CN103688660B - A kind of drive lacking picking end actuating unit and method - Google Patents
A kind of drive lacking picking end actuating unit and method Download PDFInfo
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- CN103688660B CN103688660B CN201310651649.5A CN201310651649A CN103688660B CN 103688660 B CN103688660 B CN 103688660B CN 201310651649 A CN201310651649 A CN 201310651649A CN 103688660 B CN103688660 B CN 103688660B
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Abstract
The present invention discloses a kind of drive lacking picking end actuating unit and method, and its device comprises hand executing agency, driving mechanism and mounting assembly, and hand executing agency is connected with driving mechanism by mounting assembly; Hand executing agency is three-pawl type structure, three paws are uniformly distributed in palm neighboring, are installed on palm bottom each paw by corresponding hinge assembly, arrange pulley in the middle part of each paw, each pulley is connected with palm by steel wire rope, and bottom palm is connected with driving mechanism by briquetting.Its method is that spool rotates Wound steel rope, and rope belt is started pawl and drawn close to fruit and clamp fruit, and after clamping fruit, spool drives fruit, paw rotates relative to motor support base together with palm, realizes torsion separation fruit.The present invention's application drive lacking principle, realize first clamping fruit, then fruit is reversed separation, the whole course of work controls simple, and efficiency is high; Also can control the clamping force of paw to fruit preferably simultaneously, avoid the phenomenon that fruit damages.
Description
Technical field
The present invention relates to vegetables and fruits picked technology field, particularly a kind of drive lacking picking end actuating unit and method being applicable to class spherefruit.
Background technology
Pluck the link that operation is most time and effort consuming during fruits and vegetables are produced.Adopt picking robot to replace artificial harvesting, be under Rural Areas at Present labour's worsening shortages, cost of labor increase condition gradually, realize fruit timely collecting, reduce cost of gathering, ensure the effective way that orchard worker increases income.End effector mechanism is mounted in picking robot front end, directly contact with harvesting target, realize fruit captures and the device be separated, and is the key execution part that picking robot realizes fruit and vegetable picking.
Existing picking end executing agency generally adopts full type of drive, the number of degrees of freedom, of end effector mechanism is identical with driving number, there is grasping mechanism flexibility ratio stronger, number of degrees of freedom is more, drived control and the higher contradiction of structural complexity, so the end of full type of drive plucks the general comparatively complexity of executing agency, manufacturing cost is also high, and is not suitable for the Agriculture Present Situation of China.
Drive lacking mode is that driver number is less than number of degrees of freedom, object frame mode, general employing spring or torsion spring are as dynamic effect, the flexibility and flexibility that realize capturing is out of shape by spring self-adapting, have structure simple, control simple, lightweight, cost is low, can realize the advantages such as self-adapting grasping to a certain degree to object, becomes the research emphasis of Present Domestic fruit and vegetable picking end effector mechanism outward gradually.
But at present, the picking end executing agency development of drive lacking mode is also immature, applies also less.The utility model application being 201320105463.5 as application number discloses a kind of hard and soft series-parallel connection drive lacking strawberry picking mechanical arm end effector apparatus, paw is driven to bend by pneumatic muscle, the transmission of the flexible drive of pneumatic muscle and paw joint gear, cog belt, rotary cylinder drives wrist dish to rotate and realizes plucking object; But in actual applications, due to the poor reliability of pneumatic gearing, to the certainty inaccuracy of fruit power taking degree, it is large that paw bends rotation amplitude, thus often can produce fruit damage or win less than phenomenon.Application number be 201210217928.6 patent application disclose a kind of drive lacking picking mechanical arm end effector apparatus, adopt Electric Machine Control pinion rotation, sensor control gear and engaging between gear, wheel and rack realize that paw is bending to be captured and turn disc, reach the object of fruit and vegetable picking; But due to crawl armrest pawl and the contact plate of fruit, crawl dynamics is difficult to get hold of, and easily causes fruit to depart from rolling disc rotary course, exist fruit take less than phenomenon more.Application number be 201120410016.1 utility model application a kind of fruit/vegetable picking under-actuated mechanical manipulator is disclosed, drive multiple paw by a stepper motor simultaneously, and with torsion spring as limiting mechanism, paw face is equipped with contact force sensor and is captured dynamics to detect FEEDBACK CONTROL, makes it to have envelope and captures function; This device precision is higher, but paw structure is more complicated, total quality is heavier, manufacturing cost is also high.In addition, all also there is driving mechanism part and mechanical paw distance, transmit the defect that torque is large, power consumption is large, power performance is poor in above-mentioned three kinds of mechanical devices.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, provide a kind of structure simple, fruit clamping can be realized simultaneously and reverse the drive lacking picking end actuating unit be separated.
