CN106342484A - Clamping rotary cutting type underactuated two-finger grape picking device - Google Patents
Clamping rotary cutting type underactuated two-finger grape picking device Download PDFInfo
- Publication number
- CN106342484A CN106342484A CN201610976844.9A CN201610976844A CN106342484A CN 106342484 A CN106342484 A CN 106342484A CN 201610976844 A CN201610976844 A CN 201610976844A CN 106342484 A CN106342484 A CN 106342484A
- Authority
- CN
- China
- Prior art keywords
- fixedly connected
- potentiometer
- motor
- finger joint
- guide rail
- 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.)
- Granted
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
- A01D46/28—Vintaging machines, i.e. grape harvesting machines
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
Abstract
The invention provides a clamping rotary cutting type underactuated two-finger grape picking device, which mainly comprises underactuated finger mechanisms, a rotation mechanism, a pushing mechanism, a rotary cutting mechanism, a wrist connecting mechanism, a main support plate and a binocular camera, wherein the underactuated finger mechanisms are distributed at two sides of the main support plate; the wrist connecting mechanism is connected with the rotation mechanism; the rotation mechanism is connected with the main support plate; the pushing mechanism is connected with the rotation mechanism; the rotary cutting mechanism is connected with the pushing mechanism; the wrist connecting mechanism is connected with the waist of a mechanical arm; a motor A drives the underactuated finger mechanisms to move; through the effects of an S-shaped pressure sensor, a potentiometer, a flat plate pressure sensor and a tension spring, the flexible target object gripping and the closed loop real-time control on the underactuated finger mechanisms by a controller are realized; the rotary cutting mechanism controls a circular disc cutter blade to realize rotary cutting action on target fruit stems through a direct current motor. The grape picking device has the advantages that the structure is ingenious; the flexibility is high; the finger pose work space is large; high picking success rate can be obtained; the mechanical damage to plants and fruits can be reduced; the picking on clustered fruits such as grapes can be realized; the characteristics of self-adaption capability to the fruit shape and contact force controllability are realized.
Description
Technical field
The present invention relates to field of agricultural robots is and in particular to clamping rotary-cutting type drive lacking two refers to handss Fructus Vitis viniferae picker.
Background technology
China fruit and vegerable industry development achievement is prominent, but the quick minimizing of agricultural workforce and labor cost at full speed on
Rise, severe challenge is proposed to fruit and vegerable industry development.Fruit and vegetable picking is the work wasted time and energy, the season that fruit and vegerable harvest
Section property is strong, needs to put into substantial amounts of labour force, and picking efficiency is relatively low.Therefore, research fruit and vegetable picking robot is to alleviation agriculture
Village's lack of labor, save labour turnover, improve fruit and vegetable picking efficiency and have great significance.
Fructus Vitis viniferae is a kind of berry fruits of cluster growth, and fruit thin skin grain is big, and the few water of juice is many, is easily mechanically damaged, this
Planting injury can accelerate the aging of Fructus Vitis viniferae corrupt, rotten, have a strong impact on quality and the economic benefit of Fructus Vitis viniferae.At present, the harvesting of Fructus Vitis viniferae
Mainly by being accomplished manually, picking efficiency is low, and artificial property mechanical damage often occurs.
Content of the invention
For Shortcomings in prior art, the invention provides a kind of clamping rotary-cutting type drive lacking two refers to handss Fructus Vitis viniferae and plucks
Device, the pressure transducer based on force feedback can be realized drive lacking two finger mobile phone structure and carry out flexible crawl to grape cluster fruit, with
And the accurate identification positioning simultaneously reliable rotary-cut to Grape stems based on binocular vision system of rotary-cut servo control mechanism.
The present invention is to realize above-mentioned technical purpose by following technological means.
A kind of clamping rotary-cutting type drive lacking two refer to handss Fructus Vitis viniferae picker it is characterised in that include under-actuated finger mechanism,
Rotating mechanism, delivery device, rotary cutting mechanism, wrist bindiny mechanism, main supporting plate, binocular camera.
Described under-actuated finger mechanism is fixedly connected with main supporting plate, and described under-actuated finger mechanism includes motor, guide rail
Slide block mechanism and linkage.
Described guide rail slide block mechanism g includes motor fixing seat a, shaft coupling a, locking nut a, ball-screw a, nut a, horizontal stroke
To slide block a, transverse slider b, guide rail slide block a, guide rail a, leading screw fixed seat a, leading screw support base a；Described motor fixing seat a and master
Gripper shoe is fixedly connected, and described motor a is fixed in motor fixing seat a, and described motor a passes through shaft coupling a and ball-screw a even
Connect；Nut a and locking nut a is threadingly attached on ball-screw a, and described leading screw fixed seat a and leading screw support base a pass through
Bearings ball-screw a, described leading screw fixed seat a is fixedly connected with main supporting plate respectively with leading screw support base a, described nut
A is fixedly connected with transverse slider a, and transverse slider a two ends are fixedly connected with guide rail slide block a by transverse slider b respectively, described leads
Rail slide block a and guide rail a is slidably connected, and described guide rail a is fixed on Main shoe plate two medial surface.
