An underactuated positioning grasping and rotary cutting gripper

Abstract

An under-actuated positioning and grabbing rotary-cutting gripper, comprising an active gripper, a slave gripper, a casing and a driving mechanism; there are two active grippers, which are installed symmetrically on the top of the casing along the axis of the casing; There are two slave grippers, which are installed symmetrically on the top of the casing along the axis of the casing; the two active grippers and the two slave grippers are alternately distributed along the axis of the casing; The driving mechanism is installed in the housing, which is used to drive the two active grippers and the two slave grippers to move inward or outward along the radial direction of the housing at the same time, so as to realize the grasping and loosening of the fruit. It is used to drive the two slave grippers to rotate around the axis of the casing, and cut the fruit stems through the blades arranged on the master gripper and the slave gripper. The present invention can not only adapt to the size of the fruit when picking the fruit, but also cut the fruit stem immediately after the fruit is picked, so as to complete the automatic picking of the fruit.

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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