CN102729255A - Finger structure of skillful hand of fruit picking robot - Google Patents

Finger structure of skillful hand of fruit picking robot Download PDF

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Publication number
CN102729255A
CN102729255A CN2012102108967A CN201210210896A CN102729255A CN 102729255 A CN102729255 A CN 102729255A CN 2012102108967 A CN2012102108967 A CN 2012102108967A CN 201210210896 A CN201210210896 A CN 201210210896A CN 102729255 A CN102729255 A CN 102729255A
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CN
China
Prior art keywords
dactylus
differential
bevel gear
knuckle
plate
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN2012102108967A
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Chinese (zh)
Inventor
杨福增
蒲应俊
王元杰
陈晨宗
王程程
徐新星
韩树峰
潘冠廷
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Northwest A&F University
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Northwest A&F University
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Filing date
Publication date
Application filed by Northwest A&F University filed Critical Northwest A&F University
Priority to CN2012102108967A priority Critical patent/CN102729255A/en
Publication of CN102729255A publication Critical patent/CN102729255A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0009Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102Gears specially adapted therefor, e.g. reduction gears

Abstract

The invention discloses a finger structure of a skillful hand of a fruit picking robot, and relates to the technical field of skillful hands of agricultural robots. The finger structure comprises a motor driving device, a base frame, a first knuckle, a middle knuckle, a tail end knuckle, belt transmission mechanisms, a gear differential motion mechanism, a coupling connecting rod transmission mechanism, a cross shaft and the like, wherein the motor driving device is fixedly arranged on the base (5); a belt transmission mechanism I (3) is driven by a motor I (1) to drive the gear differential motion mechanism (15) to realize the pitching motion of a finger; the gear differential motion mechanism (15) is driven by a motor II (2) to drive a belt transmission mechanism II (16) and drive the coupling connecting rod transmission mechanism (17) to realize the bending motion of the finger; and the cross shaft (12) is driven by a motor III (7) to realize the side-sway motion of the finger. The finger of the skillful hand has four knuckles and three degrees of freedom, has the advantages of light weight, flexible operation, simple structure and high maintainability, and can be applied to the skillful hand of the fruit picking robot.

Description

A kind of picking fruit machine people clever hand finger structure
Technical field
The present invention relates to a kind of picking fruit machine people clever hand finger structure, belong to agricultural robot Dextrous Hand technical field.
Background technology
Along with the continuous development of Robotics, the application study of agricultural robot has also obtained significant progress.Just be an important branch of agricultural robot at present by the agriculture picking robot of broad research; End effector then is that picking robot is accomplished the pith of plucking operation; The design of end effector also is considered to one of core technology of agricultural robot, has all carried out correlative study in this field both at home and abroad at present.People such as the Peter P.Ling of the U.S. are at " Sensing and end-effector for a robotic tomato harvester " (Resource; 12 (7): 13-14; 2005) set forth the design that tomato is plucked four finger hands in the literary composition; Be made up of 4 fingers and attractor, finger drives through the tendon cable and realizes bending, utilizes torsion spring to make its stretching, extension simultaneously; People such as Japan Monta have developed a kind of by 4 90 ° of skillful finger spaced apart and the end effector that is used for the tomato harvesting that attractor is formed; Finger adopts composite and curves inwardly through the driving of tendon cable; Can grasp tomato and twist off carpopodium, but it is limited to point the tendon cable rigidity that adopts, and only is applicable to the harvesting of tomato; Function singleness, versatility is relatively poor; Chinese patent has been introduced a kind of spherical picking fruit machine people's end effector for No. 200710020501.6, is made up of attraction dish and finger, though structure is novel, only adapts to bigger spherical picking fruit, and opening and versatility are not strong; Chinese patent provides a kind of Kiwi berry picking end effector for CN201120343116.7 number, adopt two to refer to that clamper carries out operation, but the frame for movement volume is bigger, and very flexible is unfavorable for the harvesting operation in orchard.
The versatility of terminal executor of picking robot and flexibility at present is the main difficult problem of restriction picking robot future development and application; This bottleneck of Gonna breakthrough; Just must improve the versatility and the flexibility of end effector; And be the mixing together that reading intelligent agriculture equipment technology and modern machines people learn towards the multi-finger clever hand of picking fruit, embodied agricultural equipment to become more meticulous, the intelligent direction Development Trend.Given this, the necessary research of carrying out picking fruit machine people clever hand finger.
