Swallowing type picking manipulator and robot system

Abstract

The swallowing type picking manipulator comprises a base and fingers which are connected through a crank arm connecting rod structure, and the base is in a hollow box shape with the upper portion and the lower portion open; the fingers comprise a main finger and an auxiliary finger; the crank arm connecting rod structure comprises a fixed long connecting rod, a main connecting rod I, a main connecting rod II and an auxiliary connecting rod; a motor I is arranged on the base; an output shaft of the motor I is connected with the auxiliary connecting rod through a rope; the rope respectively bypasses the hinged part of the lower end of the main connecting rod II and the hinged part of the upper end of the main connecting rod I; a torsion spring is arranged at the hinged part of the lower end of the main connecting rod I; and a tension spring is arranged between the auxiliary connecting rod and the fixed long connecting rod. According to the invention, the complexity of a mechanical system structure and control thereof can be reduced, so that the grabbing speed is increased. Meanwhile, self-adaptive grabbing of various fruits with poor stem toughness can be achieved, fruit loss is reduced, and picking flexibility and lossless performance are improved.

Description

technical field [0001] The invention relates to an agricultural robot, in particular to a picking manipulator and a robot, in particular to a swallowing picking manipulator and a robot system. Background technique [0002] In recent years, the efficient and non-destructive harvesting of agricultural fruits and vegetables has become an important research field in the harvesting process of agricultural products. Since the quality of picking operations directly affects the subsequent processing and storage of products, research on the efficient and non-destructive harvesting of fruits is crucial to the realization of agricultural automation and intelligence. is of great significance. [0003] At present, conventional fruit and vegetable picking robots are generally composed of a vision system, a robotic arm, an end effector, and a mobile device, and use a series robotic arm structure for grasping operations. However, due to the accumulation of end tracking error caused by the ...

AI Technical Summary

Problems solved by technology

Traditional manipulators are mostly rigid manipulators. When grabbing irregularly shaped or fragile agricultural products, due to their poor flexibility, they often lead to damage to agricultural products or failure to grab the target.

In addition, the structure of most manipulators is a special design for a single fruit, the picking objects are limited, and it is impossible to achieve adaptive grasping of various fruits

Images