CN104782325A - Under-actuated dexterous mechanical hand for picking fruits and vegetables - Google Patents
Under-actuated dexterous mechanical hand for picking fruits and vegetables Download PDFInfo
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- CN104782325A CN104782325A CN201510215931.8A CN201510215931A CN104782325A CN 104782325 A CN104782325 A CN 104782325A CN 201510215931 A CN201510215931 A CN 201510215931A CN 104782325 A CN104782325 A CN 104782325A
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- connecting rod
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Abstract
An under-actuated dexterous mechanical hand for picking fruits and vegetables comprises a support upper plate, silica gel layers, paws, end covers, rockers, first connecting rods, bolts, torsional springs, second connecting rods, cranks, protruding blocks, a nut, a support lower plate, supporting rods, a screw rod, a motor, a bottom plate and rolling shafts. The controller is mounted on the bottom plate. Three supporting rods and the motor are mounted on the bottom plate. The controller is connected with the motor through a wire. An output shaft of the motor is connected with the screw rod through a coupling. The support upper plate is mounted at the upper end of the screw rod, and the nut is mounted on the screw rod. The support lower plate is mounted below the nut and is not in contact with the screw rod. The upper ends of the supporting rods penetrate through the support lower plate and are connected with the support upper plate, and three protruding blocks are mounted on the support lower plate. The under-actuated dexterous mechanical hand has the advantages that the paws can be in well fit with various spherical fruits, and lossless picking can be achieved.
Description
Technical field
The present invention relates to a kind of fruit and vegetable picking under-actuated delicacy manipulator, belong to mechanical equipment technical field.
Background technology
The operation of current domestic spherical fruit fruit and vegetable picking is based on picked by hand substantially, picking efficiency is extremely low, the plantation in indivedual area starts to adopt fruit and vegetable picking machinery hand to carry out the harvesting of fruits and vegetables, for the thinner more crisp fruits and vegetables of exocuticle, very high to the control overflow of paw grasping force, the paw of the fruit and vegetable picking machinery hand of prior art can not well be fitted the profile of various spherical fruit, and paw exists that blessing power is excessive easily weighs fruits and vegetables appearance wounded mostly, or blessing power is too small captures the unstable defect easily making fruits and vegetables drop.In order to solve above-mentioned difficulties, needing to develop paw and must to fit very well the profile of various spherical fruit, and the harmless manipulator plucked can be realized.
Summary of the invention
The object of this invention is to provide a kind of fruit and vegetable picking under-actuated delicacy manipulator.
The problem to be solved in the present invention is that the paw of the fruit and vegetable picking machinery hand of prior art can not well be fitted the profile of various spherical fruit, and can not realize harmless problem of plucking.
For realizing object of the present invention, the technical solution used in the present invention is:
A kind of fruit and vegetable picking under-actuated delicacy manipulator, comprises support upper plate, controller, silica gel layer, paw, end cap, rocking bar, first connecting rod, bolt, torsion spring, second connecting rod, crank, protruding block, screw, support lower plate, support bar, leading screw, motor, base plate and roller bearing, described controller is arranged on base plate, base plate installs three support bars and motor, controller is connected with motor by wire, the output shaft of motor is connected with leading screw by shaft coupling, leading screw upper end mounting bracket upper plate, screw is arranged on leading screw, mounting bracket lower plate under screw, support lower plate and leading screw do not contact with each other, post upper is connected with support upper plate through support lower plate, support lower plate installs three protruding blocks, crank lower end is arranged on protruding block by axle, crank upper end is arranged on second connecting rod by axle, first connecting rod lower end is arranged on second connecting rod right-hand member by axle, two roller bearings are installed in paw lower end, first connecting rod upper end is arranged on the left and right sides of the roller bearing being positioned at right side, rocking bar upper end is arranged on the left and right sides of the roller bearing being positioned at left side, end cap is respectively installed in two ends, roller bearing left and right, second connecting rod left end is arranged in rocking bar lower end by axle, the axle of rocking bar lower end is by rack-mount for rocking bar lower end plate side, construction bolt on second connecting rod, torsion spring is arranged on second connecting rod, one end is wrapped on bolt, the torsion spring other end is connected with rocking bar.
Described paw adopts nylon material to make.
Silica gel layer is installed in described paw front end, silica gel layer embedded pressure sensor.