Summary of the invention
There are function singleness, very flexible and the low problem of fruit shape adaptability to present picking fruit machine robot end actuator; The invention provides a kind of picking fruit machine people clever hand finger structure; That this structure has is in light weight, the characteristics of flexible operation, maintainable good, overall structure compact; Processing and assembling can be applicable to picking fruit machine people Dextrous Hand easily.
Technical scheme of the present invention is following:
Described a kind of picking fruit machine people clever hand finger structure refers to that by motor I, motor II, motor II I, pedestal, first knuckle, middle dactylus, terminal dactylus, preceding supporting, back supporting, tape handler I, gear differential attachment, tape handler II, coupled links transmission mechanism, cross axle, left knee joint shaft, terminal dactylus joint shaft, first knuckle shell, middle dactylus shell, terminal dactylus shell, first knuckle tripe cover plate and middle dactylus refer to that the tripe cover plate forms; Motor I and motor II are packed on the pedestal by fastening kit; Motor II I is packed in the supporting of back by screw through the motor frame; Preceding supporting all is fixed on the pedestal by screw with the back supporting; The rear side of described cross axle and front side turning set respectively are connected between back supporting and the preceding supporting, and the output shaft of motor II I is connected with the rear side of cross axle through second shaft coupling.
Described gear differential attachment is made up of first drive bevel gear, first Intermediate bevel gears, first driven wheel of differential, second drive bevel gear, second Intermediate bevel gears, second driven wheel of differential and cross axle; The axial line of first drive bevel gear, first Intermediate bevel gears and first driven wheel of differential is vertical in twos; First Intermediate bevel gears simultaneously and first drive bevel gear and the engagement of first driven wheel of differential, first Intermediate bevel gears and first driven wheel of differential turning set respectively are connected on the rear side and the left side of cross axle; The axial line of second drive bevel gear, second Intermediate bevel gears and second driven wheel of differential is vertical in twos; Second Intermediate bevel gears simultaneously and second drive bevel gear and the engagement of second driven wheel of differential, second Intermediate bevel gears and second driven wheel of differential turning set respectively are connected on the front side and the right side of cross axle; First driven wheel of differential and first knuckle left plate connect firmly through adapter sleeve and rotate socket with the left side of cross axle, and the second active synchronization belt wheel of second driven wheel of differential and tape handler II connects firmly the right side that turning set also is connected on cross axle; The axial line of first drive bevel gear and second drive bevel gear overlaps, and the first drive bevel gear turning set is connected on the driving shaft of second drive bevel gear, and the output shaft of motor II is connected with the driving shaft of second drive bevel gear through first shaft coupling; First runner of described coupled links transmission mechanism is fixedly connected with the first knuckle left plate and turning set is connected on the left knee joint shaft; One end of connecting rod is rotationally connected with the bearing pin that is fixed on first runner; Second runner of coupled links transmission mechanism is fixedly connected with terminal dactylus left plate and turning set is connected on the terminal dactylus joint shaft, and the other end of connecting rod is rotationally connected with the bearing pin that is fixed on second runner.
The first active synchronization belt wheel of described tape handler I is packed on the output shaft of motor I; The first driven synchronous pulley is fixedly connected with the overhanging end of first drive bevel gear, and the overhanging end of first drive bevel gear passes on the driving shaft that the sleeve turning set is connected on second drive bevel gear; The second active synchronization belt wheel of tape handler II limits it back-up ring and first knuckle right plate axially-movable takes place; The second driven synchronous pulley of tape handler II is fixedly connected with the left knee joint shaft; The connection support lower side of middle dactylus is fixedly connected with the left knee joint shaft; The connection support of middle dactylus is fixedly connected with middle dactylus right plate with middle dactylus left plate, and the connection support upside of middle dactylus is fixedly connected with terminal dactylus joint shaft; Tape handler I is arranged in the pedestal, and tape handler II is arranged in the first knuckle; The first knuckle shell refers to that with first knuckle the tripe cover plate is fixedly connected by screw with the first knuckle left plate with the first knuckle right plate; Middle dactylus shell refers to that with middle dactylus the tripe cover plate is fixedly connected by screw with middle dactylus left plate with middle dactylus right plate, and terminal dactylus shell is fixedly connected by screw with terminal dactylus left plate with terminal dactylus right plate.
