A rope-driven harvesting robot end effector

Abstract

The present invention relates to the field of robotics. The purpose is to provide an end effector of a rope-driven harvesting robot, which should have the characteristics of compact structure, small size and high reliability. The technical solution is: a rope-driven picking robot end effector, characterized in that: the end effector includes a pair of grippers arranged on the base, a cutter arranged on one of the grippers, and drives the two grippers respectively. Two first rope-driven mechanisms that move to open and close the gripper to grab the fruit, and a second rope-driven mechanism that drives the cutter to rotate to cut off the fruit stem; the gripper includes a support plate that is swingably positioned on the base and The hemispherical grab boards arranged on the support plate, the inner sides of the two grab boards are arranged oppositely; the cutter is rotatably positioned on the outside of one of the grab boards through the rotating shaft; the first rope drive mechanism includes a first drive unit, transmit the power of the first driving unit to make the gripper close the first driving rope, and drive the elastic component to open the gripper.

Description

technical field [0001] The invention relates to the field of robots, in particular to an end effector for a picking robot. Background technique [0002] The current picking robot end effectors are mainly divided into two types: a claw-type end effector that imitates human fingers. This type of end effector mainly realizes picking by twisting off fruit stems, which has complex structures, easy damage to fruits, and high manufacturing difficulty. , the defect that the economic benefits are not obvious; the other is the end effector with a cutter, which cuts off the fruit stems by the cutter to achieve picking, which has unreasonable structural design, high cost, low picking efficiency, and economic benefits. Unknown and other issues. Contents of the invention [0003] The purpose of the present invention is to overcome the disadvantages of the above-mentioned background technology, and provide an end effector of a rope-driven harvesting robot, which should have the characte...

AI Technical Summary

Problems solved by technology

[0002] The current picking robot end effectors are mainly divided into two types: a claw-type end effector that imitates human fingers. This type of end effector mainly achieves picking by twisting off fruit stems, which has complex structures, easy damage to fruits, and high manufacturing difficulty. , the defect that the economic benefits are not obvious; the other is the end effector with a cutter, which cuts off the fruit stems by the cutter to achieve picking, which has unreasonable structural design, high cost, low picking efficiency, and economic benefits. Questions such as unknown

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