Under-actuated three-finger type fruit-vegetable flexible picking device

Abstract

The invention belongs to the field of agricultural robots and discloses an under-actuated three-finger type fruit-vegetable flexible picking device which comprises under-actuated finger mechanisms I, a tilting driving mechanism II, a telescopic driving mechanism III, a pruning mechanism IV, a palm supporting disc, a finger driving motor connecting disc and a wrist connecting clamping disc. The three sets of under-actuated finger mechanisms I are evenly distributed on the palm supporting disc which is fixedly connected with the finger driving motor connecting disc. The finger driving motor connecting disc is fixedly connected with the wrist connecting clamping disc which is connected with a wrist of a robotic arm. The tilting driving mechanism II and the telescopic driving mechanism III drive the pruning mechanism IV to tilt and stretch, and the pruning mechanism achieves shear movement. The using range and the using flexibility are expanded, the high picking success rate can be achieved, and mechanical damage on plants and fruits is lowered. Picking of sphere-similar fruits or clustering-growing fruits can be achieved. The device has the advantages that fruit shape self-adaptation capacity is achieved, and contact force is controllable.

Description

technical field

[0001] The invention relates to the field of agricultural robots, in particular to an underactuated three-finger hand type flexible fruit and vegetable picking device. Background technique

[0002] Fruits and vegetables are essential foods in human life, and the planting area is large and the yield is high. The seasonality of fruit and vegetable harvesting is strong. It is time-consuming and labor-intensive to rely on manual judgment of fruit maturity and picking. Sometimes it is necessary to climb high to pick, which is dangerous. The cost of picking accounts for about 50% of the production cost. Fruit picking robots are harvesting agricultural robots. According to different fruits, such as tomato, apple, citrus, cucumber, eggplant, watermelon, melon, cabbage, strawberry, grape, etc., the picking system is also different. The end effector is the core executive component of the fruit picking robot. Different fruits often require different end effectors or pi...

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