The quantity of described linkage l is 2 sets, divides and is listed in main supporting plate both sides, described linkage l includes s type pressure
Sensor, fixed block a, drive link, drive rocker, nearly finger joint fixed mount, fixed block b, intermediate connecting rod, nearly finger joint, remote finger joint,
Extension spring, 2 flat board pressure transducers, 3 potentiometers；Described s type pressure transducer two ends respectively with transverse slider a and fixed block
A is fixedly connected, and fixed block a is hinged with one end of drive link, and described drive rocker is provided with three hinge holes, is located at respectively and shakes
The centre of bar and two ends, the other end of described drive link is hinged with drive rocker by the middle hinge hole of drive rocker, drives
The two ends shaking bar are hinged with intermediate connecting rod and nearly finger joint fixed mount respectively, the other end of intermediate connecting rod and remote knucklejoint, closely
Finger joint fixed mount and nearly knucklejoint, nearly finger joint and remote knucklejoint, described nearly finger joint fixed mount and main supporting plate pass through to fix
Part b is fixedly connected；Described drive link and s type pressure transducer hinged place arrange potentiometer, and described nearly finger joint is solid with nearly finger joint
Determine frame hinged place setting potentiometer, at nearly finger joint and remote knucklejoint, potentiometer is set, the sensor in described nearly finger joint connects
On the sensor connection through hole of through hole and remote finger joint, flat board pressure transducer is installed；Set between described intermediate connecting rod and remote finger joint
Put extension spring.
Described rotating mechanism includes motor b, rotating support a, rotating support b, rotating support c, rotating support
D, thrust ball bearing, secondary gripper shoe, secondary support plate bracing frame, locking nut b；Described rotating support a two ends are separately fixed at
Rotating support b and the upper end of rotating support c, the lower end of described rotating support b and rotating support c is fixed on main support
On plate, motor b is fixed on below rotating support a, and described rotating support d is fixed on above rotating support a, described rotation
All it is correspondingly provided with through hole it is ensured that the output shaft of motor b can pass through on bracing frame a, rotating support d and secondary gripper shoe, secondary
Fagging is located at the top of rotating support d, is provided with thrust ball bearing, thrust ball bearing between rotating support d and secondary gripper shoe
Be placed in the groove of rotating support d, the output shaft of motor b pass through rotating support a, rotating support d, thrust ball bearing and
Secondary gripper shoe, the output shaft end of motor b is locked with locking nut b；Described rotating support b is fixing with video camera fixed plate even
Connect, binocular camera is installed in video camera fixed plate.
Described delivery device includes motor c, motor fixing seat b, shaft coupling b, guide rail platform, locking nut c, ball-screw
B, leading screw fixed seat b, leading screw support base b, nut b, guide rail slide block b, guide rail b, push guide rod；Motor c is solid with motor fixing seat b
Fixed connection；Motor fixing seat b is fixedly connected with guide rail platform, and guide rail platform is fixed on secondary support in plate bracing frame；Motor c and rolling
Ballscrew b is connected by shaft coupling b；Described leading screw fixed seat b and leading screw support base b pass through bearings ball-screw b, described
Locking nut c and nut b is threadingly attached on ball-screw b, and described nut b is fixedly connected with pushing guide rod, and push is led
One end of bar is fixedly connected with guide rail slide block b, and guide rail slide block b is slidably connected with guide rail b, and guide rail b is fixed on guide rail platform.
Described rotary cutting mechanism includes motor d, rotary-cut motor fixing plate, shaft coupling c, axle sleeve, locking nut d, cutting disc
Piece, described rotary-cut motor fixing plate is fixedly connected with the other end pushing guide rod, and motor d is fixing with rotary-cut motor fixing plate even
Connect, cylinder blade is fixedly connected with axle sleeve, the axle head of axle sleeve is fixedly connected by shaft coupling c with motor d output shaft end.
Described wrist bindiny mechanism includes wrist connecting chuck, wrist connecting plate, wrist connecting plate fixed seat, described wrist
Portion's connecting plate fixed seat is fixedly connected with main supporting plate, and wrist connecting plate is fixedly connected with wrist connecting plate fixed seat, described wrist
Portion's connecting chuck is fixedly connected with wrist connecting plate；
Described motor a, motor b, motor c, motor d, potentiometer a, potentiometer b, potentiometer c, s type pressure transducer, flat
Plate pressure transducer and binocular camera are all electrically connected with control device.
Preferably, described linkage l also includes potentiometer fixture a～f, potentiometer fixture a and transverse slider a admittedly
Fixed connection, potentiometer fixture b is fixedly connected with drive link, and potentiometer fixture c is fixedly connected with fixture b, potentiometer
Fixture d is fixedly connected with nearly finger joint respectively with potentiometer fixture e, and potentiometer fixture f is fixedly connected with remote finger joint；Current potential
Device a is fixedly connected with potentiometer fixture a and potentiometer fixture b, and potentiometer b is fixed with potentiometer fixture c and potentiometer
Part d is fixedly connected, and potentiometer c is fixedly connected with potentiometer fixture e and potentiometer fixture f.
