CN103009383A

CN103009383A - Telescopic PRRRPR type manipulator for picking robots

Info

Publication number: CN103009383A
Application number: CN2012105284797A
Authority: CN
Inventors: 刘继展; 刘炜; 李冉
Original assignee: Jiangsu University
Current assignee: Jiangsu University
Priority date: 2012-12-11
Filing date: 2012-12-11
Publication date: 2013-04-03
Anticipated expiration: 2032-12-11
Also published as: CN103009383B

Abstract

The invention discloses a telescopic PRRRPR type manipulator for picking robots, which relates to the field of agricultural robots. The telescopic PRRRPR type manipulator comprises a telescopic wrist joint and a telescopic body joint. When the telescopic wrist joint and the telescopic body joint need to be linearly extended, by means of the transmission of a gear and outer wall gear teeth, a motor drives an outer driving sleeve to rotate, vertical driving guide grooves on the inner side of the outer driving sleeve drive middle transmission sleeve slide pins on the outer side of a middle transmission sleeve to slide along curved base sleeve slots, and thereby the middle transmission sleeve is driven to rotate and extend out at the same time; and consequently, curved middle transmission sleeve slots drive linearly telescopic sleeve slide pins to slide along the curved middle transmission sleeve slots, so that a linearly telescopic sleeve is driven to extend out. The telescopic wrist joint and the telescopic body joint of the telescopic PRRRPR type manipulator can be linearly extended for multiple times as long as the length of the sleeves, the space occupied by the linearly moving joints is greatly reduced, and the probability of interference between the linearly moving joints and each part of the manipulator is greatly decreased.

Description

The telescopic PRRRPR type of picking robot manipulator

Technical field

The present invention relates to the agricultural equipment field, particularly a kind of adjustable spiral column experiment in cultivation system.

Background technology

When all kinds of fruits and vegetables of spatial distribution growth are carried out the picking robot operation, need to end effector be delivered to harvesting job position near objective fruit with suitable attitude by manipulator, and the fruit distribution is large, the fruit attitude is different, branches and leaves form complicated obstacle in the canopy space, but to the working space operational readiness of manipulator, keep away the barrier ability and the attitude diversity has all proposed very high request; Market existing machinery hand is full cradle head structure substantially, but its working space operational readiness, keep away the needs that barrier ability and attitude diversity all can't the operations of to satisfy effectively fruit and vegetable picking, thereby the picking robot manipulator of a lot of independent developments both at home and abroad, some straight movable joint (Liang Xifeng have been added, Wang Yongwei. tomato harvester tool hand Singularity Analysis and processing. EI, 2006,22(1): 85-88; M.Monta, N.Kondo, YShibano. Agricultural Robot in Grape Production System. IEEE Internatlonal Conference on Robotlcs and Automation, 1995:2504-2509; Seiichi Arima, Naoshi Kondo, Hiroshi Nakamura. Development of Robotic System for Cucumber Harvesting[J]. JARQ, 1996,30:233-238; T. A. Pool, R. C. Harrell. An End-effector for Robotic Removal of Citrus from the Tree. American Society of Agricultural Engineers, 1991,34 (2): 373-378.), its straight movable joint generally adopts the forms such as cylinder-driven or screw drive, cylinder or spiro rod length must guarantee required straight moving stroke, greatly increased manipulator size and take up room, install and use constant, range of motion is limited, and manipulator is interfered may be increased greatly.

Summary of the invention

In order to overcome the deficiency of existing fruit and vegetable picking robot manipulator, the invention provides the telescopic PRRRPR type of a kind of picking robot manipulator, satisfy the requirement of picking robot operation.

The technical solution adopted for the present invention to solve the technical problems is: the telescopic PRRRPR type of a kind of picking robot manipulator, it is characterized in that: described manipulator turns joint, upper body by wrist torsion bar, wrist twisting joint, wrist fork, wrist swinging joint, wrist boom, wrist telescopic joint, forearm, elbow joint, large arm, shoulder joint, shoulder, body, and body telescopic joint and pedestal form; The wrist torsion bar connects with the wrist fork by wrist twisting joint, the wrist fork connects with the wrist boom by the wrist swinging joint, the wrist boom connects with forearm by the wrist telescopic joint; forearm connects with large arm by elbow joint; large arm connects with shoulder by shoulder joint; shoulder turns the joint by body and connects with the upper body, and the upper body connects with pedestal by the body telescopic joint.

