CN103009383B - Telescopic PRRRPR type manipulator for picking robots - Google Patents
Telescopic PRRRPR type manipulator for picking robots Download PDFInfo
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- CN103009383B CN103009383B CN201210528479.7A CN201210528479A CN103009383B CN 103009383 B CN103009383 B CN 103009383B CN 201210528479 A CN201210528479 A CN 201210528479A CN 103009383 B CN103009383 B CN 103009383B
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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
Technical field
The present invention relates to field of agricultural equipment, particularly a kind of adjustable spiral column cultivation pilot system.
Background technology
When picking robot operation is carried out to all kinds of fruits and vegetables of spatial distribution growth, need, by manipulator, end effector is delivered to harvesting job position close to objective fruit with suitable attitude, and fruit distribution is large, fruit attitude is different, in canopy space, branches and leaves form complicated obstacle, to the working space of manipulator, can operational readiness, keep away barrier ability and attitude diversity is proposed very high request; Market existing machinery hand is full cradle head structure substantially, its working space, can operational readiness, keep away the needs that barrier ability and attitude diversity all effectively cannot meet fruit and vegetable picking operation, thus the picking robot manipulator of a lot of independent development both at home and abroad, add some direct acting joint (Liang Xifeng, Wang Yongwei. tomato harvesting manipulator Singularity Analysis and process. 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 direct acting joint generally adopts the form such as cylinder-driven or screw drive, cylinder or spiro rod length must ensure required direct acting stroke, considerably increase the size of manipulator 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 a kind of picking robot telescopic PRRRPR type manipulator, meeting the requirement of picking robot operation.
The technical solution adopted for the present invention to solve the technical problems is: a kind of picking robot telescopic PRRRPR type 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 formed; Wrist torsion bar is connected with wrist fork by wrist twisting joint, wrist fork is connected with wrist boom by wrist swinging joint, wrist boom is connected with forearm by wrist telescopic joint; forearm is connected with large arm by elbow joint; large arm is connected with shoulder by shoulder joint; shoulder turns joint by body and connects with upper body, and upper body is connected with pedestal by body telescopic joint.
Wrist telescopic joint and body telescopic joint have identical composition structure, comprise direct acting extension sleeve, intermediate transmission sleeve, base socket sleeve, outer drive sleeve, outer drive sleeve is placed on the outside of base socket sleeve, and base socket sleeve is placed on the outside of intermediate transmission sleeve, and intermediate transmission sleeve is placed on the outside of direct acting extension sleeve, 3 inside outer drive sleeve 3 the projections slips of guide groove outside base socket sleeve are vertically installed to insert, 3 intermediate transmission sleeve sliding pins after installation outside intermediate transmission sleeve are each passed through 3 base socket sleeve curve grooves and insert in 3 vertical driving guide grooves of outer drive sleeve, 3 direct acting extension sleeve sliding pins outside direct acting extension sleeve are each passed through 3 intermediate transmission sleeve curve grooves and insert in 3 vertical guide grooves of base socket sleeve, outer drive sleeve is driven to rotate by motor through the transmission of gear and the outer wall gear teeth, guide groove 3 the intermediate transmission sleeve sliding pins stirred outside intermediate transmission sleeve are vertically driven to make it slide along 3 base socket sleeve curve grooves by 3 inside outer drive sleeve, thus it is protruding while driving intermediate transmission sleeve to rotate, and then stir 3 direct acting extension sleeve sliding pins by 3 intermediate transmission sleeve curve grooves and make it slide along 3 intermediate transmission sleeve curve grooves, thus drive direct acting extension sleeve protruding.
The invention has the beneficial effects as follows, telescopic PRRRPR structure effectively ensure that fruit and vegetable picking working space, can operational readiness, keep away barrier ability and attitude diversity requirements, its wrist telescopic joint and body telescopic joint can realize the linear telescopic motion of length sleeve several times, greatly reduce straight diarthrodial space hold and the interference possibility with manipulator each several part.
