Finger structure of skillful hand of fruit picking robot

A picking robot and dexterous hand technology, applied in picking machines, manipulators, program-controlled manipulators, etc., can solve the problems of poor flexibility, single function, low adaptability of fruit shape, etc., to achieve convenient maintenance, stable transmission, reduced complexity and The effect of maintenance costs
CN102729255AInactive Publication Date: 2012-10-17NORTHWEST A & F UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
NORTHWEST A & F UNIV
Publication Date
2012-10-17
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention discloses a finger structure of a skillful hand of a fruit picking robot, and relates to the technical field of skillful hands of agricultural robots. The finger structure comprises a motor driving device, a base frame, a first knuckle, a middle knuckle, a tail end knuckle, belt transmission mechanisms, a gear differential motion mechanism, a coupling connecting rod transmission mechanism, a cross shaft and the like, wherein the motor driving device is fixedly arranged on the base (5); a belt transmission mechanism I (3) is driven by a motor I (1) to drive the gear differential motion mechanism (15) to realize the pitching motion of a finger; the gear differential motion mechanism (15) is driven by a motor II (2) to drive a belt transmission mechanism II (16) and drive the coupling connecting rod transmission mechanism (17) to realize the bending motion of the finger; and the cross shaft (12) is driven by a motor III (7) to realize the side-sway motion of the finger. The finger of the skillful hand has four knuckles and three degrees of freedom, has the advantages of light weight, flexible operation, simple structure and high maintainability, and can be applied to the skillful hand of the fruit picking robot.
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Description

technical field

[0001] The invention relates to a finger structure of a dexterous hand of a fruit picking robot, which belongs to the technical field of dexterous hands of agricultural robots. Background technique

[0002] With the continuous development of robot technology, the application research of agricultural robot has also made great progress. The agricultural picking robot that is currently being widely studied is an important branch of agricultural robots, and the end effector is an important part of the picking robot to complete the picking operation. The design of the end effector is also considered to be one of the core technologies of agricultural robots. Relevant researches have been carried out in this field at home and abroad. People such as Peter P.Ling of the United States set forth the design of tomato picking four-fingered hands in "Sensing and end-effector for a robotic tomato harvester" (Resource, 12(7): 13-14, 2005), which consists of four Composed o...

Claims

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