Preferably, described nearly finger joint fixed mount end setting nearly finger joint motion termination limited block, the end of described nearly finger joint
Setting limits remote finger joint motion and terminates limited block.
Preferably, in described drive lacking two finger mobile phone structure, each hinged place is all hinged with bearing pin, split pin.
Preferably, one layer of soft silica gel is posted on the surface of described flat board pressure transducer.
Preferably, described cylinder blade is fixedly connected with axle sleeve with increasing pad by locking nut d.
The invention has the beneficial effects as follows:
(1) adopt under-actuated finger mechanism, and extension spring is used as limiting mechanism, be allowed to envelope crawl function, institute
State under-actuated finger mechanism and adopt 2 grades of tandem linkage l under the cooperation of described extension spring and described limited block, according to fruit
The real contact position with nearly finger joint and remote finger joint, under-actuated finger mechanism is capable of the configuration of self adaptation fruit shapes.
(2) according to Fructus Vitis viniferae profile feature, the linkage l of 2 sets of under-actuated finger mechanisms forms drive lacking two and refers to handss, can
With the stability of raising action, the motility of crawl and success rate.
(3) the linkage l of under-actuated finger mechanism is separately installed with flat board pressure in described nearly finger joint and remote finger joint
Sensor, for perceiving fruit contact force, it is to avoid fruit is damaged by excessive contact force.
(4) the linkage l of under-actuated finger mechanism arranges current potential in drive link with s type pressure transducer hinged place
Device, nearly finger joint and nearly finger joint fixed mount hinged place arrange potentiometer, arrange potentiometer, realize control at nearly finger joint and remote knucklejoint
The monitor in real time of change in location of each connecting rod and being precisely controlled in device linkage l processed.
(5) the linkage l of under-actuated finger mechanism arranges s type pressure sensing between transverse slider a and fixture a
Device, realizes the real-time control to motor a thrust output for the controller, and then realizes controller to nearly finger joint and remote finger joint and fruit
The control of contact force size.
(6) rotary cutting mechanism realizes 360 ° of circumference crankmotions, and delivery device can be driven by pushing guide rod
Rotary cutting mechanism realizes the transversal stretching motion of 0～160mm.Rotary cutting mechanism is being determined to Grape stems by binocular camera
While position, controller controls the motion of rotating mechanism and delivery device so that rotary cutting mechanism arrival Grape stems are pre-
Positioning is put and is realized the reliable rotary-cut to carpopodium.
Brief description
Fig. 1 is that clamping rotary-cutting type drive lacking two of the present invention refers to handss Fructus Vitis viniferae picker axonometric drawing.
Fig. 2 is that clamping rotary-cutting type drive lacking two of the present invention refers to handss Fructus Vitis viniferae picker upward view.
Fig. 3 is rotating mechanism structural representation of the present invention.
Fig. 4 is main supporting plate structural representation of the present invention.
Fig. 5 is wrist connecting chuck structural representation of the present invention.
Fig. 6 is transverse slider a structural representation of the present invention.
Fig. 7 is transverse slider b structural representation of the present invention.
Fig. 8 is fixed block b structural representation of the present invention.
Fig. 9 is drive linkage arrangement schematic diagram of the present invention.
Figure 10 is nearly finger joint fixed rack structure schematic diagram of the present invention.
Figure 11 is potentiometer fixture c structural representation of the present invention.
Figure 12 is nearly finger joint structural representation of the present invention.
Figure 13 is remote finger joint structural representation of the present invention.
Figure 14 is rotating support d structural representation of the present invention.
Figure 15 is push guide rod structure schematic diagram of the present invention.
Figure 16 is guide rail platform structure schematic diagram of the present invention.
Figure 17 is axle sleeve structure schematic diagram of the present invention.
Wherein: 1. motor a；2. shaft coupling a；3. ball-screw a；4. nut a；5. transverse slider a；501. the 7th through holes；
502. the 8th through holes；503. the 11st through holes；504. the 12nd tapped through holes；6. transverse slider b；601. the 9th through holes；602.
Tenth through hole；7. guide rail slide block a；8. guide rail a；9.s type pressure transducer；10. fixture a；11. drive links；1101. the tenth
Eight through holes；12. drive rocker；13. nearly finger joint fixed mounts；1301. nearly finger joint motions terminate limited block；1302. the 37th lead to
Hole；1303. the tenth clematis stem holes；14. fixture b；1401. the 13rd through holes；1402. the 15th through holes；15. intermediate connecting rods；16.