Accompanying drawing explanation
Fig. 1 is picking robot telescopic PRRRPR type robot manipulator structure schematic diagram;
Fig. 2 is picking robot telescopic PRRRPR type robot movement sketch;
Fig. 3 is telescopic arm structure schematic diagram;
Fig. 4 is the structural representation of cartridge type telescopic arm direct acting extension sleeve;
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 in 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 joint, 13. upper bodies, 14. body telescopic joints, 15. pedestals, 16. direct acting extension sleeves, 17. intermediate transmission sleeves, 18. base socket sleeves, 19. outer drive sleeve, 20. gears, 21. motors, 22. direct acting extension sleeve sliding pins, 23. intermediate transmission sleeve curve grooves, 24. intermediate transmission sleeve sliding pins, 25. projections, 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.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is further described.
As shown in Fig. 1 ~ Fig. 2, this picking robot telescopic PRRRPR type manipulator is turned joint 12, upper body 13, body telescopic joint 14 and pedestal 15 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 head, it is that wrist swinging joint 4, elbow joint 8 and shoulder joint 10 is around horizontal axis joint around vertical axes cradle head that body turns joint 12.
Wrist torsion bar 1 is connected with wrist fork 3 by wrist twisting joint 2, wrist fork 3 is connected with wrist boom 5 by wrist swinging joint 4, wrist boom 5 is connected with forearm 7 by wrist telescopic joint 6; forearm 7 is connected with large arm 9 by elbow joint 8; large arm 9 is connected with shoulder 11 by shoulder joint 10; shoulder 11 turns joint 12 by body and connects with upper body 13, and upper body 13 is connected with pedestal 15 by body telescopic joint 14.
As shown in Figure 3, wrist telescopic joint 6 and body telescopic joint 14 have identical composition structure, comprise direct acting extension sleeve 16, intermediate transmission sleeve 17, base socket sleeve 18, outer drive sleeve 19; Direct acting extension sleeve 16 is cylindrical shape, and be uniformly distributed along the circumference outside direct acting extension sleeve 16 3 direct acting extension sleeve sliding pins 22; Intermediate transmission sleeve 17 is cylindrical shape, uniform 3 intermediate transmission sleeve curve grooves 23 on intermediate transmission sleeve 17, and be uniformly distributed along the circumference outside intermediate transmission sleeve 17 3 intermediate transmission sleeve sliding pins 24; Base socket sleeve 18 is cylindrical shape, uniform 3 base socket sleeve curve grooves 27 on base socket sleeve 18, and be uniformly distributed along the circumference inside base socket sleeve 18 3 vertical guide grooves 26, and be uniformly distributed along the circumference outside base socket sleeve 18 3 projections 25; Intermediate transmission sleeve curve groove 23 is contrary with the arranged direction of base socket sleeve curve groove 27 on base socket sleeve 18 on intermediate transmission sleeve 17, and intermediate transmission sleeve curve groove 23 is consistent with the vertical displacement-sleeve angle relation of base socket sleeve curve groove 27, inside outer drive sleeve 19, uniform 3 vertical guide grooves 28 that drive install guide groove 29 with vertical respectively, and outer drive sleeve 19 outer lower portion is furnished with the outer wall gear teeth 30.
Outer drive sleeve 19 is placed on the outside of base socket sleeve 18, and base socket sleeve 18 is placed on the outside of intermediate transmission sleeve 17, and intermediate transmission sleeve 17 is placed on the outside of direct acting extension sleeve 16; 3 inside outer drive sleeve 3 projections 25 slips of guide groove 29 outside base socket sleeve 18 are vertically installed to insert, 3 intermediate transmission sleeve sliding pins 24 after installation outside intermediate transmission sleeve 17 are each passed through 3 base socket sleeve curve grooves 27 and insert in 3 vertical driving guide grooves 28 of outer drive sleeve 19, and 3 direct acting extension sleeve sliding pins 22 outside direct acting extension sleeve 16 are each passed through 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 linear telescopic motion, outer drive sleeve 19 is driven to rotate by motor 21 through gear 20 and the transmission of the outer wall gear teeth 30, guide groove 28 3 the intermediate transmission sleeve sliding pins 24 stirred outside intermediate transmission sleeve 17 are vertically driven to make it slide along 3 base socket sleeve curve grooves 27 by 3 inside outer drive sleeve, thus protruding while driving intermediate transmission sleeve 17 to rotate; And then stir 3 direct acting extension sleeve sliding pins 22 by 3 intermediate transmission sleeve curve grooves 23 and make it slide along 3 intermediate transmission sleeve curve grooves 23, thus drive direct acting extension sleeve 16 protruding.In telescopic process, 3 direct acting extension sleeve sliding pins 22 only can slide by a vertical guide groove along 3 of base socket sleeve 18, thus ensure that direct acting extension sleeve 16 opposite base sleeve 18 does not relatively rotate and can realize the motion of accurate linear telescopic.
