Nine-freedom-degree picking mechanical arm

Abstract

The invention relates to a nine-freedom-degree picking mechanical arm. The nine-freedom-degree picking mechanical arm is characterized in that the nine-freedom-degree picking mechanical arm includes apalm and three fingers, each finger has three rotation freedom degrees; the palm is of a circular plate shaped structure or a circular disk shaped structure or a circular bowl shaped structure, the three fingers are evenly distributed on the periphery of the palm; each finger includes a fingertip, a middle finger section, and a base finger section; the fingertip, the middle finger section, and the base finger section are rotationally connected with one another in sequence through corresponding finger joints; and the base finger sections and the palm are rotationally connected through corresponding finger joints. According to the nine-freedom-degree picking mechanical arm, crawl is flexible, working space is large, picking of various kinds of round fruit can be achieved, interchangeabilityof the mechanical arm is improved, and the picking cost is reduced.

Description

technical field [0001] The invention belongs to the technical field of agricultural robot equipment, and in particular relates to a nine-degree-of-freedom picking manipulator. Background technique [0002] With the development of science and technology, the degree of intelligence of agricultural machinery has been continuously improved, and the use of robots instead of labor in fruit and vegetable picking has become a trend in the development of modern agriculture. The fruit and vegetable picking manipulator is an important part of the fruit and vegetable picking robot, which needs to have the same ability of execution and perception as the human hand. [0003] Fruits and vegetables are easy to be damaged when picking, and the shapes and growth conditions of fruits and vegetables are complex and changeable. However, the existing picking manipulator has a simple mechanical structure, is inflexible in grasping, and causes greater damage to the fruit. In addition, in the exis...

AI Technical Summary

Problems solved by technology

However, the existing picking manipulator has a simple mechanical structure, is inflexible in grasping, and causes great damage to the fruit.

In addition, the existing picking manipulator, a manipulator is usually only for a specific fruit and vegetable, poor interchangeability

This will undoubtedly increase the cost of mechanized picking and the promotion of agricultural picking machinery

Images