CN105643649A - Six-joint three-finger manipulator for grabbing apples - Google Patents
Six-joint three-finger manipulator for grabbing apples Download PDFInfo
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- CN105643649A CN105643649A CN201410646360.9A CN201410646360A CN105643649A CN 105643649 A CN105643649 A CN 105643649A CN 201410646360 A CN201410646360 A CN 201410646360A CN 105643649 A CN105643649 A CN 105643649A
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Abstract
The invention discloses a six-joint three-finger manipulator for grabbing apples. The six-joint three-finger manipulator mainly comprises a clamping jaw 1, loose double hinges 2, torsion springs 3, cushion rubber 4, fingertip bones 5, an eccentricity adjusting block 6, a headstock 7, artificial muscles 8, a clamping hoop 9, a tailstock 10, a pipe connector 11, a seal ring 12, warp yarns 13 and weft yarns 14 in the overall structure. Each single artificial muscle is adopted for driving one finger, double hinge joints are reset through the torsion springs, and each finger has two rotation freedom degrees. The joints are driven by gas, the flexibility of the double hinge structure is realized, and the flexibility of the artificial muscles is good; due to the arc structures at the fingertip parts, the grabbing force of the manipulator is good in cushion performance, and the grabbing function of the manipulator is good in self-adapting flexibility.
Description
Technical field
The present invention relates to a kind of mechanical hand, especially relate to a kind of six joints three for agriculture field and refer to Fructus Mali pumilae catching robot.
Background technology
Chinese apple exports less, price is low, and main cause is to ignore postharvest handling, and classification is of paramount importance 1 link in postharvest handling, currently mainly still manually sorts, puts by hand. End effector of robot, from the mechanical type end gripper of earlier industry robot, develop into that the industry such as logistics, packaging uses, electric-mechanic control system, claw type end grasping device multivariant, multiarticulate, finally ' evolution ' become multi-finger clever hand experimental stage, numerically controlled, primate formula, to meet the requirement on flexibility of service robot.
Gripper of manipulator is fetched and says, to the soft object (such as melon and fruit) of yielding destruction, frangible brittle body (such as fowl egg) and in irregular shape, size differences is big or the object of abnormity (as abnormity packing container) crawl, adopt the mechanical hand of electric-mechanic control system, need perception and accurately control motion and grasping force, otherwise can damage these class article or can not effectively grasp.
Due to relatively costly, to reasons such as environmental requirement are high, common accurate control mechanical hand is difficult in agricultural, light industry extensive use.
Robot actively joint is with driver, and traditional electricity, liquid, gas driver can only partly meet requirement. This promotes people that sight turns to some new actuation techniques of research, as: piezoelectric actuator (Piezo-electricactuator), marmen (ShapeMemoryAlloyactuator), polymeric material artificial-muscle driver (PolymericArtificialMuscleactuator) and magnetic telescopic driver (MagnetostrictiveEffectactuator) etc., this wherein also includes novel pneumatic driver.
In novel pneumatic artificial-muscle driver, foremost is Mckibben heat payload, also having the PleatedPneumaticArtificialMuscles proposed later, these are all shrinkage type artificial-muscle (their expanded radiallys, it is necessary to bigger radial space). Also having the axial expansion type artificial-muscle elastic bellows of axial expansion (a kind of radially constrain), simple chain joint is driven by axial expansion type artificial-muscle and actively bends, and replys by spring effect and stretches;Control principle utilizes the characteristic of (aperture place air velocity is the velocity of sound, palpus forced heat radiation) the state quality constant flow that is jammed completely of orifice restriction valve; Further, for alleviating vibration, fast reaction, gas-liquid tandem drive is adopted.
The active joint of tape drive is the basic building block of revolute robot, and the flexibility characteristics of novel pneumatic artificial-muscle driver and articulation structure constitutes degree of freedom flexibility and the resiliency of flexible joint. Therefore, design flexible joint structure and the flexible manipulator referred to according to driver feature more, utilize the feature that intumescent artificial-muscle compliance is good, inquire into the flexible joint mechanical hand flexible self adaptation to large and small object and grasping force, to reduce robot manipulator structure and to control the cost of part, meeting operational requirement on flexibility, the application in fruit picking and sorting manipulator etc. has certain researching value.