Operation principle of the present invention: the output shaft of motor I (1) is given transmission of power the first active synchronization belt wheel (3-1) of tape handler I (3); The first active synchronization belt wheel (3-1) is with (3-3) to give the first driven synchronous pulley (3-2) of tape handler I (3) transmission of power through first synchronously; The first driven synchronous pulley (3-2) is given first drive bevel gear (25) transmission of power; Power is delivered to adapter sleeve (34) via first Intermediate bevel gears (26), first driven wheel of differential (27) again; Adapter sleeve (34) drives the first knuckle left plate (36) that connects firmly with it and rotates the α angle around cross axle (12), realizes the elevating movement of finger; The output shaft of motor II I (7) is connected with cross axle (12) through second shaft coupling (33), directly drives the side-sway motion that cross axle (12) is realized finger; The output shaft of motor II (2) is connected with the driving shaft of second drive bevel gear (28) through first shaft coupling (32); Power is delivered to the second active synchronization belt wheel (31) of tape handler II (16) via second drive bevel gear (28), second Intermediate bevel gears (29), second driven wheel of differential (30); Rotate by second band (41) drive synchronously, the second driven synchronous pulley (43) again; The second driven synchronous pulley (43) drives left knee joint shaft (13) and rotates; Thereby dactylus (20) carries out gyration around left knee joint shaft (13) in the middle of driving; First runner (44) of coupled links transmission mechanism (17) and first knuckle left plate (36) connect firmly, and second runner (46) of coupled links transmission mechanism (17) connects firmly with terminal dactylus left plate (40), when middle dactylus (20) when left knee joint shaft (13) rotates the β angle; Coupled links transmission mechanism (17) will drive terminal dactylus (21) and rotate identical angle around terminal dactylus joint shaft (14), thereby realize the bending motion of finger.
Compared with prior art the present invention has following advantage:
1) this picking fruit machine people clever hand finger directly adopts reducing motor to drive, and need not to install deceleration device, reduces the dactylus volume to greatest extent, and motor driver all is arranged on the pedestal, thereby alleviates the weight of each dactylus;
2) tape handler of the present invention adopts the tooth form synchronous belt transmission, and the pre-tightening apparatus that do not need simple in structure has stable drive, characteristics accurate, easy to maintenance, has reduced the complexity and the maintenance cost of finger structure;
3) this device has four joints, three degree of freedom, and the overall structure compact is processed easily and assembled, and has in light weight, flexible operation, maintainable good characteristics, can further be applied to picking fruit machine people Dextrous Hand.
Description of drawings
Fig. 1 is the perspective view of picking fruit machine people clever hand finger structural entity of the present invention;
Fig. 2 is the drive mechanism stereogram (remove first knuckle and refer to that tripe cover plate (22), middle dactylus refer to tripe cover plate (23)) in picking fruit machine people clever hand finger of the present invention joint;
Fig. 3 is the front view (removing first knuckle shell (9), middle dactylus shell (10), terminal dactylus shell (11) and pedestal (5)) of picking fruit machine people clever hand finger of the present invention joint drive mechanism;
Fig. 4 is the left view of picking fruit machine people clever hand finger of the present invention joint drive mechanism;
Fig. 5 is the perspective view of picking fruit machine people clever hand finger drive unit of the present invention and gear differential attachment;
Fig. 6 is the stereochemical structure exploded perspective view of gear differential attachment of the present invention;
Fig. 7 is the warp architecture stereogram of picking fruit machine people clever hand finger of the present invention;
The label of each parts among the figure: 1. motor I, 2. motor II, 3. tape handler I, 4. motor frame, 5. pedestal, 6. before supporting; 7. motor II I, 8. back supporting, 9. first knuckle shell, 10. in the middle of the dactylus shell, 11. terminal dactylus shells, 12. cross axles; 13. the left knee joint shaft, 14. terminal dactylus joint shafts, 15. gear differential attachments, 16. tape handler II, 17. coupled links transmission mechanisms, 18. sleeves; 19. first knuckle, 20. middle dactylus, 21. terminal dactylus, 22. first knuckles refer to the tripe cover plate, 23. middle dactylus refer to the tripe cover plate, 24. back-up rings; 25. first drive bevel gear, 26. first Intermediate bevel gears, 27. first driven wheels of differential, 28. second drive bevel gear, 29. second Intermediate bevel gears, 30. second driven wheels of differential; 31. the second active synchronization belt wheel, 32. first shaft couplings, 33. second shaft couplings, 34. adapter sleeves, 35. first knuckle right plates, 36. first knuckle left plates; 37. middle dactylus right plate, 38. middle dactylus left plates, 39. terminal dactylus right plates, 40. terminal dactylus left plates, 41. second are with synchronously, and 42. connect supports; 43. the second driven synchronous pulley, 44. first runners, 45. connecting rods, 46. second runners, 47. bearing pins, 48. axle sleeves; 1-1. fastening kit I, 2-1. fastening kit II, the 3-1. first active synchronization belt wheel, the 3-2. first driven synchronous pulley, 3-3. first is with synchronously, the 3-4. baffle plate.