Advantage of the present invention is: paw employing nylon material is made and paw can be avoided to be corroded by fruit juice, controller controls electromotor and rotates forward, leading screw is rotated forward, screw is moved down with support lower plate, crank lower end is driven to move down, make crank upper end to lower swing, crank upper end drives second connecting rod right-hand member to lower swing to lower swing, first connecting rod is moved down, drive paw to overturn to the right, under the effect of torsion spring, rocking bar upper end is tilted to the right, make the space between three rocking bars become large, enable spherical fruit be clamped between three rocking bars, controller controls motor reversal, leading screw is reversed, screw is moved up with support lower plate, crank lower end is driven upwards to swing, crank upper end upwards swings and drives second connecting rod right-hand member upwards to swing, first connecting rod is moved up, paw is driven to reverse to the left, under the effect of torsion spring, rocking bar upper end is tilted to the left, silica gel layer simultaneously on paw touches on spherical fruit, when the pressure information that the pressure sensor that silica gel layer is embedded is experienced reaches the pressure threshold value of pressure sensor design, pressure sensor by signal transmission to controller, controller controls motor stalls, avoid damaging fruit by pressure, realize harmless fruit-picking, complete the harvesting action of a fruit, after fruit-picking, controller controls electromotor and rotates forward, leading screw is rotated forward, screw is moved down with support lower plate, crank lower end is driven to move down, make crank upper end to lower swing, crank upper end drives second connecting rod right-hand member to lower swing to lower swing, and first connecting rod is moved down, and drives paw to overturn to the right, the silica gel layer on paw is made to depart from spherical fruit, under the effect of torsion spring, rocking bar upper end is tilted to the right, make the space between three rocking bars become large, unclamp spherical fruit, complete the placement action of a fruit.
Accompanying drawing explanation
Fig. 1 is a kind of fruit and vegetable picking under-actuated delicacy of the present invention manipulator overall structure figure;
Fig. 2 is the structural representation of a kind of fruit and vegetable picking under-actuated delicacy of the present invention manipulator paw;
In figure: 1, support upper plate 2, controller 3, silica gel layer 4, paw 5, end cap 6, rocking bar 7, first connecting rod 8, bolt 9, torsion spring 10, second connecting rod 11, crank 12, protruding block 13, screw 14, support lower plate 15, support bar 16, leading screw 17, motor 18, base plate 19, roller bearing 20, spherical fruit.
Embodiment
Below in conjunction with drawings and Examples, the present invention is further illustrated.
A kind of fruit and vegetable picking under-actuated delicacy manipulator, comprise support upper plate 1, controller 2, silica gel layer 3, paw 4, end cap 5, rocking bar 6, first connecting rod 7, bolt 8, torsion spring 9, second connecting rod 10, crank 11, protruding block 12, screw 13, support lower plate 14, support bar 15, leading screw 16, motor 17, base plate 18 and roller bearing 19, described controller 2 is arranged on base plate 18, base plate 18 installs three support bars 15 and motor 17, controller 2 is connected with motor 17 by wire, the output shaft of motor 17 is connected with leading screw 16 by shaft coupling, leading screw 16 upper end mounting bracket upper plate 1, screw 13 is arranged on leading screw 16, screw 13 times mounting bracket lower plates 14, support lower plate 14 and leading screw 16 do not contact with each other, support bar 15 upper end is connected with support upper plate 1 through support lower plate 14, support lower plate 14 installs three protruding blocks 12, crank 11 lower end is arranged on protruding block 12 by axle, crank 11 upper end is arranged on second connecting rod 10 by axle, first connecting rod 7 lower end is arranged on second connecting rod 10 right-hand member by axle, two roller bearings 19 are installed in paw 4 lower end, paw 4 adopts nylon material to make paw 4 can be avoided to be corroded by spherical fruit 20 juice, silica gel layer 3 is installed in paw 4 front end, silica gel layer 3 embedded pressure sensor, first connecting rod 7 upper end is arranged on the left and right sides of the roller bearing 19 being positioned at right side, rocking bar 6 upper end is arranged on the left and right sides of the roller bearing 19 being positioned at left side, end cap 5 is respectively installed at roller bearing about 19 two ends, second connecting rod 10 left end is arranged in rocking bar 6 lower end by axle, the axle of rocking bar 6 lower end is by rack-mount plate 1 side, rocking bar 6 lower end, construction