Summary of the invention
The present invention provides a kind of six joints three to refer to Fructus Mali pumilae catching robot, joint adopts gas-powered, has the flexibility of dual hinge structure, and the compliance of artificial-muscle is good, also having the arc structure in finger tip portion, therefore the grasp force of mechanical hand has good shock-absorbing capacity, crawl function has good self-adapting flexible.
The technical solution adopted in the present invention is: the overall structure of the present invention specifically includes that claw, loose-leaf double-strand chain, torsion spring, yielding rubber, finger tip bone, offset regulating block, headstock, artificial-muscle, clip, tailstock, pipe joint, sealing ring, organizine and latitude are thought.
Described 3 refer to that each finger of 6 joint Fructus Mali pumilaes crawl flexible manipulators is driven by 1 artificial-muscle, 2 single-degree-of-freedom turning joints connected are constituted; 3 refer to that 120o is distributed, is respectively arranged on the claw of electric chuck with three jaws.
Described 3 refer to that the flexible organizine of 6 joint Fructus Mali pumilaes crawl flexible manipulators and tram are woven in elastic bellows artificial-muscle wall, to improve the bearing capacity of artificial-muscle; Artificial-muscle is clamped on the ripple bayonet socket of headstock and tailstock by clip, the closing cavity that artificial-muscle, headstock and tailstock are constituted.
The fluid of described mechanical hand enters joint space by pipe joint, and joint is spun on tailstock, and centre has sealing ring to seal. The two ends of loose-leaf double-strand chain are fixed on headstock and tailstock by screw, are sandwiched between offset regulating block and finger tip bone, and finger tip bone external pasting has yielding rubber.
The two ends of the loose-leaf double-strand chain central leaf plate of described mechanical hand have bossing, effect to be that restriction loose-leaf double-strand chain turns clockwise and must not exceed straight configuration along artificial-muscle axial line both sides; Respectively equipped with a torsion spring on 2 mandrels of loose-leaf double-strand chain, when joint is stretched, torsion spring is by pretension.
The operation principle of described mechanical hand is: by 3 artificial-muscle parallel-connections in gas circuit, share a two-position three-way valve. When connecting source of the gas, each artificial-muscle axial expansion, overcome in loose-leaf double-strand chain torsion spring active force in 2 hinges, rotate, grabbing object simultaneously; Without pressure feedback, in artificial-muscle, pressure produces maximum grasping force when reaching system pressure (0.4MPa), keeps state of firmly grasping also without leakage-preventing Pressure energy accumulator; When disconnecting source of the gas, air vent leads directly to air, and by torsion spring active force in 2 hinges in loose-leaf double-strand chain, each artificial-muscle axial shrinkage, joint is stretched; Air vent is through counterbalance valve, more logical air, adjusts back pressure, then can regulate the degree of crook of finger under original state, reduces the action space of mechanical hand.
The invention has the beneficial effects as follows: have the flexibility of dual hinge structure, and the compliance of artificial-muscle is good also have the arc structure in finger tip portion, therefore the grasp force of mechanical hand has good shock-absorbing capacity, crawl function has good self-adapting flexible.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 is the overall structure figure of the present invention.
Detailed description of the invention
Below in conjunction with drawings and Examples, the invention will be further described.
As it is shown in figure 1, overall structure is mainly made up of claw 1, loose-leaf double-strand chain 2, torsion spring 3, yielding rubber 4, finger tip bone 5, offset regulating block 6, headstock 7, artificial-muscle 8, clip 9, tailstock 10, pipe joint 11, sealing ring 12, organizine 13 and latitude think of 14 etc.
As it is shown in figure 1, each finger of mechanical hand is driven by 1 artificial-muscle, the single-degree-of-freedom turning joint of 2 series connection is constituted; 3 refer to that 120o is distributed, is respectively arranged on the claw 1 of electric chuck with three jaws.