Another object of the present invention is to provide a kind of drive lacking picking end manner of execution realized by said apparatus.
Technical scheme of the present invention is: a kind of drive lacking picking end actuating unit, and comprise hand executing agency, driving mechanism and mounting assembly, hand executing agency is connected with driving mechanism by mounting assembly; Hand executing agency is three-pawl type structure, comprise three paws, three hinge assemblies, three sections of steel wire ropes, a palm and briquettings, three paws are uniformly distributed in palm neighboring, be installed on palm by corresponding hinge assembly bottom each paw, in the middle part of each paw, pulley is set, each pulley is connected with palm by steel wire rope, and bottom palm is connected with driving mechanism by briquetting.Wherein, hand executing agency is used for clamping and reverses class spherefruit, and driving mechanism is used for providing power for hand executing agency, and mounting assembly is used for hand executing agency to be fixedly connected with driving mechanism.
Described palm top is provided with the upper cylinder upwards extended, upper cylinder lateral wall is provided with the rectangular channel of connecting steel wire ropes, palm bottom is lower cylinder, lower cylinder lateral wall is evenly provided with three ear seats of fixing paw, is connected bottom each paw by hinge assembly with ear seat; Upper cylinder and lower cylinder coaxially arrange and are integral type structure, and driving mechanism is located in the space in the middle part of cylinder and lower cylinder.
On described palm, each ear seat has groove, is embedded in groove bottom paw, and the ear seat sidewall being positioned at groove both sides is provided with the first pin hole;
Hinge assembly comprises the first pin, torsion spring and the first circlip, and torsion spring is located in the middle part of the first pin, and at the first pin hole place, paw is connected with ear seat by the first pin, and the first pin ends is located at by the first circlip.
Described paw comprises finger, rubber sleeve, pulley, the second pin and the second circlip, finger lower end is connected with palm, finger upper end is fixedly connected with rubber sleeve, finger is also provided with pulley with the link of rubber sleeve, pulley is located on finger by the second pin, the second pin ends is located at by second circlip, and steel wire rope is connected with pulley.
Described mounting assembly comprises motor support base and is connected bearing, and motor support base top is connected with palm, connects holder top and is connected with bottom motor support base, connect the external picking mechanical arm of rest base.Wherein, the connected mode of matched in clearance can be adopted between motor support base and the lower cylinder of palm, briquetting is threaded with in the middle part of power transmission shaft, palm is axially pressed in motor support base upper surface by briquetting lower surface, three sections of steel wire rope one end to be separately fixed on palm outside cylinder, the other end walks around the pulley in the middle part of three paws respectively, through palm upper end rectangular through slot, is uniformly fixed on spool lower end.
Described driving mechanism comprises motor, shaft coupling, power transmission shaft and spool, and motor is installed on electric machine support, and the output shaft of motor is connected with power transmission shaft by shaft coupling, and power transmission shaft top is connected with spool; Steel cord ends is fixed on spool, and power transmission shaft periphery is located at by briquetting, and power transmission shaft is connected with palm by briquetting.
When this drive lacking picking end actuating unit uses, wherein the operation principle of hand executing agency is: spool rotates Wound steel rope, rope belt is started pawl and is overcome the resistance of torsion spring in hinge component, and draw close to fruit, close to also progressively clamping fruit, after clamping fruit, paw radial motion resistance is larger, steel wire rope moves to the direction that resistance is less, and drive fruit, paw rotate relative to motor support base together with palm, realizes reversing fruit object; After fruit reverses and is separated, motor reversal, spool unclamps steel wire rope, paw counter motion under the torsion spring effect of hinge component, realizes unclamping fruit object, recovers open configuration simultaneously.
