Under-actuated picking tail end executing device and method

Abstract

The invention discloses an under-actuated picking tail end executing device and an under-actuated picking tail end executing method. The device comprises a hand executing mechanism, a driving mechanism and a support seat assembly, wherein the hand executing mechanism is connected with the driving mechanism through the support seat assembly, the hand executing mechanism is of a three-claw type structure, three claws are uniformly distributed on the edge of the outer periphery of a palm, the bottom of each claw is arranged on the palm through corresponding hinging assemblies, the middle of each claw is provided with a pulley, each pulley is connected with the palm through a steel wire rope, and the bottom of the palm is connected with the driving mechanism through a press block. According to the method, a wire winding tube rotates for winding the steel wire rope, the steel wire rope drives the claws to approach to fruits and to tightly clamp the fruits, after the fruits are tightly clamped, the wire winding tube drives the fruits, the claws and the palm to simultaneously rotate relative to a motor support seat, and the torsion fruit separation is realized. The device and the method provided by the invention have the advantages that the under-actuated principle is applied, the effects of tightly clamping the fruits at first and then realizing the torsion fruit separation are realized, the control of the whole work process is simple, the efficiency is high, meanwhile, the clamping force of the claws on the fruits can be preferably controlled, and the fruit damage phenomenon is avoided.

Description

technical field [0001] The invention relates to the technical field of fruit and vegetable picking, in particular to an underactuated picking end effector and method suitable for spherical fruits. Background technique [0002] Picking is the most time-consuming and labor-intensive link in fruit and vegetable production. The use of picking robots to replace manual picking is an effective way to achieve timely harvesting of fruits, reduce harvesting costs, and increase income for fruit farmers under the conditions of increasing shortage of rural labor force and increasing labor costs. The end effector is a device installed on the front end of the picking robot, directly in contact with the picking target, and realizes fruit grasping and separation. It is the key execution part of the picking robot to achieve fruit and vegetable picking. [0003] Existing harvesting end-effectors generally adopt full-drive mode, and the number of degrees of freedom of the end-effector is the s...

AI Technical Summary

Problems solved by technology

For example, the utility model application with the application number 201320105463.5 discloses a rigid-flexible hybrid underactuated strawberry picking manipulator end effector device, which is driven by the pneumatic muscle to bend the claw, and the expansion and contraction of the pneumatic muscle is driven by the gear and toothed belt at the joint of the claw. However, in practical applications, due to the poor reliability of pneumatic transmission, the grasp of the fruit picking strength is not accurate, and the bending and turning range of the claws is large, so fruit damage or Phenomena that cannot be extracted

The invention application with the application number 201210217928.6 discloses an under-actuated harvesting manipulator end effector device, which uses a motor to control the rotation of the gear, and the sensor controls the meshing between the gear and the gear, and the gear and the rack to realize the bending of the claws and the rotation of the rotating disk. , to achieve the purpose of fruit and vegetable picking; however, because the grasping of the fruit depends on the claws and the contact plate, it is difficult to grasp the grasping force, and the fruit is easy to fall off during the rotation of the rotating disc, and there are many phenomena that the fruit cannot be picked

The utility model application with the application number 201120410016.1 discloses an under-actuated mechanical gripper for fruit and vegetable picking, which simultaneously drives multiple grippers through a stepping motor, and uses a torsion spring as a limiting mechanism. Take the force to make it have the function of envelope grabbing; the device has high precision, but the structure of the gripper is more complex, the overall quality is heavier, and the manufacturing cost is also high

In addition, the above three mechanical devices still have the defects of long distance between the driving mechanism part and the manipulator claw, large transmission torque, large power consumption, and poor power performance.

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