CN105479472A - End effector of manipulator - Google Patents
End effector of manipulator Download PDFInfo
- Publication number
- CN105479472A CN105479472A CN201610050117.XA CN201610050117A CN105479472A CN 105479472 A CN105479472 A CN 105479472A CN 201610050117 A CN201610050117 A CN 201610050117A CN 105479472 A CN105479472 A CN 105479472A
- Authority
- CN
- China
- Prior art keywords
- pedestal
- connecting rod
- hand pawl
- end effector
- thumb wheel
- 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
Links
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
Abstract
The invention relates to an end effector of a manipulator. The end effector comprises a base (5), a left claw (11), a right claw (12), a poking wheel (6), a drive device and a mechanical arm (9), wherein the left claw (11) and the right claw (12) are symmetrically arranged at the upper part of the base (5) in the horizontal direction; the poking wheel (6) is arranged in the front of the base (5); the drive device is arranged on the rear side of the base (5) and corresponds to the poking wheel (6); the mechanical arm (9) is arranged at the lower end of the base (6); the outer end of the lower part of the left claw (11) and the outer end of the lower part of the right claw (12) are connected with the base (5) through short joint connection rods; the inner end of the lower part of the left claw (11) and the inner end of the lower part of the right claw (12) are connected with one fork of the poking wheel (6) through middle connection rods and long joint connection rods sequentially; the middles of the middle connection rods are connected with the base (5); claw heads (4) are arranged at upper ends of the left claw (11) and the right claw (12), the inner work surface of each claw head (4) is machined to form a cambered surface structure (41), and a soft cushion layer is attached to the inner side of each cambered surface structure (41).
Description
Technical field
The invention belongs to agricultural robot technical field, be specifically related to a kind of arm end effector.
Background technology
Within 2013, Chinese orchard sown area is 1113.95 ten thousand hectares, fruit total output 200,000,000 tons, and 2014 more than 2.1 hundred million tons.China's Vegetable cultivated area more than 300,000,000 mu in 2013, output 7.06 hundred million tons.Although the output of fruit, vegetables is very high, in harvesting, intermediate links, rotten loss rate, up to 20-30%, loses more than 2,000 hundred million yuan every year.Because China's agricultural modernization level is on the low side, add harvesting, circulation substantially by artificial, China's fruit, vegetables industry cost in harvesting, intermediate links is sharply risen, also causes huge waste simultaneously, have influence on the selling price of fruit, victual.Picking mechanical arm end effector of the present invention, can pluck at agricultural product, intermediate links, clamping lighter in weight, neat appearance, the little fruit of overall dimensions, vegetables.
Harvesting, classification, packaging are during agricultural product are produced, and the most consuming time, the link of requiring great effort most, belongs to labour-intensive operation.Along with Chinese society's urbanization, aging process, labor cost significantly promotes, agricultural workforce's unbalance of structure, and prices of the means of agricultural production goes up in addition, and the price relative advantage of Chinese fruit and vegetable food declines.The standardization of fruits and vegetables industry, large-scale production, can improve quality, scale, output capacity, productivity ratio that fruits and vegetables are produced, improves the competitiveness of China's Agricultural.Therefore, Low-cost, efficiently fruit picking, transporter are imperative.In the harvesting of agricultural product, first to be gripped, could realize cutting handle, or low-angle overturn harvesting object fast, make it come off; The links such as agricultural product transhipment, classification, packaging also need a large amount of clamping devices, to reduce labour intensity and cost, raise the efficiency and quality.
In the automatic harvesting of small-sized, lightweight agricultural product, running, classification, processing, packaging process, require that manipulator fast, efficiently, accurately, move with low-angle upset, small distance.Conventional robot end effector, mostly adopts the mentality of designing of industrial robot, and more regular, reliability is high, but under natural environment, lacks the flexibility of transferring to other use among a small circle, inefficiency, and cost is higher simultaneously; Part have employed the picking mechanical arm end effector of air pump, because gas suction is in fruit, victual top layer, can reduce the surface quality of fruit, vegetables, increases loss; Utilize steel wire rope, spring assembly, control the arm end effector of paw folding, due to repetitive operation, can cause fatigue fracture, service behaviour is unstable.
