change of the picking object

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