Nearly finger joint；1601. remote finger joint motions terminate limited block；1602. the 22nd through holes；1603. the 19th through holes；1604. second
Ten through holes；17. remote finger joints；1701. the 23rd through holes；1702. the 21st through holes；1703. the 17th through holes；18. extension springs；
19. flat board pressure transducers；20. potentiometers；21. potentiometer fixture a；22. potentiometer fixture b；23. potentiometer fixtures
c；24. potentiometer fixture d；25. potentiometer fixture e；26. potentiometer fixture f；27. main supporting plates；2701. the 30th
Eight through holes；2702. first through hole；2703. the 28th through holes；2704. the second through hole；2705. the 25th through holes；2706.
Third through-hole；2707. the 14th through holes；2708. fourth hole；28. locking nut a；29. leading screw fixed seats a；30. leading screws prop up
Support seat a；31. motor b；32. rotating support b；3201. the 24th through holes；3202. the 20th clematis stem holes；33. rotations support
Frame c；3301. the 29th through holes；3302. the 27th through holes；34. rotating support a；35. rotating support d；3501. it is recessed
Groove；36. thrust ball bearings；37. secondary gripper shoes；38. secondary support plate bracing frames；39. locking nut b；40. motor c；41. shaft couplings
Device b；42. nut b；43. guide rail slide block b；44. guide rail b；45. push guide rods；4501. the 35th through holes；4502. the 30th
Clematis stem hole；46. guide rail platforms；4601. the 30th through holes；4602. the 31st through holes；4603. the 33rd through holes；4604.
34th through hole；4605. the 32nd through holes；47. locking nut c；48. leading screw fixed seats b；49. leading screw support base b；50.
Motor d；51. rotary-cut motor fixing plates；52. shaft coupling c；53. axle sleeves；54. locking nut d；55. increasing pads；56. cutting dives
Piece；57. binocular camera；58. video camera fixed plates；59. wrist connecting plate fixed seats；60. wrist connecting plates；61. wrists are even
Connect chuck；6101. fifth hole；6102. clematis stem holes；62. ball-screws；63. motor fixing seat b；64. motor fixing seat a；
65. bearing pins；66th, split pin；67th, potentiometer b；68th, potentiometer c.
Specific embodiment
Below in conjunction with the accompanying drawings and specific embodiment the present invention is further illustrated, but protection scope of the present invention is simultaneously
Not limited to this.
As illustrated in fig. 1 and 2, a kind of clamping rotary-cutting type drive lacking two finger handss Fructus Vitis viniferae picker includes under-actuated finger mechanism
, rotating mechanism, delivery device, rotary cutting mechanism, wrist bindiny mechanism, main supporting plate 27 and binocular camera 57.
As illustrated in fig. 1 and 2, described under-actuated finger mechanism includes motor a1, guide rail slide block mechanism g and linkage l；
Described guide rail slide block mechanism g includes motor fixing seat a64, shaft coupling a2, locking nut a28, ball-screw a3, nut a4, horizontal stroke
To slide block a5, transverse slider b6, guide rail slide block a7, guide rail a8, leading screw fixed seat a29, leading screw support base a30；Described main support
The structure of plate 27 as shown in figure 4, main supporting plate 27 is fixedly connected with leading screw fixed seat a29 by the second through hole 2704, by
Three through holes 2706 are fixedly connected with leading screw support base a30.Motor a1 is fixed in motor fixing seat a64, motor fixing seat a64 with
38th through hole 2701 of main supporting plate 27 is fixedly connected.Described motor a1 is connected with ball-screw a3 by shaft coupling a2,
Nut a4 and locking nut a28 is threadingly attached on ball-screw a3, described leading screw fixed seat a29 and leading screw support base
A30 passes through bearings ball-screw a3；The structure of transverse slider a5 is as shown in fig. 6, described transverse slider a5 leads to by the 7th
Hole 501 is fixedly connected with nut a4, and transverse slider a5 passes through the 8th through hole 502 and the 9th of transverse slider b6 (as shown in Figure 7)
Through hole 601 is fixedly connected, and transverse slider b6 is fixedly connected with guide rail slide block a7 by the tenth through hole 602；Guide rail slide block a7 with lead
Rail a8 is slidably connected, and the fourth hole 2708 that guide rail a8 passes through on main supporting plate 27 is fixed on two medial surface of main supporting plate 27.