The specific embodiment
The present invention relates to a kind of picking fruit machine people clever hand finger structure, below in conjunction with accompanying drawing and specific embodiment further explain:
The specific embodiment one: like Fig. 1, Fig. 2, Fig. 4, Fig. 5 and shown in Figure 7, the described picking fruit machine of this embodiment people clever hand finger structure refers to that by motor I (1), motor II (2), motor II I (7), pedestal (5), first knuckle (19), middle dactylus (20), terminal dactylus (21), tape handler I (3), preceding supporting (6), back supporting (8), gear differential attachment (15), tape handler II (16), coupled links transmission mechanism (17), cross axle (12), left knee joint shaft (13), terminal dactylus joint shaft (14), first knuckle shell (9), middle dactylus shell (10), terminal dactylus shell (11), first knuckle tripe cover plate (22) and middle dactylus refer to that tripe cover plate (23) forms; Motor I (1) and motor II (2) are packed in the installing hole of pedestal (5) side by side; And it is fixing by fastening kit I (1-1) and fastening kit II (2-1) respectively; Motor II I (7) is packed in the back supporting (8) by screw through motor frame (4), and preceding supporting (6) and back supporting (8) all are fixed on the pedestal (5) by screw; The rear side of described cross axle (12) and front side turning set respectively are connected between back supporting (8) and the preceding supporting (6); The output shaft of motor II I (7) is connected with the rear side of cross axle (12) through second shaft coupling (33); Realize the side-sway motion of finger, pendulum angle is ± 20 °; First driven wheel of differential (27) of described gear differential attachment (15) is connected firmly by screw through adapter sleeve (34) and first knuckle left plate (36) and turning set is connected on the left side of cross axle (12); Realize the elevating movement of finger, luffing angle α is between 0 °~90 °; The second active synchronization belt wheel (31) of second driven wheel of differential (30) and tape handler II (16) connects firmly and turning set is connected on the right side of cross axle (12); First runner (44) of coupled links transmission mechanism (17) is connected firmly by screw with first knuckle left plate (36) and turning set is connected on the left knee joint shaft (13); One end of connecting rod (45) is rotationally connected with the bearing pin (47) that is fixed on first runner (44); Second runner (46) of coupled links transmission mechanism (17) is connected firmly by screw with terminal dactylus left plate (40) and turning set is connected on the terminal dactylus joint shaft (14); The other end of connecting rod (45) is rotationally connected with the bearing pin (47) that is fixed on second runner (46), dactylus (20) and terminal dactylus (21) coupled motions of 1: 1 angle in the same way in the middle of such structure realizes.
The specific embodiment two: like Fig. 2, Fig. 3, Fig. 4 and shown in Figure 7; The second active synchronization belt wheel (31) of the described tape handler II of this embodiment (16) limits it back-up ring (24) and first knuckle right plate (35) axially-movable takes place; The second driven synchronous pulley (43) of tape handler II (16) is fixedly connected with left knee joint shaft (13); Connection support (42) lower side of middle dactylus (20) is fixedly connected with left knee joint shaft (13) and limits its axially-movable stop washer; The connection support (42) of middle dactylus (20) is fixedly connected with middle dactylus right plate (37) with middle dactylus left plate (38), and connection support (42) upside of middle dactylus (20) is fixedly connected with terminal dactylus joint shaft (14) and limits its axially-movable stop washer; First runner (44) of described coupled links transmission mechanism (17) is connected firmly by screw with first knuckle left plate (36) and turning set is connected on the left knee joint shaft (13); Second runner (46) is connected firmly by screw with terminal dactylus left plate (40) and turning set is connected on the terminal dactylus joint shaft (14); When the second driven synchronous pulley (43) drive left knee joint shaft (13) the rotation β of tape handler II (16) angle; Thereby dactylus (20) rotates the β angle in the middle of driving; Drive terminal dactylus (21) by coupled links transmission mechanism (17) again and rotate the β angle, the β angle is between 0 °~90 °, thus the bending motion of completion finger.Other compositions are identical with the specific embodiment one with annexation.
