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Under-actuated picking manipulator end executor and picking method

A technology of end effectors and manipulators, which is applied in the direction of picking machines, agricultural machinery and implements, harvesters, etc., and can solve problems such as heavy weight, insufficient flexibility, and poor versatility

Pending Publication Date: 2019-05-21
SHIHEZI UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, the types of manipulators are mostly rigid structures, mainly using two-finger clamping devices, which have problems of insufficient flexibility and poor versatility
Some underactuated mechanism manipulators only use underactuation to drive different joints of a single finger, but each finger still needs a driver to drive, the system is complex and the quality is heavy

Method used

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  • Under-actuated picking manipulator end executor and picking method
  • Under-actuated picking manipulator end executor and picking method
  • Under-actuated picking manipulator end executor and picking method

Examples

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Embodiment Construction

[0034] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangements of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.

[0035] The following description of at least one exemplary embodiment is merely illustrative in nature and in no way taken as limiting the invention, its application or uses.

[0036] Techniques and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques and devices should be considered part of the description.

[0037] In all examples shown and discussed herein, any specific values ​​should be construed as exemplary only, and not as limitations. Therefore, other instances of the exemplary embodiment may have different values.

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Abstract

The invention relates to an under-actuated picking manipulator end executor and a picking method. The under-actuated picking manipulator end executor comprises a bracket, a clamping mechanism and a transmission mechanism; the lower end of the bracket is provided with a mechanical arm butt plate, and the upper end of the bracket is provided with an upper mounting plate; the clamping mechanism comprises four fingers, and the four fingers are uniformly arranged on the upper mounting plate and are in central symmetry; the transmission mechanism is arranged below the upper mounting plate and comprises a transmission rod, a first movable pulley, a second movable pulley and guiding wheels corresponding to the fingers one to one; the first movable pulley and the second movable pulley are adjacently arranged in the axial direction of the transmission rod, and the pulley faces are perpendicular to each other; the transmission rod is configured to be capable of moving up and down, so that the fingers execute unfolding and bending motions. The under-actuated picking manipulator end executor has the technical advantage of being capable of being used for grabbing objects.

Description

technical field [0001] The invention belongs to the technical field of agricultural machinery equipment, and more specifically, the invention relates to an end effector of an underactuated picking manipulator and a picking method. Background technique [0002] The end effector of the manipulator is generally regarded as the peripheral equipment of the robot, which is a device installed at the end of the robot arm and directly acts on the working object. Since the skin of most fruits and vegetables is relatively fragile, and its shape and growth environment are relatively complex, fruit and vegetable picking operations are the most time-consuming and laborious operations in the fruit production chain, accounting for about 40% of the entire production process. In order to adapt to the fragility and irregularity of each operation object and the complexity and variability of the operation environment, the design and research of the manipulator of the fruit and vegetable picking ...

Claims

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Application Information

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IPC IPC(8): A01D46/30
Inventor 马蓉李俊杰郭昊生张垚鑫吕枫
Owner SHIHEZI UNIVERSITY