As illustrated in fig. 1 and 2, described linkage l includes s type pressure transducer 9, fixed block a10, drive link 11, drives
Shake bar 12, nearly finger joint fixed mount 13, fixed block b14, intermediate connecting rod 15, nearly finger joint 16, remote finger joint 17, extension spring 18, flat-plate compressed
Force transducer 19, potentiometer 20, potentiometer 67, potentiometer 68；Transverse slider a5 is (as shown in Figure 6) to pass through the 11st through hole 503
It is fixedly connected with one end of s type pressure transducer 9, the other end of s type pressure transducer 9 is fixedly connected with fixed block a10, s type
Pressure transducer 9 realizes the real-time control to motor a1 thrust output for the controller, and then realizes controller to nearly finger joint 16 and remote
The control of the contact force size of finger joint 17 and fruit.Fixed block a10 is hinged with one end of drive link 11 (as shown in Figure 9), drives
The centre of the other end of dynamic connecting rod 11 and drive rocker 12 is hinged, and the two ends of drive rocker 12 with intermediate connecting rod 15 and closely refer to respectively
37th through hole 1302 of section fixed mount 13 is hinged, and the other end of intermediate connecting rod is hinged with remote finger joint 17, nearly finger joint fixed mount
13 the 37th through hole 1302 is hinged with one end of nearly finger joint 16, and one end of nearly finger joint 16 is hinged with remote finger joint 17, described near
Finger joint fixed mount 13 the 15th through hole by the tenth clematis stem hole 1303 and fixed block b14 (as shown in Figure 8) (as shown in Figure 10)
1402 are fixedly connected, and fixed block b14 is fixedly connected with the 14th through hole 2707 of main supporting plate 27 by the 13rd through hole 1401；
17th through hole 1703 installation bolt of described remote finger joint 17, and and far between finger joint 17 and the bearing pin of intermediate connecting rod 15 hinged place
Setting extension spring 18.
3 potentiometers and corresponding potentiometer fixture (as shown in figure 11) are additionally provided with described linkage l, laterally slide
Block a5 is fixedly connected with potentiometer fixture a21 by the 12nd screw thread 504 through hole, and drive link 11 passes through the 18th through hole
1101 are fixedly connected with potentiometer fixture b22, and potentiometer 20 is fixedly installed on potentiometer fixture a21 and potentiometer fixture
Between b22；Fixture b14 is fixedly connected with potentiometer fixture c23 by the 13rd through hole 1401, and nearly finger joint 16 passes through the tenth
Nine through holes 1603 are fixedly connected with potentiometer fixture d24, and potentiometer 67 is fixedly installed on potentiometer fixture c23 and potentiometer
Between fixture d24；Nearly finger joint 16 is fixedly connected with potentiometer fixture e25 by the 20th through hole 1604, and remote finger joint 17 is led to
Cross the 21st through hole 1702 to be fixedly connected with potentiometer fixture f26, potentiometer 68 is fixedly installed on potentiometer fixture e25
And potentiometer fixture f26 between.By the installation of potentiometer, realize controller to drive link 11, nearly finger joint 16, remote finger joint
The monitor in real time of 17 change in location, so common by s type pressure transducer 9, flat board pressure transducer 19 and potentiometer 20
Effect, realizes the real-time closed-loop feedback control that controller refers to mobile phone structure to drive lacking two, completes under-actuated finger mechanism to mesh
The not damaged crawl of mark fruit.
As shown in Figure 12,13, the end setting nearly finger joint motion of described nearly finger joint fixed mount 13 terminates limited block 1301, institute
The end setting stating nearly finger joint 16 limits remote finger joint motion termination limited block 1601.22nd through hole in described nearly finger joint 16
1602 and remote finger joint 17 the 23rd through hole 1701 on flat board pressure transducer 19 is installed, for perceiving the contact of fruit
Power, one layer of soft silica gel is posted on the surface of described flat board pressure transducer 19, it is to avoid fruit is damaged by excessive contact force.
According to the profile feature of fruit and vegerable, divide row two sets of identical under-actuated fingers in described main supporting plate 27 both sides
The linkage l of mechanism forms drive lacking two and refers to handss, can improve stability and the motility of grasping movement.
Described wrist bindiny mechanism includes wrist connecting chuck 61, wrist connecting plate 60, wrist connecting plate fixed seat 59,
Described wrist connecting chuck 61 (as shown in Figure 5) is fixedly connected with the wrist of mechanical arm by fifth hole 6101, described wrist
Connecting chuck 61 is fixedly connected with wrist connecting plate 60 by clematis stem hole 6102；Wrist connecting plate 60 is fixed with wrist connecting plate
Seat 59 is fixedly connected；Wrist connecting plate fixed seat 59 is fixedly connected with the 28th through hole 2701 of main supporting plate 27.
Described wrist connecting chuck 61 is connected with the wrist of mechanical arm, when this invention is guided to target position in company with mechanical arm
When putting, the motor a1 that described drive lacking two refers to handss accepts instruction rotating forward, and described motor a1 drives ball by shaft coupling a2
Nut a4 on leading screw a3 is laterally moved, and then the transverse slider a5 drive link mechanism by being fixedly connected with nut a4
L is moved.Now, transverse slider b6, guide rail slide block a7, s type pressure transducer 9, fixture a10 can regard that rigidity is as
Integrally, move together in company with described transverse slider a5, described fixture a10 drives drive rocker by described drive link 11
12 swing at the pin joint with described nearly finger joint fixed mount 13 for the described nearly finger joint 16, described nearly finger joint 16, remote finger joint 17 and
Connected intermediate connecting rod 15 can regard that rigidity is integrated as, moves together in company with described transverse slider a5.Described motor a1
It is rotated further, described nearly finger joint 16 contacting fruit, be considered as fixing.Described motor a1 is rotated further, and described intermediate connecting rod 15 drives
Described remote finger joint 17 swings at the pin joint of described nearly finger joint 16 and described remote finger joint 17, under the cooperation of described extension spring 18,
Described remote finger joint 17 touches fruit.So, the linkage l often covering described under-actuated finger mechanism all completes above-mentioned action,
At least form at 2 points with fruit to contact, at most form 4 points of contacts it is ensured that the stability of grasping movement.2 sets of described drive lacking handss
The linkage l referring to mechanism is by motor a1 independent control.When this invention reaches in company with mechanical arm and unloads fruit position, described motor
A1 accepts instruction reversion, and under the cooperation of described extension spring 18 and finger joint limited block, described nearly finger joint 16 and remote finger joint 17 are gradually returned
To initial position, described under-actuated finger mechanism is realized decontroling fruit action.