The wrist telescopic joint has identical composition structure with the body telescopic joint, comprises straight moving extension sleeve, intermediate transmission sleeve, base socket sleeve, outer drive sleeve; Outer drive sleeve is placed in the outside of base socket sleeve, and base socket sleeve is placed in the outside of intermediate transmission sleeve, and the intermediate transmission sleeve is placed in the outside of straight moving extension sleeve; Guide groove vertically is installed is inserted through 3 projections slips in the base socket sleeve outside for 3 of outer drive sleeve inboard, 3 vertical drivings in the guide groove that 3 intermediate transmission sleeve sliding pins in the intermediate transmission sleeve outside pass respectively 3 base socket sleeve curve grooves and insert outer drive sleeve after the installation, 3 straight moving extension sleeve sliding pins in the straight moving extension sleeve outside pass respectively 3 intermediate transmission sleeve curve grooves and insert in 3 vertical guide grooves of base socket sleeve, rotated by motor drive sleeve outside the transmission of gear and the outer wall gear teeth drives, 3 intermediate transmission sleeve sliding pins stirring the intermediate transmission sleeve outside by 3 vertical driving guide grooves of outer drive sleeve inboard make it slide along 3 base socket sleeve curve grooves, thereby protruding when driving the rotation of intermediate transmission sleeve; And then stir 3 straight moving extension sleeve sliding pins by 3 intermediate transmission sleeve curve grooves it is slided along 3 intermediate transmission sleeve curve grooves, directly to move extension sleeve protruding thereby drive.

The invention has the beneficial effects as follows, but telescopic PRRRPR structure effectively guaranteed fruit and vegetable picking the working space operational readiness, keep away barrier ability and the requirement of attitude diversity, its wrist telescopic joint and body telescopic joint can be realized the linear telescopic motion of length sleeve several times, greatly reduce straight diarthrodial space hold and possible with the interference of manipulator each several part.

Description of drawings

Fig. 1 is the telescopic PRRRPR type of picking robot robot manipulator structure schematic diagram;

Fig. 2 is the telescopic PRRRPR type of picking robot robot movement sketch;

Fig. 3 is the telescopic arm structure schematic diagram;

Fig. 4 is the directly moving extension sleeve structural representation of cartridge type telescopic arm;

Fig. 5 is cartridge type telescopic arm intermediate transmission tube-in-tube structure schematic diagram;

Fig. 6 is cartridge type telescopic arm base socket sleeve structural representation;

Fig. 7 is the outer drive sleeve structural representation of cartridge type telescopic arm;

1. wrist torsion bars among the figure, 2. wrist twisting joint, 3. wrist fork, 4. wrist swinging joint, 5. wrist boom, 6. wrist telescopic joint, 7. forearm, 8. elbow joint, 9. large arm, 10. shoulder joint, 11. shoulders, 12. bodies turn the joint, 13. the upper body, 14. body telescopic joints, 15. pedestals, 16. directly move extension sleeve, 17. intermediate transmission sleeves, 18. base socket sleeves, 19. outer drive sleeve, 20. gears, 21. motors, 22. directly move extension sleeve sliding pin, 23. intermediate transmission sleeve curve grooves, 24. intermediate transmission sleeve sliding pins, 25. projection, 26. vertical guide grooves, 27. base socket sleeve curve grooves, 28. vertically drive guide groove, 29. vertically install guide groove, the 30. outer wall gear teeth.

The specific embodiment

The present invention is further described below in conjunction with drawings and Examples.

Such as Fig. 1～shown in Figure 2, the telescopic PRRRPR type of this picking robot manipulator is turned joint 12, upper body 13, body telescopic joint 14 and pedestal 15 and is formed by wrist torsion bar 1, wrist twisting joint 2, wrist fork 3, wrist swinging joint 4, wrist boom 5, wrist telescopic joint 6, forearm 7, elbow joint 8, large arm 9, shoulder joint 10, shoulder 11, body, wherein wrist twisting joint 4 is around wrist fork 3 axis cradle heads, it is that wrist swinging joint 4, elbow joint 8 and shoulder joint 10 are around the trunnion axis cradle head around the vertical axes cradle head that body turns joint 12.

Wrist torsion bar 1 connects with wrist fork 3 by wrist twisting joint 2, wrist fork 3 connects with wrist boom 5 by wrist swinging joint 4, wrist boom 5 connects with forearm 7 by wrist telescopic joint 6; forearm 7 connects with large arm 9 by elbow joint 8; large arm 9 connects with shoulder 11 by shoulder joint 10; shoulder 11 turns joint 12 by body and connects with upper body 13, and upper body 13 connects with pedestal 15 by body telescopic joint 14.

