Clamping rotary cutting type underactuated two-finger grape picking device

Abstract

The invention provides a clamping rotary cutting type underactuated two-finger grape picking device, which mainly comprises underactuated finger mechanisms, a rotation mechanism, a pushing mechanism, a rotary cutting mechanism, a wrist connecting mechanism, a main support plate and a binocular camera, wherein the underactuated finger mechanisms are distributed at two sides of the main support plate; the wrist connecting mechanism is connected with the rotation mechanism; the rotation mechanism is connected with the main support plate; the pushing mechanism is connected with the rotation mechanism; the rotary cutting mechanism is connected with the pushing mechanism; the wrist connecting mechanism is connected with the waist of a mechanical arm; a motor A drives the underactuated finger mechanisms to move; through the effects of an S-shaped pressure sensor, a potentiometer, a flat plate pressure sensor and a tension spring, the flexible target object gripping and the closed loop real-time control on the underactuated finger mechanisms by a controller are realized; the rotary cutting mechanism controls a circular disc cutter blade to realize rotary cutting action on target fruit stems through a direct current motor. The grape picking device has the advantages that the structure is ingenious; the flexibility is high; the finger pose work space is large; high picking success rate can be obtained; the mechanical damage to plants and fruits can be reduced; the picking on clustered fruits such as grapes can be realized; the characteristics of self-adaption capability to the fruit shape and contact force controllability are realized.

Description

technical field [0001] The invention relates to the field of agricultural robots, in particular to a clamping rotary cutting type under-actuated two-finger hand grape picking device. Background technique [0002] my country's fruit and vegetable industry has made outstanding achievements, but the rapid reduction of agricultural labor force and the rapid rise of labor costs have posed severe challenges to the development of the fruit and vegetable industry. Fruit and vegetable picking is a time-consuming and labor-intensive task. The seasonality of fruit and vegetable harvesting requires a lot of labor and the picking efficiency is low. Therefore, it is of great significance to study fruit and vegetable picking robots to alleviate the shortage of rural labor force, save labor costs, and improve the efficiency of fruit and vegetable picking. [0003] Grape is a berry fruit that grows in clusters. The fruit has thin skin and large grains, less juice and more water, and is vuln...

AI Technical Summary

Problems solved by technology

At present, the picking of grapes is mainly done manually, the pick

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