The specific embodiment three: like Fig. 5, shown in Figure 6; The described gear differential attachment of this embodiment (15) is made up of first drive bevel gear (25), first Intermediate bevel gears (26), first driven wheel of differential (27), second drive bevel gear (28), second Intermediate bevel gears (29), second driven wheel of differential (30) and cross axle (12); Described first drive bevel gear (25), first Intermediate bevel gears (26) are identical with first driven wheel of differential (27) modulus; And axial line is vertical in twos; Wherein first drive bevel gear (25) and first driven wheel of differential (27) are identical; First Intermediate bevel gears (26) simultaneously and first drive bevel gear (25) mesh with first driven wheel of differential (27), first Intermediate bevel gears (26) and first driven wheel of differential (27) turning set respectively are connected on the rear side and the left side of cross axle (12); Described second drive bevel gear (28), second Intermediate bevel gears (29) are identical with second driven wheel of differential (30) modulus; And axial line is vertical in twos; Wherein second drive bevel gear (28) and second driven wheel of differential (30) are identical; Second Intermediate bevel gears (29) meshes with second drive bevel gear (28) and second driven wheel of differential (30) simultaneously; Second Intermediate bevel gears (29) and second driven wheel of differential (30) turning set respectively are connected on the front side and the right side of cross axle (12); The axial line of first drive bevel gear (25) and second drive bevel gear (28) overlaps, and first drive bevel gear (25) turning set is connected on the driving shaft of second drive bevel gear (28), and the driving shaft of second drive bevel gear (28) is connected with the output shaft of motor II (2) through first shaft coupling (32).Other compositions are identical with the specific embodiment one with annexation.
The specific embodiment four: like Fig. 2, Fig. 4 and shown in Figure 5; The first active synchronization belt wheel (3-1) of the described tape handler I of this embodiment (3) is packed on the output shaft of motor I (1); The first driven synchronous pulley (3-2) is fixedly connected with the overhanging end of first drive bevel gear (25); The overhanging end of first drive bevel gear (25) passes sleeve (18) turning set and is connected on the driving shaft of second drive bevel gear (28); The synchronous band of tape handler I (3) and tape handler II (16) all adopts tooth form synchronous belt, such band kind of drive have stable drive, accurately, advantage such as efficient is high, easy to maintenance, ratio coverage is big.Other compositions are identical with the specific embodiment one or two with annexation.
The specific embodiment five: like Fig. 1, Fig. 2 and shown in Figure 7; Described first knuckle shell (9) refers to that with first knuckle tripe cover plate (22) is fixedly connected by screw with first knuckle left plate (36) with first knuckle right plate (35); Middle dactylus shell (10) refers to that with middle dactylus tripe cover plate (23) is fixedly connected by screw with middle dactylus left plate (38) with middle dactylus right plate (37); Terminal dactylus shell (11) is fixedly connected by screw with terminal dactylus left plate (40) with terminal dactylus right plate (39); First knuckle shell (9), middle dactylus shell (10) and terminal dactylus shell (11) are provided with confined planes at each dactylus touching position; Such structure can make first knuckle shell (9) and middle dactylus shell (10) spacing mutually, and middle dactylus shell (10) is spacing mutually with terminal dactylus shell (11).Other compositions are identical with the specific embodiment one with annexation.
Motor I in the above embodiment, motor II, motor II I all adopt reducing motor, need not to install deceleration device, reduce the dactylus volume to greatest extent.
The equal aluminium alloy material of material of the pedestal in the above embodiment, connection support and each dactylus left side plate, bevel gear is selected stainless steel material for use with each joint shaft, has not only guaranteed the intensity that finger structure is required but also alleviated the weight of finger.
With specific embodiment structure of the present invention and operation principle are described above; The present invention is not limited to above embodiment; According to above-mentioned description; All any modification, replacement and improvement of within spirit of the present invention and principle, being done etc. all should be included within protection scope of the present invention.

