End effector structure of fruit and vegetable picking robot

Abstract

The invention provides an end effector structure of a fruit and vegetable picking robot. On the premise of meeting the fruit and vegetable picking requirements and guaranteeing fruit and vegetable picking stability, the end effector structure is simple in structure, small in control difficulty, low in use and manufacturing cost, high in adaptability and suitable for popularization and application. The end effector structure comprises a driving box. The end effector structure is characterized in that the driving box is provided with at least three movable knuckles, the movable knuckles are circumferentially arranged to form an accommodating cavity and are connected with the driving box respectively through torsional springs or tension springs, the driving box is provided with a driving device corresponding to the movable knuckles, and the driving device is connected with the movable knuckles through key ropes.

Description

technical field [0001] The invention relates to the technical field of robots and parts thereof, in particular to a structure of an end effector of a fruit and vegetable picking robot. Background technique [0002] Fruit is an important food that is indispensable in our daily life. Fruit picking is one of the most laborious and time-consuming links in the production chain of agricultural products. Picking operations are highly seasonal, time-consuming, labor-intensive, and expensive. Therefore, ensuring timely fruit harvesting and reducing harvesting costs are important ways for fruit farmers to increase their income. The degree of automation of fruit picking in my country is relatively low. At present, most of them are manual operations, and the environment needs to be improved. [0003] The end effector of the fruit and vegetable picking robot is an important part that directly contacts the fruit. The pinching of fruits and vegetables is realized by the gathering of multi...

AI Technical Summary

Problems solved by technology

Europe, America, Japan and other countries have developed various end effectors for fruit and vegetable picking robots, but their complex mechanisms and difficult control make their use and manufacturing costs relatively high, making them unsuitable for popularization and application. The research on actuators is in the development stage. For example, the underactuated picking manipulator end effector device disclosed in the invention patent with the notification number CN102729256A includes three fingers, each finger includes three knuckles, and the fingers are closed through the transmission mechanism. Movement, to achieve fruit and vegetable picking, but the transmission mechanism is gear transmission, the fingers are closed through gear transmission, its structure is complex and its manipulation is difficult; for example, the announcement number is CN204031841U, which is a kind of fruit picking manipulator disclosed by the utility model authorized patent. The fingers are pulled together by the pull rope to close the fingers. It has a simple structure and good maneuverability. However, because the handle drives the pull rope to move within a small range, its application range for pinching fruits and vegetables is small, and it is difficult to adapt to it at the same time. The picking requirements of fruits and vegetables with widely different shapes have low adaptability, and the constant stress on the drawstring will cause the drawstring to be stretched and deformed, which will reduce the pinching force of the fingers on the fruit and vegetable, thereby reducing the stability of the fruit and vegetable pinching sex

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