In the automatic harvesting of small-sized, lightweight agricultural product, running, classification, packaging process, required end effector quantity is more, not high to the relative requirement of operation precision, repeatable accuracy, and higher to the requirement of cost control.Therefore, be necessary to develop some novel, the end effector of low cost, to improve agricultural product autonomous harvesting, running, working (machining) efficiency further.
Summary of the invention
In order to solve the technical problem of above-mentioned existence, the present invention devises a kind of arm end effector.
In order to solve the technical problem of above-mentioned existence, present invention employs following scheme:
A kind of arm end effector, the left hand pawl (11) comprising pedestal (5) and be symmetrical set on pedestal (5) top and right hand pawl (12), and thumb wheel (6), drive unit and mechanical arm (9), thumb wheel (6) is arranged on before pedestal (5), drive unit is arranged on pedestal (5) below and corresponding with thumb wheel (6), and mechanical arm (9) is arranged on pedestal (5) lower end, left hand pawl (11) is connected with pedestal (5) respectively by joint short connecting rod with the lower outer of right hand pawl (12), intermediate connecting rod is passed through respectively successively in the inner, bottom of left hand pawl (11) and right hand pawl (12), joint long connecting rod is connected with a bifurcated of thumb wheel (6), the middle part of intermediate connecting rod is connected with pedestal (5), it is characterized in that: the upper end of left hand pawl (11) and right hand pawl (12) is respectively arranged with removable pawl head (4), pawl head (4) inward facing surface is processed into globoidal structure (41), globoidal structure is also stained with cushion course in (41), globoidal structure (41) forms according to by harvesting fruit copying.
Further, also pressure sensor is provided with in globoidal structure (41).
Further, thumb wheel (6), in short cylindrical shape, around its table, is evenly equipped with 6 thumb wheel bifurcateds, every sheet has two install circular hole.
Further, drive unit comprises worm screw (71), worm gear (72), motor (73) and shaft coupling (74), and worm gear (72) is coaxially connected with thumb wheel (6) by axle (8), and worm gear (72) engages with the middle part of worm screw (71); Worm screw (71) front portion is connected with bearing cap (75) by bearing, and rear portion is connected with motor (73) by shaft coupling (74); Motor (73) is connected with pedestal (5) by motor set bolt.
Further, pedestal (5) is connected with mechanical arm (9) with right connecting plate (52) by left connecting plate (51).
Further, joint short connecting rod and left hand pawl (11), connection between right hand pawl (12) and pedestal (5) are all rotatably connected, connection between intermediate connecting rod and left hand pawl (11), right hand pawl (12), joint long connecting rod is all rotatably connected, joint long connecting rod is all rotatably connected with the bifurcated phase downlink connection of thumb wheel (6), and the middle part of intermediate connecting rod is connected with pedestal (5) and is all rotatably connected.
This arm end effector has following beneficial effect:
(1) the present invention automatically can gather in the crops at agricultural product, circulates, in process, with lower cost, higher job stability, small-sized, the lightweight agricultural product of efficient clamping, ensure the links such as harvesting, running, classification, packaging, efficient, conveniently carry out.
(2) arm end effector of the present invention, in operation precision, the less demanding occasion of repeatable accuracy, in less space, can low-angle upset, small distance is moved, and meanwhile, structure is simple, and cost is low, carries, easy to maintenance, and operating efficiency is high.
(3) in the present invention; pawl head inward facing surface is processed into globoidal structure; globoidal structure forms according to by harvesting fruit copying; and cushion course is stained with in globoidal structure; protect by harvesting fruit not damaged, also post touch sensor in globoidal structure and protect by harvesting fruit not damaged further.The replaceable different pawl head when plucking different fruits and vegetables, highly versatile.
