A latex three-finger inverted cycloid swing type apple picking end effector

Abstract

The invention provides a latex three-finger inverted cycloid swing type apple picking end effector, which relates to the field of agricultural picking robots. line slider, the second latex finger, the third disc finger structure, the first latex finger, the left reset air hole and the left action air hole, the third disc finger structure includes the third disc finger, the first Second finger mounting seat, annular latex tube, first finger mounting seat, annular latex tube action air hole and annular latex tube reset air hole, the first latex finger includes finger motor, finger latex action air hole, finger latex reset air hole, profiling Face fingers, long strip-shaped latex tubes and finger shafts, the invention adopts the inverted cycloid picking mechanism and the inverted cycloid cylinder to break the fruit handle to achieve picking, and the latex tube attached to the inside of the fingers can effectively avoid damage, which solves the problem of easy damage to apple picking and apple picking. The technical problem of low picking efficiency.

Description

technical field [0001] The invention relates to the field of agricultural picking robots, in particular to a latex three-finger inverted cycloidal swing type apple picking end effector. Background technique [0002] The end effector is a key component of the agricultural picking robot, because it directly contacts the target fruit, which directly affects the picking success rate and damage rate. In orchard production activities, fruit picking is labor-intensive and consumes a lot of labor because of its strong repeatability, strong picking season, easy fruit damage and harsh picking environment. At present, apple picking in my country still mainly relies on manual labor. Picking, so only by developing agricultural fruit picking robots can the picking efficiency be improved, thereby improving the economic benefits of fruit farmers and improving the international export competitiveness of my country's fruit industry. [0003] There are three reasons why the existing apple pick...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the defects in the above-mentioned prior art, the present invention provides a latex three-finger inverted cycloid swing type apple picking end effector, which overcomes the defects of low efficiency and low degree of mechanization of the existing apple manual picking. Mechanism and inverted cycloidal cylinder to break off the fruit handle to achieve picking, and the latex tube attached to the inside of the finger can effectively avoid damage, which solves the technical problems of easy damage and low apple picking efficiency

Images