As shown in Figure 3, wrist telescopic joint 6 has identical composition structure with body telescopic joint 14, comprises straight moving extension sleeve 16, intermediate transmission sleeve 17, base socket sleeve 18, outer drive sleeve 19; Straight moving extension sleeve 16 is cylindrical shape, and directly moving extension sleeve 16 outsides are uniformly distributed along the circumference 3 and directly move extension sleeve sliding pins 22; Intermediate transmission sleeve 17 is cylindrical shape, uniform 3 intermediate transmission sleeve curve grooves 23 on the intermediate transmission sleeve 17, intermediate transmission sleeve 17 outsides 3 the intermediate transmission sleeve sliding pins 24 that are uniformly distributed along the circumference; Base socket sleeve 18 is cylindrical shape, uniform 3 base socket sleeve curve grooves 27 on the base socket sleeve 18, base socket sleeve 18 inboards 3 the vertical guide grooves 26 that are uniformly distributed along the circumference, base socket sleeve 18 outsides 3 projections 25 that are uniformly distributed along the circumference; Intermediate transmission sleeve curve groove 23 is opposite with the arranged direction of base socket sleeve curve groove 27 on base socket sleeve 18 on the intermediate transmission sleeve 17, and the vertical displacement of intermediate transmission sleeve curve groove 23 and base socket sleeve curve groove 27-the sleeve angle relation is consistent, outer drive sleeve 19 inboards are uniform 3 vertical guide grooves 28 and vertical guide grooves 29 of installing of driving respectively, and outer drive sleeve 19 outer lower portion are furnished with the outer wall gear teeth 30.

Outer drive sleeve 19 is placed in the outside of base socket sleeve 18, and base socket sleeve 18 is placed in the outside of intermediate transmission sleeve 17, and intermediate transmission sleeve 17 is placed in the outside of straight moving extension sleeve 16; Guide groove 29 vertically is installed is inserted through 3 projections, 25 slips in base socket sleeve 18 outsides for 3 of outer drive sleeve inboard, 3 intermediate transmission sleeve sliding pins 24 in intermediate transmission sleeve 17 outsides pass respectively 3 base socket sleeve curve grooves 27 and insert 3 of outer drive sleeve 19 and vertically drive in the guide grooves 28 after installing, and directly 3 of moving extension sleeve 16 outsides are directly moved extension sleeve sliding pins 22 and pass respectively 3 intermediate transmission sleeve curve grooves 23 and insert in 3 vertical guide grooves 26 of base socket sleeve 18.

When wrist telescopic joint 6 and body telescopic joint 14 carry out the linear telescopic motion, rotated by motor 21 drive sleeve 19 outside the transmission of gear 20 and the outer wall gear teeth 30 drives, 3 intermediate transmission sleeve sliding pins 24 stirring intermediate transmission sleeve 17 outsides by 3 vertical driving guide grooves 28 of outer drive sleeve inboard make it slide along 3 base socket sleeve curve grooves 27, thereby protruding when driving 17 rotation of intermediate transmission sleeve; And then stir 3 straight moving extension sleeve sliding pins 22 by 3 intermediate transmission sleeve curve grooves 23 it is slided along 3 intermediate transmission sleeve curve grooves 23, thereby it is protruding to drive straight moving extension sleeve 16.3 straight moving extension sleeve sliding pins 22 only can slide by vertical guide groove along 3 of base socket sleeve 18 in the telescopic process, thereby guarantee that directly moving extension sleeve 16 relative base socket sleeves 18 do not relatively rotate and can realize accurate linear telescopic motion.

During the picking robot operation, guarantee that by body telescopic joint 14 working space of the telescopic PRRRPR type of picking robots manipulator can effectively cover the vertical distribution of fruit and increase the attitude diversity of the telescopic PRRRPR type of picking robot manipulator, guarantee in the upper body 13 by wrist telescopic joint 6, shoulder 11, large arm 9; realize fast and accurately straight-line feed of end effector in the forearm 7 fixed situations, thus the control difficulty of effectively having simplified the end effector straight-line feed may with the collision that has reduced picking robot telescopic PRRRPR type manipulator and branches and leaves; Can be adjusted the attitude of end effector by wrist swinging joint 4, turn joint 12 and wrist twisting joint 2 by body and can guarantee that end effector walks around vertical barrier and realize harvesting operation to fruit, 8 of shoulder joint 10 and elbow joints have guaranteed that end effector walks around the ability of horizontal barrier, wrist telescopic joint 6 and body telescopic joint 14 can be realized the linear telescopic motion of length sleeve several times, greatly reduce straight diarthrodial space hold and possible with the interference of manipulator each several part.