Claims (6)

1. picking fruit machine people clever hand finger structure, it comprises that motor I (1), motor II (2), motor II I (7), pedestal (5), first knuckle (19), middle dactylus (20), terminal dactylus (21), tape handler I (3), preceding supporting (6), back supporting (8), gear differential attachment (15), tape handler II (16), coupled links transmission mechanism (17), cross axle (12), left knee joint shaft (13), terminal dactylus joint shaft (14), first knuckle shell (9), middle dactylus shell (10), terminal dactylus shell (11), first knuckle refer to that tripe cover plate (22) and middle dactylus refer to tripe cover plate (23); It is characterized in that: described motor I (1) and motor II (2) are packed on the pedestal (5); Motor II I (7) is packed in the back supporting (8) through motor frame (4); Preceding supporting (6) and back supporting (8) all are fixed on the pedestal (5); The rear side of described cross axle (12) and front side turning set respectively are connected between back supporting (8) and the preceding supporting (6), and the output shaft of motor II I (7) is connected with the rear side of cross axle (12) through second shaft coupling (33); First drive bevel gear (25) of described gear differential attachment (15) and the axial line of second drive bevel gear (28) overlap; And first drive bevel gear (25) turning set is connected on the driving shaft of second drive bevel gear (28); The output shaft of motor II (2) is connected with the driving shaft of second drive bevel gear (28) through first shaft coupling (32), and first driven wheel of differential (27) connects firmly the left side that turning set also is connected on cross axle (12) through adapter sleeve (34) and first knuckle left plate (36); The second active synchronization belt wheel (31) of described tape handler II (16) and second driven wheel of differential (30) of gear differential attachment (15) connect firmly and turning set is connected on the right side of cross axle (12); First runner (44) of described coupled links transmission mechanism (17) connects firmly with first knuckle left plate (36) and turning set is connected on the left knee joint shaft (13); One end of connecting rod (45) is rotationally connected with the bearing pin (47) that is fixed on first runner (44); Second runner (46) of coupled links transmission mechanism (17) and terminal dactylus left plate (40) connect firmly and turning set is connected on the terminal dactylus joint shaft (14), and the other end of connecting rod (45) is rotationally connected with the bearing pin (47) that is fixed on second runner (46).
2. picking fruit machine people clever hand finger structure according to claim 1; It is characterized in that described gear differential attachment (15) is made up of first drive bevel gear (25), first Intermediate bevel gears (26), first driven wheel of differential (27), second drive bevel gear (28), second Intermediate bevel gears (29), second driven wheel of differential (30) and cross axle (12); Described first drive bevel gear (25), first Intermediate bevel gears (26) are identical with first driven wheel of differential (27) modulus; And axial line is vertical in twos; Wherein first drive bevel gear (25) and first driven wheel of differential (27) are identical; First Intermediate bevel gears (26) simultaneously and first drive bevel gear (25) mesh with first driven wheel of differential (27), first Intermediate bevel gears (26) and first driven wheel of differential (27) turning set respectively are connected on the rear side and the left side of cross axle (12); Described second drive bevel gear (28), second Intermediate bevel gears (29) are identical with second driven wheel of differential (30) modulus; And axial line is vertical in twos; Wherein second drive bevel gear (28) and second driven wheel of differential (30) are identical; Second Intermediate bevel gears (29) simultaneously and second drive bevel gear (28) mesh with second driven wheel of differential (30), second Intermediate bevel gears (29) and second driven wheel of differential (30) turning set respectively are connected on the front side and the right side of cross axle (12).
3. picking fruit machine people clever hand finger structure according to claim 1; The first active synchronization belt wheel (3-1) that it is characterized in that described tape handler I (3) is packed on the output shaft of motor I (1); The first driven synchronous pulley (3-2) is fixedly connected with the overhanging end of first drive bevel gear (25), and the overhanging end of first drive bevel gear (25) passes sleeve (18) turning set and is connected on the driving shaft of second drive bevel gear (28).
4. picking fruit machine people clever hand finger structure according to claim 1; The second active synchronization belt wheel (31) that it is characterized in that described tape handler II (16) limits its generation axially-movable back-up ring (24) and first knuckle right plate (35); The second driven synchronous pulley (43) of tape handler II (16) is fixedly connected with left knee joint shaft (13); Connection support (42) lower side of middle dactylus (20) is fixedly connected with left knee joint shaft (13); The connection support (42) of middle dactylus (20) is fixedly connected with middle dactylus right plate (37) with middle dactylus left plate (38), and connection support (42) upside of middle dactylus (20) is fixedly connected with terminal dactylus joint shaft (14).