As shown in figure 3, described rotating mechanism includes motor b31, rotating support a34, rotating support b32, rotation
Bracing frame c33, rotating support d35, thrust ball bearing 36, secondary gripper shoe 37, secondary support plate bracing frame 38, locking nut b39；
Rotating support b32 is fixedly connected with the 25th through hole 2705 of main supporting plate 27 by the 24th through hole 3201, rotation
Bracing frame b32 is fixedly connected with video camera fixed plate 58 by the 20th clematis stem hole 3202, and binocular camera 57 is installed on shooting
In machine fixed plate 58, rotating support c33 passes through the 28th through hole 2703 of the 27th through hole 3302 and main supporting plate 27
It is fixedly connected, rotating support c33 is fixedly connected with wrist connecting plate 60 by the 29th through hole 3301, rotating support
The two ends of a34 are fixedly connected with rotating support b32 and rotating support c33 respectively, and motor b31 is fixed on rotating support
Below a34, described rotating support d35 is (as shown in figure 14) to be fixed by the 38th through hole 3502 and rotating support a34
All it is correspondingly provided with through hole it is ensured that motor b31 in top, described rotating support a34, rotating support d35 and secondary gripper shoe 37
Output shaft can pass through, rotating support d35 is located at the top of secondary gripper shoe 37, secondary supports plate bracing frame 38 and secondary gripper shoe
37 are fixedly connected, and are provided with thrust ball bearing 36, thrust ball bearing 36 is placed in rotation between rotating support d35 and secondary gripper shoe 37
In 3501 grooves of bracing frame d35, the output shaft of motor b31 passes through rotating support a34, rotating support d35 and secondary gripper shoe
Through hole on 37, the output shaft end of motor b31 is locked with locking nut b39.Under the driving of described motor b31, by pushing away
The effect of power ball bearing 36, drives secondary gripper shoe 37, and then drives the secondary delivery device supporting on plate bracing frame 38 and rotation
Cut mechanism and carry out forward or reverse.After binocular camera 57 photographic head collection grape fruit and its carpopodium position, by collection letter
Breath feeds back to controller, and then controller carries out Treatment Analysis to data, subsequently makes action command to each motor.
As shown in figure 1, described delivery device includes motor c40, motor fixing seat b63, shaft coupling b41, guide rail platform
46th, locking nut c47, ball-screw b62, leading screw fixed seat b48, leading screw support base b49, nut b42, guide rail slide block b43, lead
Rail b44, push guide rod 45；Motor c40 is fixedly connected with motor fixing seat b63；Described guide rail platform 46 passes through the 30th through hole
4601 are fixedly connected with motor fixing seat b63, and described guide rail platform 46 passes through the 31st through hole 4602 and leading screw fixed seat b48
It is fixedly connected, described guide rail platform 46 is fixedly connected with leading screw support base b49 by the 32nd through hole 4605, described guide rail is put down
Platform 46 passes through the 33rd through hole 4603 and supports plate bracing frame 38 to be fixedly connected with secondary, and described guide rail platform 46 passes through the 34th
Through hole 4604 is fixedly connected with guide rail b44.Motor c40 is connected by shaft coupling b41 with ball-screw b62；Described leading screw is fixed
Seat b48 and leading screw support base b49 passes through bearings ball-screw b62, and described locking nut c47 and nut b42 passes through screw thread
It is connected on ball-screw b62, push guide rod 45 and be fixedly connected with nut b42 by the 35th through hole 4501, push guide rod
45 are fixedly connected with guide rail slide block b43 by the 30th clematis stem hole 4502, and nut b42 is threadeded with ball-screw b62, guide rail
B44 is fixed on guide rail platform 46.When described motor c40 starts working, ball screw turns are driven by shaft coupling b41, enters
And drive nut b42 to realize transverse movement, now, it is one that nut b42, push guide rod 45, guide rail slide block b43 can regard rigidity as
Body, guide rail slide block b43 is slidably connected with guide rail b44, and nut b42 drives and pushes guide rod 45 and guide rail slide block b43 transverse movement, enters
And push rotary cutting mechanism and move to carpopodium position.