Accompanying drawing explanation
Fig. 1: the front view of arm end effector of the present invention;
Fig. 2: the left view of arm end effector of the present invention;
Fig. 3: the rearview of arm end effector of the present invention;
Fig. 4: Worm Wheel System partial view in the present invention;
Fig. 5: the structural representation of thumb wheel in the present invention;
Fig. 6: connecting plate and mechanical arm connection diagram in the present invention.
Description of reference numerals:
11-left hand pawl; 12-right hand pawl; 211-the first rivet; 212-the second rivet; 225-the three rivet; 226-the four rivet; 311-left joint short connecting rod; 312-left intermediate connecting rod; 313-left joint long connecting rod; 321-right joint short connecting rod; 322-right intermediate connecting rod; 323-right joint long connecting rod; 4-pawl head; 41-globoidal structure; 5-pedestal; 51-left connecting plate; 52-right connecting plate; 6-thumb wheel; 71-worm screw; 72-worm gear; 73-motor; 74-shaft coupling; 75-bearing cap; 761-motor set bolt; 8-axle; 9-mechanical arm.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention will be further described:
Fig. 1 to Fig. 6 shows a kind of arm end effector, comprises symmetrical distribution left hand pawl 11 and right hand pawl 12, and the end of left hand pawl 11 and right hand pawl 12 has been bolted removable pawl head 4 respectively.Left hand pawl 11 is connected with left joint short connecting rod 311 and left intermediate connecting rod 312 with the second rivet 212 respectively by the first rivet 211, and right hand pawl 12 is connected with right joint short connecting rod 321 and right intermediate connecting rod 322 with the 4th rivet 226 respectively by the 3rd rivet 225.Short connecting rod 311 front end, left joint is connected with left hand pawl 11, and rear portion is connected with pedestal 5; Short connecting rod 321 front end, right joint is connected with right hand pawl 12, and rear portion is connected with pedestal 5; Left intermediate connecting rod 312 front end is connected with left hand pawl 11, and middle part is connected with pedestal 5, and rear portion is connected with left joint long connecting rod 313; Right intermediate connecting rod 322 front end is connected with right hand pawl 12, and middle part is connected with pedestal 5, and rear portion is connected with right joint long connecting rod 323; The rear portion of left joint long connecting rod 313 is connected with a bifurcated of thumb wheel 6, and the front portion of right joint long connecting rod 323 is connected with the another one bifurcated of thumb wheel 6.
Pawl head 4 inward facing surface is processed into globoidal structure 41 to adapt to be plucked fruit, and be also stained with cushion course in globoidal structure 41 with protection by harvesting fruit, also can paste touch sensor in globoidal structure 41, globoidal structure 41 forms according to by harvesting fruit copying; The replaceable different pawl head 4 when plucking different fruits and vegetables;
Fig. 2 gives the left view of arm end effector, and Fig. 3 gives the rearview of arm end effector.Fig. 4 gives Worm Wheel System partial view, and comprise worm screw 71 and worm gear 72, worm gear 72 is coaxially connected with thumb wheel 6 by axle 8, and worm gear 72 engages with the middle part of worm screw 71; Worm screw 71 front portion is connected with bearing cap 75 by bearing, and rear portion is connected with motor 73 by shaft coupling 74; Motor 73 is connected with pedestal 5 by motor set bolt 761.
Fig. 5 gives the structure of thumb wheel 6, and the shape of thumb wheel 6 is short cylindrical, around its table, evenly, is symmetrically distributed with 6 thumb wheel bifurcateds, every sheet has two install circular hole.
Fig. 6 gives the connection diagram of this arm end effector and mechanical arm 9, comprises pedestal 5; Pedestal 5 is connected with mechanical arm 9 by left connecting plate 51, right connecting plate 52, left connecting plate 51, fixes respectively by bolt and nut between right connecting plate 52 and mechanical arm 9.