bolt 8 on second connecting rod 10, torsion spring 9 is arranged on second connecting rod 10, torsion spring 9 one ends wound is on bolt 8, torsion spring 9 other end is connected with rocking bar 6, controller 2 controls electromotor and rotates forward, leading screw 16 is rotated forward, screw 13 is moved down with support lower plate 14, crank 11 lower end is driven to move down, make crank 11 upper end to lower swing, crank 11 upper end drives second connecting rod 10 right-hand member to lower swing to lower swing, first connecting rod 7 is moved down, paw 4 is driven to overturn to the right, under the effect of torsion spring 9, rocking bar 6 upper end is tilted to the right, the space between three rocking bars 6 is made to become large, make spherical fruit 20 can be clamped between three rocking bars 6, controller 2 controls motor 17 and reverses, leading screw 16 is reversed, screw 13 is moved up with support lower plate 14, crank 11 lower end is driven upwards to swing, crank 11 upper end upwards swings and drives second connecting rod 10 right-hand member upwards to swing, first connecting rod 7 is moved up, paw 4 is driven to reverse to the left, under the effect of torsion spring 9, rocking bar 6 upper end is tilted to the left, silica gel layer 3 simultaneously on paw 4 touches on spherical fruit 20, when the pressure information that the pressure sensor that silica gel layer 3 is embedded is experienced reaches the pressure threshold value of pressure sensor design, pressure sensor by signal transmission to controller 2, controller 2 controls motor 17 and stops operating, avoid damaging spherical fruit 20 by pressure, realize the spherical fruit 20 of harmless harvesting, complete once the harvesting action of spherical fruit 20, after plucking spherical fruit 20, controller 2 controls electromotor and rotates forward, leading screw 16 is rotated forward, screw 13 is moved down with support lower plate 14, crank 11 lower end is driven to move down, make crank 11 upper end to lower swing, crank 11 upper end drives second connecting rod 10 right-hand member to lower swing to lower swing, first connecting rod 7 is moved down, paw 4 is driven to overturn to the right, the silica gel layer 3 on paw 4 is made to depart from spherical fruit 20, under the effect of torsion spring 9, rocking bar 6 upper end is tilted to the right, the space between three rocking bars 6 is made to become large, unclamp spherical fruit 20, complete once the placement action of spherical fruit 20.
Using method of the present invention: paw 4 adopts nylon material to make paw 4 can be avoided to be corroded by spherical fruit 20 juice, controller 2 controls electromotor and rotates forward, leading screw 16 is rotated forward, screw 13 is moved down with support lower plate 14, crank 11 lower end is driven to move down, make crank 11 upper end to lower swing, crank 11 upper end drives second connecting rod 10 right-hand member to lower swing to lower swing, first connecting rod 7 is moved down, paw 4 is driven to overturn to the right, under the effect of torsion spring 9, rocking bar 6 upper end is tilted to the right, the space between three rocking bars 6 is made to become large, make spherical fruit 20 can be clamped between three rocking bars 6, controller 2 controls motor 17 and reverses, leading screw 16 is reversed, screw 13 is moved up with support lower plate 14, crank 11 lower end is driven upwards to swing, crank 11 upper end upwards swings and drives second connecting rod 10 right-hand member upwards to swing, first connecting rod 7 is moved up, paw 4 is driven to reverse to the left, under the effect of torsion spring 9, rocking bar 6 upper end is tilted to the left, silica gel layer 3 simultaneously on paw 4 touches on spherical fruit 20, when the pressure information that the pressure sensor that silica gel layer 3 is embedded is experienced reaches the pressure threshold value of pressure sensor design, pressure sensor by signal transmission to controller 2, controller 2 controls motor 17 and stops operating, avoid damaging spherical fruit 20 by pressure, realize the spherical fruit 20 of harmless harvesting, complete once the harvesting action of spherical fruit 20, after plucking spherical fruit 20, controller 2 controls electromotor and rotates forward, leading screw 16 is rotated forward, screw 13 is moved down with support lower plate 14, crank 11 lower end is driven to move down, make crank 11 upper end to lower swing, crank 11 upper end drives second connecting rod 10 right-hand member to lower swing to lower swing, first connecting rod 7 is moved down, paw 4 is driven to overturn to the right, the silica gel layer 3 on paw 4 is made to depart from spherical fruit 20, under the effect of torsion spring 9, rocking bar 6 upper end is tilted to the right, the space between three rocking bars 6 is made to become large, unclamp spherical fruit 20, complete once the placement action of spherical fruit 20.
