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Apple picking robot hand structure

A picking robot and hand technology, which is applied to picking machines, harvesters, agricultural machinery and implements, etc., can solve the problems of poor picking effect of fruit picking robots, and achieve the effect of improving the degree of adaptability.

Pending Publication Date: 2019-01-25
ZHENGZHOU UNIVERSITY OF LIGHT INDUSTRY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] The invention proposes a hand structure of an apple picking robot, which solves the problem of poor picking effect of the existing fruit picking manipulators

Method used

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Embodiment Construction

[0024] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0025] Such as Figure 1-2 As shown, the present invention is a pneumatically driven robot hand structure with self-adaptive function, including grabbing fingers 1, cutting fingers 2, self-adapting components 3, rotating shaft components 4, connecting rods I5, movable rings I6, connectors I7, Cylinder Ⅰ8, support frame Ⅰ9, support flange 10, bolt connection piece I11, bolt connection piece II12, wrist flange 13, guide rod I14, support rod 15, shaft sleeve I16,...

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Abstract

The invention provides an apple picking robot hand structure. The structure comprises a supporting flange and a supporting rod, the supporting flange is connected with the supporting rod, the supporting rod is connected with a fixing ring, the fixing ring is provided with movable grasping fingers and cutting fingers, the grasping fingers are movably connected with a telescopic mechanism I, and thecutting fingers are movably connected with the telescopic mechanism II. The structure has the advantages that a grasping mechanism and a cutting mechanism are included, and the cutting of fruits canbe achieved while the grasping is completed; the grasping mechanism and the cutting mechanism are independent of each other, and independent air cylinders are respectively used for driving to avoid mutual influence of the grasping mechanism and the cutting mechanism, which is beneficial to the dragging of the fruits; the structure includes adaptive assemblies, and improves the adaptability of a manipulator to the size of the fruits.

Description

technical field [0001] The invention relates to a mechanical device, in particular to a pneumatically driven robot hand structure with self-adaptive function. Background technique [0002] In recent years, due to the rapid development of robot technology, robots have been widely used in industry, agriculture, medical treatment, military and other fields. The application of agricultural robots can increase labor productivity, improve working conditions, and solve problems such as labor shortage. As a type of agricultural robot, picking robots are mainly used for picking tomatoes, apples, citrus, etc., and have great development potential. [0003] Foreign research on orchard picking machinery began in the 1940s, and countries led by the United States and the United Kingdom carried out research in this area earlier. By the 1960s, picking machines had developed from a single fixed-stroke pusher to various types of picking machines such as inertial shakers and impact machines....

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A01D46/247
CPCA01D46/247
Inventor 王才东王新杰崔光珍陈鹿民何文斌肖艳秋胡坤董祥升王团辉韩家浩张昊田刘丰阳
Owner ZHENGZHOU UNIVERSITY OF LIGHT INDUSTRY
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