As shown in figure 1, described rotary cutting mechanism includes motor d50, rotary-cut motor fixing plate 51, shaft coupling c52, axle sleeve
53rd, locking nut d54, increasing pad 55, cylinder blade 56.Rotary-cut motor fixing plate 51 is solid with the other end pushing guide rod 45
Fixed connection, motor d50 is fixedly connected with rotary-cut motor fixing plate 51, and as shown in Fig. 1 and Figure 17, cylinder blade 56 passes through locking screw
Female d54 is fixedly connected with axle sleeve 53 with increasing pad 55, and the axle head of axle sleeve 53 passes through shaft coupling c52 with motor d50 output shaft end
It is fixedly connected；When described motor d50 starts working, axle sleeve 53 is driven to rotate by shaft coupling c52, now, axle sleeve 53, locking screw
Female d54, increase pad 55 and cylinder blade 56 and can regard as rigid unitary, and then axle sleeve 53 drives cylinder blade 56 to realize cutting
Cut the action of carpopodium.
Described motor a1, motor b31, motor c40, motor d50, s type pressure transducer 9, flat board pressure transducer 19 with
And the electrical connection of binocular camera 57 uniformity controller.
The attainable mode of operation of the present invention be by binocular camera 57 gather the maturity of grape fruit, size,
The information such as the position of position and carpopodium, then will gather feedback of the information to controller, controller passes through to the information collecting
Algorithm carries out Treatment Analysis and carries out machine vision demarcation to mature fruit and its carpopodium, and controller is driven by motor driver
Each motor works independently.On the one hand, under-actuated finger mechanism works independently under the driving of motor a, realizes to mature fruit
Holding action.On the other hand, while binocular camera is to the positioning of Grape stems, controller passes through electricity to rotary cutting mechanism
Machine b and motor c drives described rotating mechanism and delivery device that rotary cutting mechanism is sent to predetermined carpopodium position, and realizes
The cutting action to target carpopodium for the rotary cutting mechanism under the driving of motor d.
Described embodiment be the present invention preferred embodiment, but the present invention is not limited to above-mentioned embodiment, not
In the case of deviating from the flesh and blood of the present invention, any conspicuously improved, replacement that those skilled in the art can make
Or modification belongs to protection scope of the present invention.
Claims (6)
1. a kind of clamping rotary-cutting type drive lacking two refers to handss Fructus Vitis viniferae picker it is characterised in that including under-actuated finger mechanism
(), rotating mechanism (), delivery device (), rotary cutting mechanism (), wrist bindiny mechanism (), main supporting plate (27), binocular
Photographic head (57)；
Described under-actuated finger mechanism () is fixedly connected with main supporting plate (27), and described under-actuated finger mechanism includes motor a
(1), guide rail slide block mechanism g and linkage l；
Described guide rail slide block mechanism g includes motor fixing seat a (64), shaft coupling a (2), locking nut a (28), ball-screw a
(3), nut a (4), transverse slider a (5), transverse slider b (6), guide rail slide block a (7), guide rail a (8), leading screw fixed seat a (29),
Leading screw support base a (30)；Described motor fixing seat a (64) is fixedly connected with main supporting plate (27), and described motor a (1) is fixed on
In motor fixing seat a (64), described motor a (1) is connected with ball-screw a (3) by shaft coupling a (2)；Nut a (4) and locking
Nut a (28) is threadingly attached on ball-screw a (3), and described leading screw fixed seat a (29) and leading screw support base a (30) lead to
Cross bearings ball-screw a (3), described leading screw fixed seat a (29) and leading screw support base a (30) respectively with main supporting plate (27)
It is fixedly connected, described nut a (4) is fixedly connected with transverse slider a (5), transverse slider b is passed through at transverse slider a (5) two ends respectively
(6) it is fixedly connected with guide rail slide block a (7), described guide rail slide block a (7) and guide rail a (8) are slidably connected, described guide rail a (8) is fixing
Two medial surface in main supporting plate (27)；
The quantity of described linkage l is 2 sets, divides and is listed in main supporting plate (27) both sides, described linkage l includes s type pressure
Sensor (9), fixed block a (10), drive link (11), drive rocker (12), nearly finger joint fixed mount (13), fixed block b (14),
Intermediate connecting rod (15), nearly finger joint (16), remote finger joint (17), extension spring (18), flat board pressure transducer (19), potentiometer (20), electricity
Position device (67), potentiometer (68)；Described s type pressure transducer (9) two ends are solid with transverse slider a (5) and fixed block a (10) respectively
Fixed connection, fixed block a (10) is hinged with one end of drive link (11), and described drive rocker (12) is provided with three hinge holes,
It is located at centre and the two ends of rocking bar respectively, the other end of described drive link (11) passes through the middle hinge hole of drive rocker (12)
Hinged with drive rocker (12), the two ends of drive rocker (12) are cut with scissors with intermediate connecting rod (15) and nearly finger joint fixed mount (13) respectively
