Underactuation tail end tool of apple picking robot

Abstract

The invention discloses an underactuation tail end tool of an apple picking robot. The underactuation tail end tool of the apple picking robot comprises a fruit posture self-adaption mechanism and a fruit separating and cutting mechanism, wherein the fruit separating and cutting mechanism is placed on the fruit posture self-adaption mechanism and the fruit posture self-adaption mechanism can be installed on a positioning mechanism of the apple picking robot. The fruit posture self-adaption mechanism of the tail end tool can adjust the fruit separating and cutting mechanism relative to the growing postures of fruit. The entirety of the fruit separating and cutting mechanism of the tail end tool is in an underactuation form, and the same set of action parts is adopted to achieve the order actions of fruit separating and fruit cutting in sequence. The underactuation tail end tool of the apple picking robot can be applied to the robot picking field, so that mechanical picking operation of spherical fruit like apples can be achieved.

Description

technical field [0001] The invention relates to a fruit picking device, in particular to an underactuated structure end tool for robot picking. Background technique [0002] In orchard production activities, the labor force used for fruit picking accounts for nearly half of the total labor force in the entire production process. The picking operation is complex and seasonal. Most of the current orchards use manual picking, which is low in efficiency, heavy in labor, and easy to cause fruit damage. The development of mechanized picking technology can improve the picking efficiency, reduce the fruit damage rate, save labor costs, and improve the economic benefits of fruit farmers. [0003] Chinese Patent No. 200910156624.1 provides a flexible end effector of a cone picking robot. The end effector includes a frame on which a claw mechanism for grabbing fruits and vegetables is provided. The claw mechanism includes a base and fingers, and the fingers include a fixed rod fixed ...

AI Technical Summary

Problems solved by technology

The invention includes at least three operating fingers, the mechanical structure is complex, and the invention does not include a mechanism for cutting off fruit stems

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