The invention belongs to the technical field of fruit picking, and particularly relates to an orchard picking robot capable of sensing grabbing force. A base is arranged at the bottom of a mechanical claw, a base hole is formed in the base, three sets of fourth connecting rods are connected into the base hole in a penetrating mode, and first driving rods are movably connected to the three sets of fourth connecting rods, the bottom of each first driving rod is fixedly connected with a claw seat, the middle of each first driving rod is movably connected with a second driving rod, the other end of each first driving rod is movably connected with a third driving rod, each third driving rod is movably connected with a fifth driving rod, each fifth driving rod is movably connected with a sixth driving rod, and the other end of each second driving rod is movably connected with a fourth driving rod, the other end of each fourth driving rod and the other end of each sixth driving rod are both movably connected with a positioning block, the bottoms of the three sets of claw bases are fixedly connected with three corners of a triangular base, an infrared sensor is arranged on each second driving rod, and a fourth connecting rod is movably connected with a sixth motor. Signals are transmitted into a control box through the arranged infrared sensors, therefore the five groups of driving rods are controlled to synchronously rotate to grab fruits.
本发明公开的属于水果采摘技术领域,具体为一种可感应抓取力度的果园采摘用机器人,通过机械爪的底部设有底座,底座设有座孔,座孔内部贯穿连接三组四号连接杆,三组四号连接杆上活动连接一号驱动杆,一号驱动杆底部固定连接爪座,一号驱动杆中间活动连接二号驱动杆,一号驱动杆的另一端活动连接上三号驱动杆,三号驱动杆上活动连接五号驱动杆,五号驱动杆活动连接六号驱动杆,二号驱动杆另一端活动连接四号驱动杆,四号驱动杆和六号驱动杆的另一端均活动连接定位块,三组爪座的底部固定连接三角座的三个角,二号驱动杆上设有红外感应器,四号连接杆活动连接六号电机,通过设置的红外感应器将信号传送到控制箱中,从而控制五组驱动杆同步转动实现对果子的抓取。
Orchard picking robot capable of sensing grabbing force
一种可感应抓取力度的果园采摘用机器人
2021-05-04
Patent
Electronic Resource
Chinese
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