During picking robot operation, ensure that the working space of picking robot telescopic PRRRPR type manipulator effectively can cover the vertical distribution of fruit and add the attitude diversity of picking robot telescopic PRRRPR type manipulator by body telescopic joint 14, ensure in upper body 13 by wrist telescopic joint 6, shoulder 11, large arm 9, end effector straight-line feed is fast and accurately realized in the fixed situation of forearm 7, thus effectively simplify the control difficulty of end effector straight-line feed and reduce the collision possibility of picking robot telescopic PRRRPR type manipulator and branches and leaves, the attitude of end effector can be adjusted by wrist swinging joint 4, turn joint 12 and wrist twisting joint 2 by body and can ensure that the harvesting operation of vertical barrier realization to fruit walked around by end effector, shoulder joint 10 and elbow joint 8 ensure that the ability of horizontal obstacle thing walked around by end effector, wrist telescopic joint 6 and body telescopic joint 14 can realize the linear telescopic motion of length sleeve several times, greatly reduce straight diarthrodial space hold and the interference possibility with manipulator each several part.
Claims (3)
1. a picking robot telescopic PRRRPR type manipulator, is characterized in that: described manipulator is turned joint (12), upper body (13), body telescopic joint (14) and pedestal (15) 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) twists joint (2) by wrist and connects with wrist fork (3), wrist fork (3) is connected with wrist boom (5) by wrist swinging joint (4), wrist boom (5) is connected with forearm (7) by wrist telescopic joint (6); forearm (7) is connected with large arm (9) by elbow joint (8); large arm (9) is connected with shoulder (11) by shoulder joint (10); shoulder (11) turns joint (12) by body and connects with upper body (13), and upper body (13) are connected with pedestal (15) by body telescopic joint (14);
Wrist telescopic joint (6) and body telescopic joint (14) have identical composition structure, comprise direct acting extension sleeve (16), intermediate transmission sleeve (17), base socket sleeve (18), outer drive sleeve (19), outer drive sleeve (19) is placed on the outside of base socket sleeve (18), and base socket sleeve (18) is placed on the outside of intermediate transmission sleeve (17), and intermediate transmission sleeve (17) is placed on the outside of direct acting extension sleeve (16), intermediate transmission sleeve (17) is cylindrical shape, upper uniform 3 intermediate transmission sleeve curves groove (23) of intermediate transmission sleeve (17), and be uniformly distributed along the circumference outside intermediate transmission sleeve (17) 3 intermediate transmission sleeve sliding pins (24), base socket sleeve (18) is cylindrical shape, upper uniform 3 the base socket sleeve curve grooves (27) of base socket sleeve (18), and be uniformly distributed along the circumference inside base socket sleeve (18) 3 vertical guide grooves (26), and be uniformly distributed along the circumference outside base socket sleeve (18) 3 projections (25), outer drive sleeve (19) inner side respectively uniform 3 vertically drive guide groove (28) and guide groove (29) be vertically installed, outer drive sleeve (19) outer lower portion is furnished with the outer wall gear teeth (30), 3 projections (25) slide of guide groove (29) through base socket sleeve (18) outside is vertically installed and inserts for 3 of outer drive sleeve (19) inner side, after installing, 3 intermediate transmission sleeve sliding pins (24) in intermediate transmission sleeve (17) outside are each passed through 3 base socket sleeve curve grooves (27) and insert outer drive sleeve (19) 3 and vertically drive in guide groove (28), 3 direct acting extension sleeve sliding pins (22) in direct acting extension sleeve (16) outside are each passed through 3 intermediate transmission sleeve curves groove (23) and insert in 3 vertical guide grooves (26) of base socket sleeve (18), outer drive sleeve (19) is driven to rotate by motor (21) through gear (20) and the transmission of the outer wall gear teeth (30), it is made to slide along 3 base socket sleeve curve grooves (27) by 33 intermediate transmission sleeve sliding pins (24) vertically driving guide groove (28) to stir intermediate transmission sleeve (17) outside of outer drive sleeve (19) inner side, thus protruding while driving intermediate transmission sleeve (17) to rotate, and then stir 3 direct acting extension sleeve sliding pins (22) by 3 intermediate transmission sleeve curves groove (23) and make it slide along 3 intermediate transmission sleeve curves groove (23), thus drive direct acting extension sleeve (16) protruding.
