Five-finger end effector

An end-effector and five-finger technology, which is used in picking machines, manipulators, chucks, etc., can solve the problems of poor operation, low operation efficiency, and unfavorable long-term preservation of picking operations, and achieves reduction of picking costs, large movement space, and resistance to picking. Strong impact effect

Inactive Publication Date: 2016-06-08
NORTHWEST A & F UNIV
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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 humano

Method used

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Example Embodiment

[0033] The present invention will be further explained below in conjunction with the drawings:

[0034] Figure 1 to Figure 5 A five-finger end effector is shown, including thumb 1, palm 2, index finger 3, middle finger 4, ring finger 5, and little finger 6. The thumb 1, index finger 3, middle finger 4, ring finger 5, little finger 6 and palm 2 are firmly connected. Among them, index finger 3, middle finger 4, ring finger 5 and little finger 6 have the same structure. In this embodiment, as figure 2 As shown, take index finger 3 as an example to illustrate their structural characteristics. Index finger 3 includes base joint first motor 30, motor slot 31, base joint second motor 32, belt 33, differential mechanism 34, near knuckle 35, near knuckle motor 36, middle knuckle 37, middle knuckle motor 38, far Knuckle 39 and two connecting shafts 40. The base joint first motor 30 and the base joint second motor 32 are installed in the motor slot 31 and located at one end of the moto...

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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 ...

Claims

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Application Information

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IPC IPC(8): B25J15/02A01D46/30
CPCB25J15/0009A01D46/30B25J15/026B25J15/0286
Inventor 刘利史颖刚郭阳陈军崔永杰赵继政傅龙生姜豪李汝春周俊童郭娇娇龙燕靳红玲卢文华
Owner NORTHWEST A & F UNIV
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