Claims

1. the telescopic PRRRPR type of picking robot manipulator is characterized in that: described manipulator is turned joint (12), upper body (13), body telescopic joint (14) and pedestal (15) and is formed by wrist torsion bar (1), wrist twisting joint (2), wrist fork (3), wrist swinging joint (4), wrist boom (5), wrist telescopic joint (6), forearm (7), elbow joint (8), large arm (9), shoulder joint (10), shoulder (11), body; Wrist torsion bar (1) connects with wrist fork (3) by wrist twisting joint (2), wrist fork (3) connects with wrist boom (5) by wrist swinging joint (4), wrist boom (5) connects with forearm (7) by wrist telescopic joint (6); forearm (7) connects with large arm (9) by elbow joint (8); large arm (9) connects with shoulder (11) by shoulder joint (10); shoulder (11) turns joint (12) by body and connects with upper body (13), and upper body (13) connect with pedestal (15) by body telescopic joint (14).

2. the telescopic PRRRPR type of a kind of picking robot according to claim 1 manipulator, it is characterized in that: wrist telescopic joint (6) has identical composition structure with body telescopic joint (14), comprises straight moving extension sleeve (16), intermediate transmission sleeve (17), base socket sleeve (18), outer drive sleeve (19); Outer drive sleeve (19) is placed in the outside of base socket sleeve (18), and base socket sleeve (18) is placed in the outside of intermediate transmission sleeve (17), and intermediate transmission sleeve (17) is placed in the outside of straight moving extension sleeve (16); Intermediate transmission sleeve (17) is cylindrical shape, upper uniform 3 the intermediate transmission sleeve curve grooves (23) of intermediate transmission sleeve (17), and 3 intermediate transmission sleeve sliding pins (24) are uniformly distributed along the circumference outside the intermediate transmission sleeve (17); Base socket sleeve (18) is cylindrical shape, upper uniform 3 the base socket sleeve curve grooves (27) of base socket sleeve (18), base socket sleeve (18) inboard 3 the vertical guide grooves (26) that are uniformly distributed along the circumference, base socket sleeve (18) outside 3 projections (25) that are uniformly distributed along the circumference; Inboard respectively uniform 3 vertical guide groove (28) and the vertical guide grooves (29) of installing of driving of outer drive sleeve (19), outer drive sleeve (19) outer lower portion is furnished with the outer wall gear teeth (30); 3 inboard vertical guide grooves (29) of installing of outer drive sleeve (19) insert through 3 projections (25) slip in base socket sleeve (18) outside, 3 intermediate transmission sleeve sliding pins (24) in intermediate transmission sleeve (17) outside pass respectively 3 base socket sleeve curve grooves (27) and insert 3 of outer drive sleeve (19) and vertically drive in the guide grooves (28) after installing, and directly 3 of moving extension sleeve (16) outside are directly moved extension sleeve sliding pins (22) and pass respectively 3 intermediate transmission sleeve curve grooves (23) and insert in 3 vertical guide grooves (26) of base socket sleeve (18); Rotated by motor (21) drive sleeve (19) outside the transmission of gear (20) and the outer wall gear teeth (30) drives, 3 intermediate transmission sleeve sliding pins (24) of being stirred intermediate transmission sleeve (17) outside by inboard 3 the vertical driving guide grooves (28) of outer drive sleeve (19) make it slide along 3 base socket sleeve curve grooves (27), thereby protruding when driving intermediate transmission sleeve (17) rotation; And then stir 3 straight moving extension sleeve sliding pins (22) by 3 intermediate transmission sleeve curve grooves (23) it is slided along 3 intermediate transmission sleeve curve grooves (23), thereby it is protruding to drive straight moving extension sleeve (16).

3. the telescopic PRRRPR type of picking robot according to claim 1 manipulator, it is characterized in that: wrist twisting joint (2) is around wrist fork (3) axis cradle head, it is that wrist swinging joint (4), elbow joint (8) and shoulder joint (10) are around the trunnion axis cradle head around the vertical axes cradle head that body turns joint (12).

4. the telescopic PRRRPR type of a kind of picking robot according to claim 1 manipulator, it is characterized in that: intermediate transmission sleeve curve groove (23) is upper opposite with the arranged direction of base socket sleeve curve groove (27) on base socket sleeve (18) at intermediate transmission sleeve (17), and intermediate transmission sleeve curve groove (23) and base socket sleeve curve groove (27) vertical displacement-the sleeve angle relation is consistent.