As it is shown in figure 1, the flexible organizine 13 of mechanical hand and tram 14 are woven in elastic bellows artificial-muscle 8 wall, to improve the bearing capacity of artificial-muscle; Artificial-muscle 8 is clamped on the ripple bayonet socket of headstock 7 and tailstock 10 by clip 9, the closing cavity that artificial-muscle 8, headstock 7 and tailstock 10 are constituted.
As it is shown in figure 1, the fluid of mechanical hand enters joint space by pipe joint 11, joint 11 is spun on tailstock 10, and centre has sealing ring 12 to seal. The two ends of loose-leaf double-strand chain 2 are fixed on headstock 7 and tailstock 10 by screw, are sandwiched between offset regulating block 6 and finger tip bone 5, and finger tip bone 5 external pasting has yielding rubber 4.
As it is shown in figure 1, the two ends of the loose-leaf double-strand chain 2 central leaf plate of mechanical hand have bossing, effect to be that restriction loose-leaf double-strand chain 2 turns clockwise and must not exceed straight configuration along artificial-muscle axial line both sides; Respectively equipped with a torsion spring 3 on 2 mandrels of loose-leaf double-strand chain 2, when joint is stretched, torsion spring 3 is by pretension.
As it is shown in figure 1, the operation principle of mechanical hand is: by 3 artificial-muscle parallel-connections in gas circuit, share a two-position three-way valve. When connecting source of the gas, each artificial-muscle axial expansion, overcome in loose-leaf double-strand chain torsion spring active force in 2 hinges, rotate, grabbing object simultaneously; Without pressure feedback, in artificial-muscle, pressure produces maximum grasping force when reaching system pressure (0.4MPa), keeps state of firmly grasping also without leakage-preventing Pressure energy accumulator; When disconnecting source of the gas, air vent leads directly to air, and by torsion spring active force in 2 hinges in loose-leaf double-strand chain, each artificial-muscle axial shrinkage, joint is stretched; Air vent is through counterbalance valve, more logical air, adjusts back pressure, then can regulate the degree of crook of finger under original state, reduces the action space of mechanical hand.
Claims (5)
1. six joints three refer to Fructus Mali pumilae catching robot, it is characterized in that: overall structure is mainly made up of claw 1, loose-leaf double-strand chain 2, torsion spring 3, yielding rubber 4, finger tip bone 5, offset regulating block 6, headstock 7, artificial-muscle 8, clip 9, tailstock 10, pipe joint 11, sealing ring 12, organizine 13 and latitude think of 14 etc.
2. six joints three according to claim 1 refer to Fructus Mali pumilae catching robot, it is characterized in that: each finger of described mechanical hand is driven by 1 artificial-muscle, the single-degree-of-freedom turning joint of 2 series connection is constituted; 3 refer to that 120o is distributed, is respectively arranged on the claw 1 of electric chuck with three jaws.
3. six joints three according to claim 1 refer to Fructus Mali pumilae catching robot, it is characterized in that: the flexible organizine 13 of mechanical hand mechanical hand and tram 14 are woven in elastic bellows artificial-muscle 8 wall, to improve the bearing capacity of artificial-muscle;Artificial-muscle 8 is clamped on the ripple bayonet socket of headstock 7 and tailstock 10 by clip 9, the closing cavity that artificial-muscle 8, headstock 7 and tailstock 10 are constituted.
4. six joints three according to claim 1 refer to Fructus Mali pumilae catching robot, it is characterized in that: the fluid of described mechanical hand enters joint space by pipe joint 11, joint 11 is spun on tailstock 10, centre has sealing ring 12 to seal, the two ends of loose-leaf double-strand chain 2 are fixed on by screw on headstock 7 and tailstock 10, being sandwiched between offset regulating block 6 and finger tip bone 5, finger tip bone 5 external pasting has yielding rubber 4.
