Underactuation tail end tool of apple picking robot

A technology for picking robots and end tools, which is applied to picking machines, manufacturing tools, agricultural machinery and implements, etc., can solve problems such as complex mechanical structures and achieve the effect of simple structure.

Inactive Publication Date: 2013-05-29
BEIJING FORESTRY UNIVERSITY
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

The invention includes at least three operating fingers, the mechanical structure is

Method used

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  • Underactuation tail end tool of apple picking robot
  • Underactuation tail end tool of apple picking robot
  • Underactuation tail end tool of apple picking robot

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Embodiment Construction

[0030] The underactuated terminal tool of the apple picking robot of the present invention will be described in detail below in conjunction with the embodiments.

[0031] Such as figure 1 As shown, the underactuated terminal tool of the apple picking robot of the present invention includes: a fruit posture adaptive mechanism, and a fruit separation and cutting mechanism. It is characterized in that the fruit separation and cutting mechanism is placed in the fruit posture self-adaptive mechanism, and the fruit posture self-adaptive mechanism can be installed on the positioning mechanism of the apple picking robot.

[0032] Such as figure 2 , 3 As shown, the fruit attitude adaptive mechanism includes: a support 1; an outer frame 2 hinged to the support 1 through a bearing I27 and a bearing II28; an inner frame 3 hinged to the outer frame 2 through a pin I8 and a pin II13.

[0033] Such as Figure 4 Shown, fruit separation, cutting mechanism comprises: inner frame 3; The lef...

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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 ...

Claims

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Application Information

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IPC IPC(8): A01D46/30B25J11/00
Inventor 罗海风
Owner BEIJING FORESTRY UNIVERSITY
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