The present invention realizes a kind of drive lacking picking end manner of execution by said apparatus, comprises the following steps:
(1) when end actuating unit is in original state, paw is in open configuration;
(2) after picking mechanical arm detects mellow fruit, end actuating unit moves to fruit and enters paw inside, now, electric motor starting in driving mechanism, motor drives spool to rotate by shaft coupling and power transmission shaft, spool rotates Wound steel rope, and each steel wire rope drives corresponding paw to draw close to palm center, progressively clamps fruit;
(3) after paw clamping fruit, motor is rotated further, and drive spool, paw rotate together with palm, realize fruit to win;
(4) after fruit is won, motor rotates backward, and drive spool to unclamp steel wire rope, paw resets under the effect of hinge assembly, unclamps fruit and recovers open configuration.
Wherein, in described step (3), after paw clamping fruit, when motor is rotated further, the resistance that paw continues to do radial motion is greater than the resistance that paw rotates together with palm.
The present invention, relative to prior art, has following beneficial effect:
1, this drive lacking picking end actuating unit and method application drive lacking principle, realize first clamping fruit, then fruit is reversed separation, the whole course of work controls simple, and efficiency is high; Also can control the clamping force of paw to fruit preferably simultaneously, avoid the phenomenon that fruit damages; Can adapt to the existing Agriculture Present Situation of China preferably, range of application is wider.
2, this drive lacking picking end actuating unit adopts a motor to drive, realize the motion on two degree of freedom directions, reduce overall structure size and the weight of end actuating unit, improve power performance, reduce power consumption, also simplify the structure of end actuating unit simultaneously.
3, in this drive lacking picking end actuating unit, spool, steel wire rope, pulley, torsion spring etc. are adopted to drive paw clamping and reverse, simple and compact for structure, cheap; Paw end adopts rubber sleeve to play anti-skidding and cushioning effect to fruit, ensures the accuracy rate of picking fruit, avoids the phenomenon of adopting sky or fruit damage.
4, this drive lacking picking end actuating unit adopts three-jaw method of clamping, is suitable for adopting clamping to reverse the class spherefruit of separate mode, highly versatile.
Accompanying drawing explanation
Fig. 1 is the structural representation of this drive lacking picking end actuating unit.
Fig. 2 is the A direction view of Fig. 1.
Fig. 3 is the structural representation of mounting assembly and driving mechanism.
Fig. 4 is the B-B direction view of Fig. 3.
Fig. 5 is the C direction view of Fig. 4.
Fig. 6 is the structural representation of single paw.
Fig. 7 is the D-D direction view of Fig. 6.
Fig. 8 is the E direction view of Fig. 6.
Embodiment
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited thereto.
Embodiment
A kind of drive lacking picking end of the present embodiment actuating unit, as shown in Figure 1 or 2, comprise hand executing agency, driving mechanism and mounting assembly, hand executing agency is connected with driving mechanism by mounting assembly; Hand executing agency is three-pawl type structure, comprise three paws, three hinge assemblies, three sections of steel wire ropes, 1, palm 2 and briquetting 3(are shown in Fig. 4), three paws are uniformly distributed in palm neighboring, be installed on palm by corresponding hinge assembly bottom each paw, in the middle part of each paw, pulley is set, each pulley is connected with palm by steel wire rope, and bottom palm is connected with driving mechanism by briquetting.Wherein, hand executing agency is used for clamping and reverses class spherefruit, and driving mechanism is used for providing power for hand executing agency, and mounting assembly is used for hand executing agency to be fixedly connected with driving mechanism.
