End effector structure of garden stuff picking robot

Abstract

The invention provides an end effector structure of a garden stuff picking robot. On the promise that garden stuff picking is met and the stability of garden stuff holding is guaranteed, the end effector structure of the garden stuff picking robot is simple in structure, the control difficulty is relatively small, the using cost and the manufacturing cost are relatively low, the adaptation is relatively high, and the end effector structure is suitable for being applied and popularized. The end effector structure comprises a drive box and is characterized in that the drive box is provided withat least three movable knuckles, the movable knuckles are circumferentially distributed to form a storage cavity, the movable knuckles are connected with the drive box through torsional springs or tension springs, the drive box is provided with drive devices corresponding to the movable knuckles, and the drive devices are 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 realize the picking of fruits and vegetables, but the transmission mechanism is gear transmission, and the fingers are closed through the gear transmission. The fingers are pulled together by the pull cord to close the fingers. It has a simple structure and good maneuverability. However, due to the small range of motion of the handle driven by the draw cord, the scope of application for pinching fruits and vegetables is small, and it is difficult to adapt to the shape at the same time. The picking requirements of fruits and vegetables are very different, and its adaptability is low. Moreover, due to the frequent force of the drawstring, the drawstring will 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 pinch.

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