Fruit picking manipulator

Abstract

The invention discloses a fruit picking manipulator which comprises a hand portion and a tri-link spherical coordinate type arm. The hand portion comprises a supporting plate arranged on a wrist, fingers and connecting rods thereof are respectively hinged to two sides of the front end face of the supporting plate, and a draw rod for drawing the fingers to open and close is directionally and movably assembled on the supporting plate through a draw rod driving mechanism arranged on the supporting plate. The fruit picking manipulator is characterized in that the inner sides of the front ends of the fingers are provided with arc clamping plates with opposite arc directions respectively. When fruits are picked by the fingers, the arc shape of the arc clamping plates arranged in the front of the fruit picking manipulator fits shapes of fruits, so that the peripheral stressed areas of the fruits are large, the fruits are uniformly stressed, and the problem of fruit damage caused by high local stress on the fruits in the prior art can be avoided.

Description

technical field [0001] The invention belongs to the field of agricultural machinery, and relates to a manipulator on an automatic machine for picking fruits, in particular to picking fruits with arc-shaped or round shapes. Background technique [0002] At present, agricultural robots are mainly used in fields such as transplanting, grafting, spraying, picking, and fruit grading. Fruit picking is the most time-consuming and laborious link in the fruit production chain. Therefore, it is necessary to use robots in fruit picking. Realizing the automation and intelligence of fruit picking robots, the research and development of fruit picking intelligent robots are of great significance for liberating labor, improving labor productivity, reducing production costs, ensuring the quality of fresh fruits, and meeting the real-time requirements of crop growth. In the fruit-picking robot system, the design of the manipulator is a difficult point. The existing fruit-picking manipulators,...

AI Technical Summary

Problems solved by technology

[0002] At present, agricultural robots are mainly used in fields such as transplanting, grafting, spraying, picking, and fruit grading. Fruit picking is the most time-consuming and laborious link in the fruit production chain. Therefore, it is necessary to use robots in fruit picking. Realizing the automation and intelligence of fruit picking robots, the research and development of fruit picking intelligent robots are of great significance for liberating labor, improving labor productivity, reducing production costs, ensuring the quality of fresh fruits, and meeting the real-time requirements of crop growth. In the fruit-picking robot system, the design of the manipulator is a difficult point. The existing fruit-picking manipulators, such as the Journal of Information Technology, No. 2, 2011, the article number is 1009-2552 (2011) 02-0072-03, and the name is "Six degrees of freedom The design of the control system of the fruit picking manipulator", the journal content discloses a manipulator, including four parts: base, arm, wrist, and hand. The arm is a three-link spherical coordinate arm, and the base is provided with a drive The arm rotation mechanism for arm rotation, the connecting rod of the arm is provided with an arm swing device for driving the two connecting rods on the arm to swing, and the wrist is provided with a wrist driving device for driving the rotation of the wrist. The hand includes finger parts and driving fingers. The opening and closing drive mechanism, but due to the consideration of the biological characteristics, mechanical characteristics and physical and chemical characteristics of the fruit, the versatility of the manipulator of this structure is relatively poor. The force-bearing area is small, the force is large, the fruit is easy to pinch, and the fruit is easy to separate from the stem. When the fruit is easily separated from the stem, you only need to pull the fruit slightly to the outside to separate the fruit from the stem. When it is fruit, it is easy to tear the peel

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