As shown in Fig. 3, Fig. 4 or Fig. 5, palm top is provided with the upper cylinder 2-1 upwards extended, upper cylinder lateral wall is provided with the rectangular channel 2-3 of connecting steel wire ropes, palm bottom is lower cylinder 2-2, lower cylinder lateral wall is evenly provided with three ear seat 2-4 of fixing paw, is connected with ear seat by hinge assembly bottom each paw; Upper cylinder and lower cylinder coaxially arrange and are integral type structure, and driving mechanism is located in the space in the middle part of cylinder and lower cylinder.
As shown in Figure 3, on palm, each ear seat has groove, is embedded in groove bottom paw, and the ear seat sidewall being positioned at groove both sides is provided with the first pin hole;
As shown in Fig. 6 or Fig. 8, hinge assembly comprises the first pin 4, torsion spring 5 and the first circlip 6, and torsion spring is located in the middle part of the first pin, and at the first pin hole place, paw is connected with ear seat by the first pin, and the first pin ends is located at by the first circlip.
As is seen in fig. 6 or fig. 7, paw comprises finger 7, rubber sleeve 8, pulley 9, second pin 10 and the second circlip 11, finger lower end is connected with palm, finger upper end is fixedly connected with rubber sleeve, finger is also provided with pulley with the link of rubber sleeve, pulley is located on finger by the second pin, and the second pin ends is located at by the second circlip, and steel wire rope is connected with pulley.
As shown in Figure 4, mounting assembly comprises motor support base 12 and is connected bearing 13, and motor support base top is connected with palm, connects holder top and is connected with bottom motor support base, connect the external picking mechanical arm of rest base.Wherein, the connected mode of matched in clearance can be adopted between motor support base and the lower cylinder of palm, briquetting is threaded with in the middle part of power transmission shaft, palm is axially pressed in motor support base upper surface by briquetting lower surface, three sections of steel wire rope one end to be separately fixed on palm outside cylinder, the other end walks around the pulley in the middle part of three paws respectively, through palm upper end rectangular through slot, is uniformly fixed on spool lower end.
Driving mechanism comprises motor 14, shaft coupling 15, power transmission shaft 16 and spool 17, and motor is installed on electric machine support, and the output shaft of motor is connected with power transmission shaft by shaft coupling, and power transmission shaft top is connected with spool; Steel cord ends is fixed on spool, and power transmission shaft periphery is located at by briquetting, and power transmission shaft is connected with palm by briquetting.
When this drive lacking picking end actuating unit uses, wherein the operation principle of hand executing agency is: spool rotates Wound steel rope, rope belt is started pawl and is overcome the resistance of torsion spring in hinge component, and draw close to fruit, close to also progressively clamping fruit, after clamping fruit, paw radial motion resistance is larger, steel wire rope moves to the direction that resistance is less, and drive fruit, paw rotate relative to motor support base together with palm, realizes reversing fruit object; After fruit reverses and is separated, motor reversal, spool unclamps steel wire rope, paw counter motion under the torsion spring effect of hinge component, realizes unclamping fruit object, recovers open configuration simultaneously.
The present embodiment realizes a kind of drive lacking picking end manner of execution by said apparatus, comprises the following steps:
(1) when end actuating unit is in original state, paw is in open configuration;
(2) after picking mechanical arm detects mellow fruit, end actuating unit moves to fruit and enters paw inside, now, electric motor starting in driving mechanism, motor drives spool to rotate by shaft coupling and power transmission shaft, spool rotates Wound steel rope, and each steel wire rope drives corresponding paw to draw close to palm center, progressively clamps fruit;
(3) after paw clamping fruit, motor is rotated further, and drive spool, paw rotate together with palm, realize fruit to win;
(4) after fruit is won, motor rotates backward, and drive spool to unclamp steel wire rope, paw resets under the effect of hinge assembly, unclamps fruit and recovers open configuration.
Wherein, in described step (3), after paw clamping fruit, when motor is rotated further, the resistance that paw continues to do radial motion is greater than the resistance that paw rotates together with palm.
As mentioned above, just can realize the present invention preferably, above-described embodiment is only preferred embodiment of the present invention, is not used for limiting practical range of the present invention; Namely all equalizations done according to content of the present invention change and modify, all by the claims in the present invention scope required for protection is contained.