Arm end effector of the present invention, when needs clamping agricultural product, control motor 73 to rotate, drive worm screw 71, worm gear 72, trackwheel 6, by left joint long connecting rod 313, right joint long connecting rod 323, left intermediate connecting rod 312, right intermediate connecting rod 322, drive left hand pawl 11, right hand pawl 12 move simultaneously, realize the opening and closing of holding action; When motor 73 rotates forward, end effector clamps, and when motor 73 reverses, end effector unclamps.
Arm end effector of the present invention, can leftward inside pawl 11, right hand pawl 12, pressing force snesor, and setup pressure value, detects detected pressures according to sensor, forms reponse system, reduces the destruction to surface of agricultural products quality.When the size of power arrives setting value, control motor 74 stall, under the condition of self-locking of worm gear 71, worm screw 72, left hand pawl and right hand pawl keep chucking power constant, thus reach the object of stable grabbing workpiece.
Arm end effector of the present invention, by use thumb wheel, simplify the structure of end effector, cost is low, with maintenance, maintain; And employ the touch sensor and worm gearing that finger tip sticks, ensure that the stability of piece-holder.
Above by reference to the accompanying drawings to invention has been exemplary description; obvious realization of the present invention is not subject to the restrictions described above; as long as have employed the various improvement that method of the present invention is conceived and technical scheme is carried out; or design of the present invention and technical scheme directly applied to other occasion, all in protection scope of the present invention without to improve.
Claims (6)
1. an arm end effector, the left hand pawl (11) comprising pedestal (5) and be symmetrical set on pedestal (5) top and right hand pawl (12), and thumb wheel (6), drive unit and mechanical arm (9), thumb wheel (6) is arranged on before pedestal (5), drive unit is arranged on pedestal (5) below and corresponding with thumb wheel (6), and mechanical arm (9) is arranged on pedestal (5) lower end, left hand pawl (11) is connected with pedestal (5) respectively by joint short connecting rod with the lower outer of right hand pawl (12), intermediate connecting rod is passed through respectively successively in the inner, bottom of left hand pawl (11) and right hand pawl (12), joint long connecting rod is connected with a bifurcated of thumb wheel (6), the middle part of intermediate connecting rod is connected with pedestal (5), it is characterized in that: the upper end of left hand pawl (11) and right hand pawl (12) is respectively arranged with removable pawl head (4), pawl head (4) inward facing surface is processed into globoidal structure (41), globoidal structure is also stained with cushion course in (41), globoidal structure (41) forms according to by harvesting fruit copying.
2. arm end effector according to claim 1, is characterized in that: globoidal structure is also provided with pressure sensor in (41).
3. arm end effector according to claim 1, is characterized in that: thumb wheel (6), in short cylindrical shape, around its table, is evenly equipped with 6 thumb wheel bifurcateds, every sheet has two install circular hole.
4. arm end effector according to claim 1, it is characterized in that: drive unit comprises worm screw (71), worm gear (72), motor (73) and shaft coupling (74), worm gear (72) is coaxially connected with thumb wheel (6) by axle (8), and worm gear (72) engages with the middle part of worm screw (71); Worm screw (71) front portion is connected with bearing cap (75) by bearing, and rear portion is connected with motor (73) by shaft coupling (74); Motor (73) is connected with pedestal (5) by motor set bolt.
5. arm end effector according to claim 1, is characterized in that: pedestal (5) is connected with mechanical arm (9) with right connecting plate (52) by left connecting plate (51).
