Underactuation finger mechanism androdlike fruit and vegetable holding type picking mechanical arm end effector

An underactuated and actuator technology, which is applied in the field of the end effector of the rod-shaped fruit and vegetable gripping picking manipulator, can solve the problems of large use limitations, damage to fruits and vegetables, and inability to adapt to a variety of fruits and vegetables.

Pending Publication Date: 2018-12-07
XINJIANG AGRI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] Therefore, the technical problem to be solved by the present invention is to overcome the problem that the picking actuator in the prior art can only

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  • Underactuation finger mechanism androdlike fruit and vegetable holding type picking mechanical arm end effector
  • Underactuation finger mechanism androdlike fruit and vegetable holding type picking mechanical arm end effector
  • Underactuation finger mechanism androdlike fruit and vegetable holding type picking mechanical arm end effector

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Embodiment Construction

[0030] The technical solutions of the present invention will be described below in conjunction with the accompanying drawings. Obviously, the following embodiments are not all embodiments of the present invention. Based on the described embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without other creative efforts fall within the protection scope of the present invention. In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as there is no conflict with each other.

[0031] Such as figure 1 As shown, the frame 100, the frame 100 includes a lower support plate 101 and front and rear support plates 102, 103 positioned at both ends of the lower support plate 101 and vertically fixedly arranged, and the two sides of the front support plate 102 are used for hinged installation The underactuated finger mechanism 300, that ...

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Abstract

The invention relates to the field of fruit and vegetable picking, in particular to a picking effector end mechanism used for rodlike fruits and vegetables. The problem that in the picking executing process of rodlike fruits and vegetables, the holding for fruits and vegetables can damage or unstably hold fruits and vegetables is solved. Underactuation fingers have certain motions when making contact with the rodlike fruits and vegetables, the holding intensity and angle can be adjusted according to the shapes of fruits and vegetables, and fruits and vegetables can be held better.

Description

technical field [0001] The invention relates to a plant picking machine, in particular to an underactuated finger mechanism and an end effector of a rod-shaped fruit and vegetable holding type picking manipulator. Background technique [0002] At present, the end effector of the picking robot can only pick a single type of fruit and vegetable, and a specific picking tool can only be picked for a specific type of fruit and vegetable, and cannot be applied to other types or similar types, resulting in the development and use of traditional picking tools. High cost, The limitations are large. In addition, many picking actuators use clamping methods to pick fruits, but none of them can conform to the shape of fruits and vegetables during the clamping process, and it is easy to cause damage to fruits and vegetables due to excessive deformation. [0003] The end effector of the manipulator of the stick-shaped picking robot adopts the grasping and picking of objects imitating huma...

Claims

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Application Information

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IPC IPC(8): A01D46/00B25J15/00
CPCA01D46/00B25J15/00
Inventor 马卫彬岳勇谢建华
Owner XINJIANG AGRI UNIV
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