Claims (3)
1. a fruit and vegetable picking under-actuated delicacy manipulator, comprise support upper plate (1), controller (2), silica gel layer (3), paw (4), end cap (5), rocking bar (6), first connecting rod (7), bolt (8), torsion spring (9), second connecting rod (10), crank (11), protruding block (12), screw (13), support lower plate (14), support bar (15), leading screw (16), motor (17), base plate (18) and roller bearing (19), it is characterized in that: described controller (2) is arranged on base plate (18), upper installation three support bars (15) of base plate (18) and motor (17), controller (2) is connected with motor (17) by wire, the output shaft of motor (17) is connected with leading screw (16) by shaft coupling, leading screw (16) upper end mounting bracket upper plate (1), screw (13) is arranged on leading screw (16), mounting bracket lower plate (14) under screw (13), support lower plate (14) and leading screw (16) do not contact with each other, support bar (15) upper end is connected with support upper plate (1) through support lower plate (14), support lower plate (14) installs three protruding blocks (12), crank (11) lower end is arranged on protruding block (12) by axle, crank (11) upper end is arranged on second connecting rod (10) by axle, first connecting rod (7) lower end is arranged on second connecting rod (10) right-hand member by axle, two roller bearings (19) are installed in paw (4) lower end, first connecting rod (7) upper end is arranged on the left and right sides of the roller bearing (19) being positioned at right side, rocking bar (6) upper end is arranged on the left and right sides of the roller bearing (19) being positioned at left side, end cap (5) is respectively installed at roller bearing (19) two ends, left and right, second connecting rod (10) left end is arranged in rocking bar (6) lower end by axle, the axle of rocking bar (6) lower end is by rack-mount plate (1) side, rocking bar (6) lower end, the upper construction bolt (8) of second connecting rod (10), torsion spring (9) is arranged on second connecting rod (10), torsion spring (9) one ends wound is on bolt (8), torsion spring (9) other end is connected with rocking bar (6).
2. a kind of fruit and vegetable picking under-actuated delicacy manipulator according to claim 1, is characterized in that: described paw (4) adopts nylon material to make.
3. a kind of fruit and vegetable picking under-actuated delicacy manipulator according to claim 1, is characterized in that: silica gel layer (3) is installed in described paw (4) front end, silica gel layer (3) embedded pressure sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510215931.8A CN104782325A (en) | 2015-04-30 | 2015-04-30 | Under-actuated dexterous mechanical hand for picking fruits and vegetables |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510215931.8A CN104782325A (en) | 2015-04-30 | 2015-04-30 | Under-actuated dexterous mechanical hand for picking fruits and vegetables |
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| CN104782325A true CN104782325A (en) | 2015-07-22 |
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| CN201510215931.8A Pending CN104782325A (en) | 2015-04-30 | 2015-04-30 | Under-actuated dexterous mechanical hand for picking fruits and vegetables |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105458603A (en) * | 2015-12-22 | 2016-04-06 | 芜湖顺荣汽车部件有限公司 | Turnover mechanism |
| CN106402319A (en) * | 2016-11-30 | 2017-02-15 | 深圳果力智能科技有限公司 | Under-actuated transmission device based on flange transmission |
| CN108370721A (en) * | 2018-02-13 | 2018-08-07 | 河海大学常州校区 | A kind of fruit picking auxiliary manipulator |
| CN108406746A (en) * | 2018-03-19 | 2018-08-17 | 薛豪俊 | Drive lacking stroke adjustable crank device |
| CN108401667A (en) * | 2018-04-17 | 2018-08-17 | 西安工业大学 | A kind of Handheld fruit picker and its method |
| CN108566830A (en) * | 2018-07-20 | 2018-09-25 | 北京林业大学 | A kind of end executive device of picking apple |
| CN108633468A (en) * | 2018-04-26 | 2018-10-12 | 西安交通大学 | Detachably stretch torsion formula fruit picking transport device and its picking method |
