Apply picking manipulator

Abstract

The invention discloses an apply picking manipulator, which comprises a tail executer, wherein the tail executer is connected with a hand wrist through a wrist joint turnover motor and a gear rack, the hand wrist is connected with a forearm through a wrist joint deflection shaft and a wrist joint deflection motor, the forearm is connected with a big arm through an elbow joint shaft and an elbow joint motor, the big arm is connected with a vertical column through a shoulder joint shaft, a shoulder joint end cover and a shoulder joint motor, and the vertical column is connected with a base through a boss, a waist joint large gear, a waist joint small gear and a waist joint motor; the vertical column is driven by the waist joint motor and the gear to rotate, the shoulder joint motor drives the big arm to rotate, the elbow joint motor drives the forearm to pitch up and down, the wrist joint deflection motor drives the hand wrist to deflect left and right, and the wrist joint turnover motor drives the tail executer to rotate; the tail executer utilizes the motor to drive the gear and the gear rack, a lever is driven to open and close a hand gripper, and a rubber cushion is adhered to the inner side of the hand gripper, so as to reduce the damage rate of the picked object.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a manipulator for picking agricultural products, and belongs to the technical field of agricultural robots. Background technique [0002] In 2013, the sown area of ​​orchards in China was 11.1395 million hectares, and the total fruit output was 200 million tons. The workload of fruit picking accounts for about 50% of the workload of fruit production. And in order to protect the quality of the fruit, it must be picked in good time. At present, fruit picking in my country basically relies on manual labor. With the urbanization and aging process of Chinese society, labor costs have increased significantly, which has caused the cost of fruit picking to rise sharply. During the manual picking process, due to physical decline, physical fatigue and other factors, there will be some damage to the surface quality of the fruit, which will indirectly increase the picking cost. The increa...

AI Technical Summary

Problems solved by technology

For household planting and a small amount of picking operations, manual work can be done, but for large-scale and orchard planting, if the picking is still carried out manually, it is difficult to meet the needs of market development

Due to the complexity of

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