Underactuated locating, grabbing and rotary cutting claw

Abstract

The invention relates to an underactuated locating, grabbing and rotary cutting claw. The underactuated locating, grabbing and rotary cutting claw comprises driving claws, driven claws, a shell and adriving mechanism; two driving claws are arranged, and symmetrically installed on the top of the shell along the circumference of the axis of the shell; two driven claws are arranged, and symmetrically installed on the top of the shell along the circumference of the axis of the shell; the two driving claws and the two driven claws are distributed in a staggered manner along the circumference of the axis of the shell; the driving mechanism is installed in the shell, and used for driving the two driving claws and the two driven claws to perform inward or outward motion along the radial directionof the shell at the same time, so that fruits are grabbed and released; the driving mechanism is also used for driving the two driven claws to rotate around the circumference of the axis of the shell; and fruit stems of fruits are sheared through arrangement of blades on the driving claws and the driven claws. When being used for picking fruits, the underactuated locating, grabbing and rotary cutting claw in the invention can be self adaptive to the size of fruits, and also can instantly shear fruit stems after grabbing fruits, so that automatic picking of fruits is completed.

Description

technical field [0001] The invention relates to the field of fruit picking, in particular to an under-actuated positioning grabbing rotary cutting hand claw. Background technique [0002] The maturity of robot technology has been widely used in industrial scenarios, and robots for agricultural use are also under development. As a large fruit producing country, my country still relies on manual picking for most of the fruits, which is labor-intensive and costly. Adopting robots to automatically pick fruits has become an effective method to solve such problems. [0003] In the process of robotic automatic picking, the design of the end effector is particularly important, which determines the efficiency and quality of picking. Most of the current end effectors are rigid structures, which cannot adapt to fruits of different sizes, and cannot effectively cut fruit stems and complete the picking action under the conditions of fruit clusters. [0004] The publication number is C...

AI Technical Summary

Problems solved by technology

But it can only complete the action of grasping, and cannot complete the cutting of fruit stems

[0005] The publication number is CN108247656A, and the Chinese invention patent titled "a deformable three-fingered dexterous hand" is also an underactuated claw, which is driven by multiple gear connections and can grab objects with different radii. However, it is impossible to grab objects whose radius changes within a section, and it is also impossible to complete the task of cutting fruit stems

[0006] The publication number is CN102441892A, which is a Chinese invention patent titled "An under-actuated mechanical gripper for fruit and vegetable picking". It is aimed at the front-driven gripper for fruit and vegetable picking operations, and the grasping of three front-driven grippers is driven by one motor. The surface of the gripper is There are force sensors to ensure that the fruit is not damaged, but it still does not address if the fruit and stem are separated after grasping

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