Under actuated fruit picking mechanical gripper with rigid and flexible mixed structure

Abstract

The invention discloses an under actuated fruit picking mechanical gripper with a rigid and flexible mixed structure. The under actuated fruit picking mechanical gripper with the rigid and flexible mixed structure comprises flexible fingers, each flexible finger comprises a bottom plate and a breather pipe part arranged on the bottom plate, an air passage is formed between each breather pipe part and the corresponding bottom plate, multiple comb-shaped protrusions are formed on the breather pipe parts from one end to the other end, each comb-shaped protrusion is provided with a sub ventilation room, and the air passages are communicated with the sub ventilation rooms. According to the under actuated fruit picking mechanical gripper with the rigid and flexible mixed structure, the flexible fingers which are driven in a pneumatic mode are adopted, complex structure is avoided, drive is simple, and control is easy; by means of a rapid closing mechanism which is rigidly combined, fruit gripping speed is improved; structural design is simplified, the structure is simple, the cost is reduced, and the reliability of a system is improved; the flexible fingers are adopted, the contact with fruits is flexible, and damage to the fruits caused by picking is avoided.

Description

technical field [0001] The invention relates to the field of fruit picking machinery, in particular to an underactuated fruit picking mechanical gripper with a rigid-flexible mixed structure. Background technique [0002] Traditional fruit picking operations are basically done manually, which is a seasonal labor-intensive work in key agricultural seasons, and the cost accounts for about 50% to 70% of the entire harvest cost. At the same time, due to the structural shortage of rural population, there is a serious shortage of manpower in key agricultural seasons. The harvesting of fruit by picking robots is a powerful approach. On the other hand, the intelligence and automation of picking is an inevitable and trend of agricultural modernization. The development of picking robots can significantly improve the agricultural production environment and make up for the shortage of rural labor force, which is of great significance for accelerating agricultural modernization. [0003...

AI Technical Summary

Problems solved by technology

In the full-drive mode, the degree of freedom of the gripper is the same as the number of drives, and the flexibility is high, but its structure is complex, especially for irregular three-dimensional shapes, which require a high degree of freedom, which increases the cost and difficulty of its control system, so often It is only used in occasions where the shape is relatively regular, so as to adapt to different fruits

Another kind of gripper is under-actuated, and the number of drivers is less than the number of degrees of freedom. For the grasping of irregularly shaped objects, the under-actuated manipulator has the characteristics of simplified control and weight reduction, but the under-actuated method saves the traditional Complex mechanical structure on the gripper, but its gripping efficiency is low and the bending speed is limited

Images