| CN109197148A (en) * | 2018-11-27 | 2019-01-15 | 刘艳荣 | A kind of intelligent recognition cotton picking robot |
| CN109699292A (en) * | 2019-03-15 | 2019-05-03 | 合肥工业大学 | A kind of fruit picker |
| CN110281997A (en) * | 2019-07-18 | 2019-09-27 | 徐月美 | A kind of device for carrying machine tool spindles |
| CN112970428A (en) * | 2021-02-20 | 2021-06-18 | 石河子大学 | Under-actuated picking manipulator |
| CN113892346A (en) * | 2021-09-10 | 2022-01-07 | 山东农业大学 | Under-actuated arc finger fruit picking manipulator |
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| US5447403A (en) * | 1990-01-05 | 1995-09-05 | Engler, Jr.; Charles D. | Dexterous programmable robot and control system |
| CN101134316A (en) * | 2007-09-18 | 2008-03-05 | 浙江理工大学 | Activation lacking mechanical finger device capable of preventing form and position degradation |
| CN102282972A (en) * | 2011-07-11 | 2011-12-21 | 浙江理工大学 | Under-actuated end effector with sensing function |
| CN102441892A (en) * | 2011-10-25 | 2012-05-09 | 浙江大学 | Under-actuated manipulator claw for picking fruits and vegetables |
| CN202656191U (en) * | 2012-06-28 | 2013-01-09 | 浙江理工大学 | Under-actuated picking manipulator end effector device |
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2015
- 2015-04-30 CN CN201510215931.8A patent/CN104782325A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US5447403A (en) * | 1990-01-05 | 1995-09-05 | Engler, Jr.; Charles D. | Dexterous programmable robot and control system |
| CN101134316A (en) * | 2007-09-18 | 2008-03-05 | 浙江理工大学 | Activation lacking mechanical finger device capable of preventing form and position degradation |
| CN102282972A (en) * | 2011-07-11 | 2011-12-21 | 浙江理工大学 | Under-actuated end effector with sensing function |
| CN102441892A (en) * | 2011-10-25 | 2012-05-09 | 浙江大学 | Under-actuated manipulator claw for picking fruits and vegetables |
| CN202656191U (en) * | 2012-06-28 | 2013-01-09 | 浙江理工大学 | Under-actuated picking manipulator end effector device |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105458603A (en) * | 2015-12-22 | 2016-04-06 | 芜湖顺荣汽车部件有限公司 | Turnover mechanism |
| CN106402319B (en) * | 2016-11-30 | 2019-08-13 | 深圳果力智能科技有限公司 | A kind of drive lacking transmission device based on flange transmission |
| CN106402319A (en) * | 2016-11-30 | 2017-02-15 | 深圳果力智能科技有限公司 | Under-actuated transmission device based on flange transmission |
| CN108370721A (en) * | 2018-02-13 | 2018-08-07 | 河海大学常州校区 | A kind of fruit picking auxiliary manipulator |
| CN108370721B (en) * | 2018-02-13 | 2021-01-05 | 河海大学常州校区 | Fruit picking auxiliary mechanical arm |
| CN108406746A (en) * | 2018-03-19 | 2018-08-17 | 薛豪俊 | Drive lacking stroke adjustable crank device |
| CN108401667A (en) * | 2018-04-17 | 2018-08-17 | 西安工业大学 | A kind of Handheld fruit picker and its method |
| CN108401667B (en) * | 2018-04-17 | 2023-06-23 | 西安工业大学 | Handheld fruit picking device and method thereof |
| CN108633468A (en) * | 2018-04-26 | 2018-10-12 | 西安交通大学 | Detachably stretch torsion formula fruit picking transport device and its picking method |
| CN108566830A (en) * | 2018-07-20 | 2018-09-25 | 北京林业大学 | A kind of end executive device of picking apple |
| CN109197148A (en) * | 2018-11-27 | 2019-01-15 | 刘艳荣 | A kind of intelligent recognition cotton picking robot |
| CN109197148B (en) * | 2018-11-27 | 2021-12-03 | 华驰电气有限公司 | Intelligent recognition cotton picking robot |
| CN109699292A (en) * | 2019-03-15 | 2019-05-03 | 合肥工业大学 | A kind of fruit picker |
| CN110281997A (en) * | 2019-07-18 | 2019-09-27 | 徐月美 | A kind of device for carrying machine tool spindles |
| CN110281997B (en) * | 2019-07-18 | 2020-06-30 | 徐月美 | Machine tool spindle carrying device |
| CN112970428A (en) * | 2021-02-20 | 2021-06-18 | 石河子大学 | Under-actuated picking manipulator |
| CN112970428B (en) * | 2021-02-20 | 2022-03-18 | 石河子大学 | Under-actuated picking manipulator |
| CN113892346A (en) * | 2021-09-10 | 2022-01-07 | 山东农业大学 | Under-actuated arc finger fruit picking manipulator |
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Application publication date: 20150722 |
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| RJ01 | Rejection of invention patent application after publication |