5. six joints three according to claim 1 refer to Fructus Mali pumilae catching robot, it is characterized in that: the two ends of the loose-leaf double-strand chain 2 central leaf plate of described mechanical hand have bossing, effect to be that restriction loose-leaf double-strand chain 2 turns clockwise and must not exceed straight configuration along artificial-muscle axial line both sides; Respectively equipped with a torsion spring 3 on 2 mandrels of loose-leaf double-strand chain 2, when joint is stretched, torsion spring 3 is by pretension.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410646360.9A CN105643649A (en) | 2014-11-15 | 2014-11-15 | Six-joint three-finger manipulator for grabbing apples |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410646360.9A CN105643649A (en) | 2014-11-15 | 2014-11-15 | Six-joint three-finger manipulator for grabbing apples |
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| CN105643649A true CN105643649A (en) | 2016-06-08 |
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| CN201410646360.9A Pending CN105643649A (en) | 2014-11-15 | 2014-11-15 | Six-joint three-finger manipulator for grabbing apples |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107443405A (en) * | 2017-06-21 | 2017-12-08 | 西北工业大学深圳研究院 | A kind of Pneumatic flexible rotor gripper structure |
| CN107650119A (en) * | 2017-11-08 | 2018-02-02 | 平顶山学院 | The soft handgrip of intelligence |
| CN108818589A (en) * | 2018-07-20 | 2018-11-16 | 浙江树人学院 | A kind of folding flexible robot |
| CN109877858A (en) * | 2019-03-11 | 2019-06-14 | 武汉理工大学 | A kind of variation rigidity software manipulator |
| CN111136678A (en) * | 2020-01-19 | 2020-05-12 | 浙江理工大学 | Tea single-bud picking manipulator based on software drive |
| WO2020115889A1 (en) * | 2018-12-07 | 2020-06-11 | 圭治郎 山本 | Robot hand |
| JP2020518480A (en) * | 2018-02-27 | 2020-06-25 | ジィァンナン ユニバーシティー | Electric-pneumatic combined drive Robot hand for physical distribution packaging simulating eagle claw of flexible finger |
| CN111727109A (en) * | 2017-12-13 | 2020-09-29 | 香港大学 | Soft robotic gripper with hybrid architecture and gripping reliability |
| CN111872971A (en) * | 2020-08-04 | 2020-11-03 | 张家港江苏科技大学产业技术研究院 | Negative pressure blocking micro soft paw |
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2014
- 2014-11-15 CN CN201410646360.9A patent/CN105643649A/en active Pending
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107443405A (en) * | 2017-06-21 | 2017-12-08 | 西北工业大学深圳研究院 | A kind of Pneumatic flexible rotor gripper structure |
| CN107650119A (en) * | 2017-11-08 | 2018-02-02 | 平顶山学院 | The soft handgrip of intelligence |
| CN111727109A (en) * | 2017-12-13 | 2020-09-29 | 香港大学 | Soft robotic gripper with hybrid architecture and gripping reliability |
| JP2020518480A (en) * | 2018-02-27 | 2020-06-25 | ジィァンナン ユニバーシティー | Electric-pneumatic combined drive Robot hand for physical distribution packaging simulating eagle claw of flexible finger |
| CN108818589A (en) * | 2018-07-20 | 2018-11-16 | 浙江树人学院 | A kind of folding flexible robot |
| WO2020115889A1 (en) * | 2018-12-07 | 2020-06-11 | 圭治郎 山本 | Robot hand |
| JPWO2020115889A1 (en) * | 2018-12-07 | 2021-10-07 | 圭治郎 山本 | Robot hand |
| JP7058348B2 (en) | 2018-12-07 | 2022-04-21 | 圭治郎 山本 | Robot hand |
| CN109877858A (en) * | 2019-03-11 | 2019-06-14 | 武汉理工大学 | A kind of variation rigidity software manipulator |
| CN109877858B (en) * | 2019-03-11 | 2022-03-11 | 武汉理工大学 | Rigidity-variable soft manipulator |
| CN111136678A (en) * | 2020-01-19 | 2020-05-12 | 浙江理工大学 | Tea single-bud picking manipulator based on software drive |
| CN111872971A (en) * | 2020-08-04 | 2020-11-03 | 张家港江苏科技大学产业技术研究院 | Negative pressure blocking micro soft paw |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160608 |
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| WD01 | Invention patent application deemed withdrawn after publication |