Five-finger end effector

Abstract

The invention relates to a five-finger end effector which comprises a thumb (1), a palm (2), an index finger (3), a middle finger (4), a ring finger (5) and a little finger (6). The five-finger end effector is characterized that the index finger (3), the middle finger (4), the ring finger (5) and the little finger (6) are identical in structure, each of the index finger (3), the middle finger (4), the ring finger (5) and the little finger (6) is provided with a base joint first motor (30), a base joint second motor (32) and a differential mechanism (34), each base joint first motor (30) and the corresponding base joint second motor (32) are fixed on the palm (2), a near joint of each finger is connected with the palm (2) through the corresponding differential mechanism (34), and each base joint first motor (30) and the corresponding base joint second motor (32) drive the corresponding differential mechanism (34) to lateral swing movement and pitching movement of the corresponding finger.

Description

technical field [0001] The invention belongs to the technical field of agricultural robot equipment, and in particular relates to a five-finger end effector. Background technique [0002] Most of the existing round fruit and vegetable picking automation operations use two-finger or three-finger end effectors. However, when multiple fruits are gathered, the two-finger or three-finger end effectors may not be able to grip. If the fruit is stuck, subsequent picking cannot be realized. In addition, if the round fruit grows near the branch, the angle of the two-finger or three-finger end effector to clamp the fruit is relatively harsh, the operation efficiency is not high, and the subsequent picking operation is not easy to operate. Therefore, it is necessary to A humanoid five-finger end effector capable of picking and gripping in complex environments. [0003] Most of the current round fruit and vegetable grading is to put the agricultural products in a container, then shake ...

AI Technical Summary

Problems solved by technology

[0002] Most of the existing round fruit and vegetable picking automation operations use two-finger or three-finger end effectors. However, when multiple fruits are gathered, the two-finger or three-finger end effectors may not be able to grip. If the fruit is stuck, subsequent picking cannot be realized

In addition, if the round fruit grows near the branch, the angle of the two-finger or three-finger end effector to clamp the fruit is relatively harsh, the operation efficiency is not high, and the subsequent picking operation is not easy to operate. Therefore, it is necessary to A humanoid five-finger end effector capable of picking and gripping in complex environments

[0003] Most of the current round fruit and vegetable grading is to put the agricultural products in a container, then shake it left and right, and then through the action of gravity, let the fruit pass through a preset circular funnel and fall into the fruit basket of the corresponding diameter. This kind of grading method, resulting in damage to the skin of the fruit, which is not conducive to long-term preservation. It can imitate the method of manual classification to classify round fruits and vegetables

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