An adaptive underactuated picking end effector and method

Abstract

The invention discloses a self-adaption under-actuation picking tail end executing device and method. A hand executing mechanism in the device comprises a palm and multiple fingers. The lower ends of the fingers are movably connected with the palm respectively. The fingers slide in the diameter direction of the palm. The upper ends of the fingers are provided with reversible V-shaped finger tips. Each V-shaped finger tip comprises a knuckle reversing button, a first movable knuckle and a second movable knuckle, wherein the first movable knuckle and the second movable knuckle are fixedly connected in an angle-adjustable mode, and the second movable knuckle is hinged to the knuckle reversing button which is connected with the upper end of the finger. According to the method, a winding reel in the palm drives the fingers to get close to a fruit or release the fruit through two steel wire ropes with opposite winding directions and drives the V-shaped finger tips, the fingers and the palm to rotate at the same time so that fruit can be twisted to be separated. The device can adapt to the irregular appearance of the fruit by itself and keep making six-point stable contact with the fruit, is high in grasping and positioning precision and easy to control and can effectively prevent the fruit from mechanical damage.

Description

technical field [0001] The invention relates to the technical field of fruit and vegetable picking, in particular to an adaptive under-actuated picking end effector and method suitable for spherical, conical, cylindrical and other fruits with certain symmetry around a vertical central axis. Background technique [0002] Fruit picking is a seasonal and labor-intensive job. Currently, manual picking is commonly used, which has problems such as heavy labor, certain operational risks, and labor shortage. If the fruit cannot be harvested in time in a short period of time, it will easily lead to fruit rot, which will cause economic damage to the fruit farmers. Therefore, it is of great significance to improve the mechanization of picking operations. [0003] The end effector is the key execution part of picking robot or picking machine to realize fruit and vegetable picking. The commonly used end effector system is complex and heavy in quality. In order to take into account flex...

AI Technical Summary

Problems solved by technology

For example, the utility model application with the application number of 201420085765.5 discloses an adaptive fruit picking manipulator, which uses steel wire rope to realize the successive clamping and cutting. The clamping part is a flexible structure to improve the adaptability of the fruit and ensure that the fruit will not be picked. Pinching, flower-shaped scissors have a certain degree of self-adaptiveness, which increases the accuracy of picking, but the structure of the device is complex, the equipment cost is high, and the time difference between clamping and cutting is not easy to grasp, which may easily lead to wrong picking , the picking accuracy is not high

The invention application with the application number 201210217928.6 discloses an underactuated harvesting manipulator end effector device, and describes three different underactuated schemes. One is to use a bidirectional linear stepper motor to directly use one motor to achieve linear motion and rotation. The structure Simple but cumbersome to control and high cost; the second is to use a stepping motor to drive a pair of bevel gears to achieve rotation, and at the same time drive a pair of gear racks to achieve linear motion, which is easy to control but has a complex structure, and moving and rotating to pick fruits at the same time will damage the peel The third is to use a stepping motor to drive the electromagnetic screw for linear motion, the clutch is closed to realize the rotation, and the sensor measures the force and controls the force to realize the non-destructive picking of fruits and vegetables, but the control of the device is cumbersome, the structure is complicated, and the cost is high

The clamping mechanism of this device is the same as many fruit-adaptive picking mechanisms. It uses a connecting rod mechanism to achieve fruit adaptiveness. The structure is complex and difficult to grasp.

The invention application with the application number 201310651649.5 discloses an under-actuated picking end effector and method, which uses the under-actuated principle to realize three-jaw rotating clamping and twisting to separate fruits. Its structure control and working principle are relatively simple, but it is mainly for spherical fruits. , using a fixed three-claw rotation clamping method, three-point contact with the fruit, when the fruit shape is more irregular, its grasping positioning accuracy is low, and the grasping stability is poor, so the application area is relatively narrow

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