Quick dismounting type flexile bionic finger

Abstract

The invention provides a quick dismounting type flexile bionic finger. The quick dismounting type flexile bionic finger comprises a finger surface, a finger bottom plate, a finger root and a flexibleand elastic quick dismounting pad. The finger surface drives the flexile bionic finger to clamp or release fruits and vegetables through self deformation. The finger bottom plate is arranged at the bottom of the finger surface, and a bent deformation drive cavity is formed by the finger bottom plate and the finger surface. The finger root extends backwards from the tail ends of the finger surfaceand the finger bottom plate by a segment to be movably inserted into a mechanical arm connecting gas path so as to carry out air inflation or deflation on the bent deformation drive cavity. The flexible and elastic quick dismounting pad is in sliding connection to the bottom of the finger bottom plate and is in direct contact with the outer surfaces of the fruits and vegetables. A hollow clamp groove of a concentric-square-shaped quick replacement clamp strip on the flexible and elastic quick dismounting pad is matched with a transverse protruding clamp strip on the finger bottom plate, so that the flexible and elastic quick dismounting pad slides in or out of a quick replacement inserting groove so as to be in sliding connection to the finger bottom plate. According to the quick dismounting type flexile bionic finger, the surfaces of the fruits and vegetables are not prone to being damaged, and the quick dismounting type flexile bionic finger is suitable for fruits and vegetables of different surface shapes and sizes.

Description

technical field [0001] The invention belongs to the technical field of end effectors of fruit and vegetable picking and sorting robots, and in particular relates to a quick-release flexible bionic finger. Background technique [0002] my country is a large agricultural fruit and vegetable production country. The most time-consuming and laborious link in the entire fruit and vegetable production chain is fruit and vegetable picking and sorting. However, at present, fruit and vegetable picking and sorting operations mainly use manual labor, which has low efficiency and high cost. , large workload and other issues. With the development of society, especially the process of industrialization, the agricultural labor force has gradually decreased and the cost of agricultural labor has gradually increased. The production form relying on manual labor can no longer meet the needs of modern agricultural development. Relying on robots and intelligent equipment to carry out agricultural ...

AI Technical Summary

Problems solved by technology

[0003] Traditional industrial robots are mostly rigid structures, and their grippers are made of rigid components, which have the characteristics of high rigidity, high strength, and high speed. Their operations need to rely on structured environments and precise mathematical models. For agricultural environments such as When interacting with complex and changeable objects that are difficult to describe with accurate mathematical models in a complex unstructured environment, its high rigidity, high strength, and high speed limit it to complete this task. Limited and low safety are its obvious disadvantages; with the development of technology, inflatable flexible fingers are used as grippers. Due to the limitation of the strength of the flexible material itself, the service life and compressive strength of the flexible fingers are limited. Friction is easy to cause wear and tear, so the bending fatigue strength of the finger base plate does not match the entire flexible finger, and the finger base plate is often broken while the finger surface is not cracked, so the comprehensive service life of the flexible finger is short, so there are technologies. The finger base reinforcement plate is used to enhance the wear resistance of the finger base plate, but because the finger base reinforcement plate is made of hard material, even if multiple finger base reinforcement plates are connected to each other, clamping fruits and vegetables will easily cause damage to the surface of the fruit and vegetable, and it is not suitable for different surface shapes. different sizes of fruits and vegetables

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