Underdriven fruit and vegetable picking manipulator and picking method

A manipulator and under-actuated technology, which is applied in the field of agricultural robots, can solve the problems of difficulty in grasping fruit and vegetable picking, high difficulty in manipulator control, and easy finger interference, etc., to achieve good grasping effect, convenient picking, and wide application range

Inactive Publication Date: 2020-06-05
ZHEJIANG UNIV CITY COLLEGE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Existing fruit and vegetable picking manipulators are often complex in structure, and interference between fingers is prone to occur. Moreover, the con

Method used

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  • Underdriven fruit and vegetable picking manipulator and picking method
  • Underdriven fruit and vegetable picking manipulator and picking method
  • Underdriven fruit and vegetable picking manipulator and picking method

Examples

Experimental program
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Effect test

Embodiment

[0022] Embodiment: a kind of under-actuated fruit and vegetable picking manipulator, such as Figure 1-4 As shown, it includes a finger mechanism and a base 22; the base 22 is provided with a stepper motor 8, and the output end of the stepper motor 8 is provided with a gear 7; the side of the base 22 is provided with a rack fixture 10 , the rack fixing part 10 is provided with a rack 9 meshing with the gear 7, and the rack 9 and the rack fixing part 10 are clearance fit; the upper end of the rack 9 is connected with a transmission connecting plate 13; the base The upper end of the side of 22 is provided with a third connecting piece 5, the third connecting piece 5 is U-shaped and has a plurality of through holes; the two sides of the third connecting piece 5 are respectively connected with the first connecting piece 11 and the second connecting piece 6. The first connecting piece 11 and the second connecting piece 6 are angled, and the vertical ends are respectively connected ...

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PUM

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Abstract

The invention discloses an underdriven fruit and vegetable picking manipulator. The underdriven fruit and vegetable picking manipulator comprises a finger mechanism and a foundation support, wherein astep motor is arranged on the foundation support; a gear is arranged at the output end of the step motor; a rack fixing piece is arranged on the side surface of the foundation support; a rack is arranged in the rack fixing piece; a transmission connecting plate is connected to the upper end of the rack; a third connecting piece is arranged at the upper end of the side surface of the foundation support; a first connecting piece and a second connecting piece are respectively connected to two sides of the third connecting piece; a first supporting plate is connected to the upper end of the firstconnecting piece; a second supporting plate is arranged at the upper end of the second connecting piece; and the finger mechanism consists of a first finger, a second finger and a third finger havingthe same structure. The underdriven fruit and vegetable picking manipulator disclosed by the invention is easy to operate, and simple in structure; and the phenomenon of interference between the fingers can be avoided, so that nondestructive picking of fruits and vegetables can be effectively realized.

Description

technical field [0001] The invention relates to the field of agricultural robots, in particular to an underactuated fruit and vegetable picking manipulator and a picking method. Background technique [0002] Fruit and vegetable picking is the most time-consuming and labor-intensive link in fruit and vegetable production, and its harvesting is a labor-intensive operation. The labor involved in fruit and vegetable harvesting accounts for about 50% to 70% of the entire production process. These put forward higher requirements for the rapid development of agricultural mechanization, intelligence, and scale. The underactuated mechanism has developed rapidly in recent years, because it can control more degrees of freedom with less driving, and has become a research hotspot of robot end effectors. The manipulator designed by the underactuated principle reasonably solves many The conundrum between degrees of freedom and control complexity. Existing fruit and vegetable picking mani...

Claims

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Application Information

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IPC IPC(8): A01D46/30B25J15/00B25J15/10B25J17/00
CPCA01D46/30B25J15/0009B25J15/10B25J17/00
Inventor 俞雯吴乾新于小锣陈雨欣
Owner ZHEJIANG UNIV CITY COLLEGE
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