2. picking robot according to claim 1 telescopic PRRRPR type 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 horizontal axis joint around vertical axes cradle head that body turns joint (12).
3. a kind of picking robot according to claim 1 telescopic PRRRPR type manipulator, it is characterized in that: intermediate transmission sleeve curve groove (23) is above contrary 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) is consistent with the vertical displacement-sleeve angle relation of base socket sleeve curve groove (27).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210528479.7A CN103009383B (en) | 2012-12-11 | 2012-12-11 | Telescopic PRRRPR type manipulator for picking robots |
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| CN201210528479.7A CN103009383B (en) | 2012-12-11 | 2012-12-11 | Telescopic PRRRPR type manipulator for picking robots |
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| CN103009383A CN103009383A (en) | 2013-04-03 |
| CN103009383B true CN103009383B (en) | 2015-04-22 |
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| CN104624517A (en) * | 2013-11-13 | 2015-05-20 | 航天信息股份有限公司 | Manipulator-type automatic grain sorting device |
| CN104221606B (en) * | 2014-07-22 | 2016-05-25 | 中南林业科技大学 | A kind of self-propelled vibration woods fruit harvester and collecting method thereof |
| CN104718892A (en) * | 2015-03-10 | 2015-06-24 | 华南农业大学 | Light cutting device universal for garden stuff picking and robot of light cutting device |
| CN106493719B (en) * | 2015-09-08 | 2019-07-23 | 微创（上海）医疗机器人有限公司 | Mechanical arm and robot |
| CN105881526B (en) * | 2016-05-28 | 2018-06-22 | 东莞市联洲知识产权运营管理有限公司 | A kind of light-duty six axis all-purpose robot equipped with adjutage |
| CN107553503A (en) * | 2017-10-13 | 2018-01-09 | 北京京金吾高科技股份有限公司 | Mechanical arm and explosive-removal robot |
| CN107690961A (en) * | 2017-11-23 | 2018-02-16 | 安徽理工大学 | A kind of electronic assisting in fruit picking device of double freedom and fruit picking component |
| CN111872932A (en) * | 2020-08-04 | 2020-11-03 | 武汉轻工大学 | Mechanical arm |
| US20220185603A1 (en) * | 2020-12-14 | 2022-06-16 | Charles A. Statton | Systems and Methods Related to Transfer Sampling of Particle Mixtures |
| CN113002637A (en) * | 2021-02-08 | 2021-06-22 | 的卢技术有限公司 | Wind resistance-reducing active wheel wind-blocking ring system |
| CN113103277A (en) * | 2021-03-10 | 2021-07-13 | 中北大学 | Robot joint device driven by curved groove |
| CN117045935A (en) * | 2023-07-06 | 2023-11-14 | 上海神玑医疗科技有限公司 | Catheter telescopic supporting device and catheter interventional operation robot |
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| EP2671689B1 (en) * | 2011-01-31 | 2015-02-25 | Toyota Jidosha Kabushiki Kaisha | Multi-joint arm robot, control method, and control program |
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