The present invention relates to a
rope-driven
manipulator with finger joints, which solves the technical problems of existing clamping manipulators for picking
Agaricus bisporus, such as the tendency of the clamping action to damage the target
Agaricus bisporus, the tendency of the
manipulator to damage other
Agaricus bisporus around the target
Agaricus bisporus when picking dense and overlapping
Agaricus bisporus groups, the difficulty in completing the picking action on the obstructed target
Agaricus bisporus, and the poor flexibility. The
manipulator comprises a top support plate, a bottom support plate, a steering gear, a drive disc, a drive line, an articulated seat, a
pulley seat, a
pulley, a rear connecting mechanism, a front connecting mechanism, a blocking head and at least two fingers, wherein the drive disc is connected to the output shaft of the steering gear, the articulated seat is fixedly connected to the bottom support plate, the fingers are connected to the articulated seat, the
pulley seat is fixedly connected to the bottom support plate, the pulley is connected to the pulley seat, and the fingers include proximal knuckles and distal knuckles. The present invention is widely used in picking Agaricus bisporus and other mushrooms, and in particular, in the scene of picking dense clusters of Agaricus bisporus, it can achieve the effect of using a single finger to push away the obstructed Agaricus bisporus and using two fingers to pick the target Agaricus bisporus.