Claims (7)
1. a drive lacking picking end actuating unit, is characterized in that, comprises hand executing agency, driving mechanism and mounting assembly, and hand executing agency is connected with driving mechanism by mounting assembly; Hand executing agency is three-pawl type structure, comprise three paws, three hinge assemblies, three sections of steel wire ropes, a palm and briquettings, three paws are uniformly distributed in palm neighboring, be installed on palm by corresponding hinge assembly bottom each paw, in the middle part of each paw, pulley is set, each pulley is connected with palm by steel wire rope, and bottom palm is connected with driving mechanism by briquetting;
Described palm top is provided with the upper cylinder upwards extended, upper cylinder lateral wall is provided with the rectangular channel of connecting steel wire ropes, palm bottom is lower cylinder, lower cylinder lateral wall is evenly provided with three ear seats of fixing paw, is connected bottom each paw by hinge assembly with ear seat; Upper cylinder and lower cylinder coaxially arrange and are integral type structure, and driving mechanism is located in the space in the middle part of cylinder and lower cylinder.
2. a kind of drive lacking picking end actuating unit according to claim 1, it is characterized in that, on described palm, each ear seat has groove, is embedded in groove bottom paw, and the ear seat sidewall being positioned at groove both sides is provided with the first pin hole;
Hinge assembly comprises the first pin, torsion spring and the first circlip, and torsion spring is located in the middle part of the first pin, and at the first pin hole place, paw is connected with ear seat by the first pin, and the first pin ends is located at by the first circlip.
3. a kind of drive lacking picking end actuating unit according to claim 1, it is characterized in that, described paw comprises finger, rubber sleeve, pulley, the second pin and the second circlip, finger lower end is connected with palm, finger upper end is fixedly connected with rubber sleeve, and finger is also provided with pulley with the link of rubber sleeve, and pulley is located on finger by the second pin, the second pin ends is located at by second circlip, and steel wire rope is connected with pulley.
4. a kind of drive lacking picking end actuating unit according to claim 1, it is characterized in that, described mounting assembly comprises motor support base and is connected bearing, and motor support base top is connected with palm, connect holder top to be connected with bottom motor support base, connect the external picking mechanical arm of rest base.
5. a kind of drive lacking picking end actuating unit according to claim 4, it is characterized in that, described driving mechanism comprises motor, shaft coupling, power transmission shaft and spool, motor is installed on electric machine support, the output shaft of motor is connected with power transmission shaft by shaft coupling, and power transmission shaft top is connected with spool; Steel cord ends is fixed on spool, and power transmission shaft periphery is located at by briquetting, and power transmission shaft is connected with palm by briquetting.
6. device realizes a kind of drive lacking picking end manner of execution according to claim 5, it is characterized in that, comprises the following steps:
(1) when end actuating unit is in original state, paw is in open configuration;
(2) after picking mechanical arm detects mellow fruit, end actuating unit moves to fruit and enters paw inside, now, electric motor starting in driving mechanism, motor drives spool to rotate by shaft coupling and power transmission shaft, spool rotates Wound steel rope, and each steel wire rope drives corresponding paw to draw close to palm center, progressively clamps fruit;
(3) after paw clamping fruit, motor is rotated further, and drive spool, paw rotate together with palm, realize fruit to win;
(4) after fruit is won, motor rotates backward, and drive spool to unclamp steel wire rope, paw resets under the effect of hinge assembly, unclamps fruit and recovers open configuration.
7. a kind of drive lacking picking end manner of execution according to claim 6, it is characterized in that, in described step (3), after paw clamping fruit, when motor is rotated further, the resistance that paw continues to do radial motion is greater than the resistance that paw rotates together with palm.
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| CN201310651649.5A CN103688660B (en) | 2013-12-05 | 2013-12-05 | A kind of drive lacking picking end actuating unit and method |
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| CN201310651649.5A CN103688660B (en) | 2013-12-05 | 2013-12-05 | A kind of drive lacking picking end actuating unit and method |
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| CN103688660A CN103688660A (en) | 2014-04-02 |
| CN103688660B true CN103688660B (en) | 2015-09-30 |
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