6. arm end effector according to claim 1, it is characterized in that: joint short connecting rod and left hand pawl (11), connection between right hand pawl (12) and pedestal (5) are all rotatably connected, connection between intermediate connecting rod and left hand pawl (11), right hand pawl (12), joint long connecting rod is all rotatably connected, joint long connecting rod is all rotatably connected with the bifurcated phase downlink connection of thumb wheel (6), and the middle part of intermediate connecting rod is connected with pedestal (5) and is all rotatably connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610050117.XA CN105479472A (en) | 2016-01-26 | 2016-01-26 | End effector of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610050117.XA CN105479472A (en) | 2016-01-26 | 2016-01-26 | End effector of manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105479472A true CN105479472A (en) | 2016-04-13 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610050117.XA Pending CN105479472A (en) | 2016-01-26 | 2016-01-26 | End effector of manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105479472A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107912144A (en) * | 2018-01-02 | 2018-04-17 | 西南林业大学 | A kind of electric fruit picker machinery claw |
| CN109220189A (en) * | 2018-08-17 | 2019-01-18 | 昆明理工大学 | A kind of garden crop picking clamper and its working method |
| CN109305569A (en) * | 2018-11-13 | 2019-02-05 | 哈尔滨理工大学 | A kind of box-packed bulk cargo overturning blanking clamping device |
| CN109526389A (en) * | 2018-12-06 | 2019-03-29 | 内蒙古科技大学 | Integrated machine is sorted in novel picking |
| CN109835807A (en) * | 2017-11-29 | 2019-06-04 | 江苏科技大学 | The unmanned draw off gear and implementation method of floating body are carried in automatic positioning |
| CN110139552A (en) * | 2016-11-08 | 2019-08-16 | 道格图斯科技有限公司 | Robot fruit picker system |
| CN111337513A (en) * | 2020-04-08 | 2020-06-26 | 南京林业大学 | All-round collection system of green plum fruit surface image |
| CN112740915A (en) * | 2020-12-16 | 2021-05-04 | 孙浩 | Orchard picking robot capable of sensing grabbing force |
| CN113207379A (en) * | 2021-06-15 | 2021-08-06 | 石河子大学 | Motor pneumatic type plug seedling picking device |
| US20210337733A1 (en) * | 2018-05-22 | 2021-11-04 | Octinion Bvba | Improved method and apparatus for automatically picking a fruit |
-
2016
- 2016-01-26 CN CN201610050117.XA patent/CN105479472A/en active Pending
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110139552A (en) * | 2016-11-08 | 2019-08-16 | 道格图斯科技有限公司 | Robot fruit picker system |
| CN109835807A (en) * | 2017-11-29 | 2019-06-04 | 江苏科技大学 | The unmanned draw off gear and implementation method of floating body are carried in automatic positioning |
| CN107912144A (en) * | 2018-01-02 | 2018-04-17 | 西南林业大学 | A kind of electric fruit picker machinery claw |
| US20210337733A1 (en) * | 2018-05-22 | 2021-11-04 | Octinion Bvba | Improved method and apparatus for automatically picking a fruit |
| CN109220189A (en) * | 2018-08-17 | 2019-01-18 | 昆明理工大学 | A kind of garden crop picking clamper and its working method |
| CN109305569A (en) * | 2018-11-13 | 2019-02-05 | 哈尔滨理工大学 | A kind of box-packed bulk cargo overturning blanking clamping device |
| CN109305569B (en) * | 2018-11-13 | 2020-02-11 | 哈尔滨理工大学 | Turnover blanking clamping mechanism for bulk materials in box |
| CN109526389A (en) * | 2018-12-06 | 2019-03-29 | 内蒙古科技大学 | Integrated machine is sorted in novel picking |
| CN111337513A (en) * | 2020-04-08 | 2020-06-26 | 南京林业大学 | All-round collection system of green plum fruit surface image |
| CN112740915A (en) * | 2020-12-16 | 2021-05-04 | 孙浩 | Orchard picking robot capable of sensing grabbing force |
| CN113207379A (en) * | 2021-06-15 | 2021-08-06 | 石河子大学 | Motor pneumatic type plug seedling picking device |
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Legal Events
| Date | Code | Title | Description |
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| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160413 |
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| WD01 | Invention patent application deemed withdrawn after publication |