5. according to claim 3 or 4 described picking fruit machine people clever hand finger structures; It is characterized in that first of described tape handler I (3) is with second of (3-3) and tape handler II (16) to be with (41) to be tooth form synchronous belt synchronously synchronously; Tape handler I (3) is arranged in the pedestal (5), and tape handler II (16) is arranged in the first knuckle (19).
6. picking fruit machine people clever hand finger structure according to claim 1; It is characterized in that described first knuckle shell (9) and first knuckle refer to that tripe cover plate (22) is fixedly connected with first knuckle left plate (36) with first knuckle right plate (35); Middle dactylus shell (10) refers to that with middle dactylus tripe cover plate (23) is fixedly connected with middle dactylus left plate (38) with middle dactylus right plate (37), and terminal dactylus shell (11) is fixedly connected with terminal dactylus left plate (40) with terminal dactylus right plate (39).
CN2012102108967A 2012-06-19 2012-06-19 Finger structure of skillful hand of fruit picking robot Pending CN102729255A (en)

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CN104029208A (en) * 2013-03-08 2014-09-10 河北农业大学 Rigid and flexible parallel connected under-driving strawberry picking manipulator tail end actuator device
CN104070532A (en) * 2014-07-14 2014-10-01 中国科学院合肥物质科学研究院 Joint of multi-section folding type remote operation mechanical arm
CN105619442A (en) * 2016-03-17 2016-06-01 清华大学 Belt wheel type surface longitudinal sliding robot finger device
CN106393152A (en) * 2016-12-01 2017-02-15 无锡市创恒机械有限公司 Synchronous mechanical grabber
CN106426238A (en) * 2015-08-10 2017-02-22 北京空间飞行器总体设计部 Tendon-connecting rod hybrid transmission two-degree-of-freedom mechanism capable of self extending
WO2018056799A1 (en) * 2016-09-23 2018-03-29 Universidad Nacional Autónoma de México Configurable robot manipulator actuated by actuators and links
CN109605406A (en) * 2018-12-11 2019-04-12 安阳工学院 A kind of bionic finger
CN111390963A (en) * 2019-10-24 2020-07-10 浙江工业大学 Base joint of robot humanoid dexterous finger
CN112976035A (en) * 2021-05-21 2021-06-18 季华实验室 Dexterous finger and mechanical clamping jaw

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Publication number Priority date Publication date Assignee Title
CN104029208A (en) * 2013-03-08 2014-09-10 河北农业大学 Rigid and flexible parallel connected under-driving strawberry picking manipulator tail end actuator device
CN104070532A (en) * 2014-07-14 2014-10-01 中国科学院合肥物质科学研究院 Joint of multi-section folding type remote operation mechanical arm
CN106426238A (en) * 2015-08-10 2017-02-22 北京空间飞行器总体设计部 Tendon-connecting rod hybrid transmission two-degree-of-freedom mechanism capable of self extending
CN106426238B (en) * 2015-08-10 2019-02-12 北京空间飞行器总体设计部 Tendon-connecting rod mixed drive can be from stretching, extension two-freedom mechanism
CN105619442A (en) * 2016-03-17 2016-06-01 清华大学 Belt wheel type surface longitudinal sliding robot finger device
WO2018056799A1 (en) * 2016-09-23 2018-03-29 Universidad Nacional Autónoma de México Configurable robot manipulator actuated by actuators and links
CN106393152A (en) * 2016-12-01 2017-02-15 无锡市创恒机械有限公司 Synchronous mechanical grabber
CN109605406A (en) * 2018-12-11 2019-04-12 安阳工学院 A kind of bionic finger
CN109605406B (en) * 2018-12-11 2021-05-14 安阳工学院 Bionic finger
CN111390963A (en) * 2019-10-24 2020-07-10 浙江工业大学 Base joint of robot humanoid dexterous finger
CN112976035A (en) * 2021-05-21 2021-06-18 季华实验室 Dexterous finger and mechanical clamping jaw
CN112976035B (en) * 2021-05-21 2021-08-10 季华实验室 Dexterous finger and mechanical clamping jaw

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