Connect, the other end of intermediate connecting rod is hinged with remote finger joint (17), nearly finger joint fixed mount (13) is hinged with nearly finger joint (16), nearly finger joint
(16) hinged with remote finger joint (17), it is fixing even that described nearly finger joint fixed mount (13) and main supporting plate (27) pass through fixture b (14)
Connect；Described drive link (11) and s type pressure transducer (9) hinged place setting potentiometer a (20), described nearly finger joint (16) near
Finger joint fixed mount (13) hinged place setting potentiometer b (67), nearly finger joint (16) arranges potentiometer c with remote finger joint (17) hinged place
(68), the sensor on described nearly finger joint (16) connects through hole (1602) and the sensor of remote finger joint (17) connects through hole (1701)
On flat board pressure transducer (19) is installed；Setting extension spring (18) between described intermediate connecting rod (15) and remote finger joint (17)；
Described rotating mechanism () includes motor b (31), rotating support a (34), rotating support b (32), rotating support c
(33), rotating support d (35), thrust ball bearing (36), secondary gripper shoe (37), secondary support plate bracing frame (38), locking nut b
(39)；Described rotating support a (34) two ends are separately fixed at rotating support b (32) and the upper end of rotating support c (33),
The lower end of described rotating support b (32) and rotating support c (33) is fixed on main supporting plate (27), and motor b (31) is fixing
In rotating support a (34) below, described rotating support d (35) is fixed on above rotating support a (34), described rotation
All it is correspondingly provided with through hole it is ensured that the output shaft of motor b (31) on support a (34), rotating support d (35) and secondary gripper shoe (37)
Can pass through, secondary gripper shoe (37) is located at the top of rotating support d (35), rotating support d (35) and secondary gripper shoe (37)
Between be provided with thrust ball bearing (36), thrust ball bearing (36) is placed in the groove (3501) of rotating support d (35), motor b
(31) output shaft passes through rotating support a (34), rotating support d (35), thrust ball bearing (36) and secondary gripper shoe (37),
The output shaft end of motor b (31) is locked with locking nut b (39)；Described rotating support b (32) and video camera fixed plate
(58) it is fixedly connected, binocular camera (57) is installed in video camera fixed plate (58)；
Described delivery device () includes motor c (40), motor fixing seat b (63), shaft coupling b (41), guide rail platform (46), lock
Jack panel c (47), ball-screw b (62), leading screw fixed seat b (48), leading screw support base b (49), nut b (42), guide rail slide block b
(43), guide rail b (44), push guide rod (45)；Motor c (40) is fixedly connected with motor fixing seat b (63)；Motor fixing seat b
(63) it is fixedly connected with guide rail platform (46), guide rail platform (46) is fixed on secondary support in plate bracing frame (38)；Motor c (40) with
Ball-screw b (62) passes through shaft coupling b (41) and connects；Described leading screw fixed seat b (48) and leading screw support base b (49) pass through bearing
Ball-screw b (62), described locking nut c (47) and nut b (42) is supported to be threadingly attached on ball-screw b (62),
Described nut b (42) is fixedly connected with pushing guide rod (45), and the one end pushing guide rod (45) is fixing with guide rail slide block b (43) even
Connect, guide rail slide block b (43) and guide rail b (44) is slidably connected, guide rail b (44) is fixed on guide rail platform (46)；
Described rotary cutting mechanism includes motor d (50), rotary-cut motor fixing plate (51), shaft coupling c (52), axle sleeve (53), disk
Blade (56), described rotary-cut motor fixing plate (51) is fixedly connected with the other end pushing guide rod (45), motor d (50) and rotary-cut
Motor fixing plate (51) is fixedly connected, and cylinder blade (56) is fixedly connected with axle sleeve (53), the axle head of axle sleeve (53) and motor d
(50) output shaft end is fixedly connected by shaft coupling c (52)；
Described wrist bindiny mechanism includes wrist connecting chuck (61), wrist connecting plate (60), wrist connecting plate fixed seat
(59), described wrist connecting plate fixed seat (59) is fixedly connected with main supporting plate (27), and wrist connecting plate (60) is connected with wrist
Plate fixed seat (59) is fixedly connected, and described wrist connecting chuck (61) is fixedly connected with wrist connecting plate (60)；
Described motor a (1), motor b (31), motor c (40), motor d (50), potentiometer c (20), potentiometer b (67), potentiometer
C (68), s type pressure transducer (9), flat board pressure transducer (19) and binocular camera (57) are all electrically connected with control device
Connect.
2. clamping rotary-cutting type drive lacking two according to claim 1 refers to handss Fructus Vitis viniferae picker it is characterised in that described company
Linkage l also includes potentiometer fixture a～f (21～26), and potentiometer fixture a (21) is fixing with transverse slider a (5) even
Connect, potentiometer fixture b (22) is fixedly connected with drive link (11), potentiometer fixture c (23) is fixing with fixture b (14)
Connect, potentiometer fixture d (24) is fixedly connected with nearly finger joint (16) respectively with potentiometer fixture e (25), and potentiometer is fixed
Part f (26) is fixedly connected with remote finger joint (17)；Potentiometer a (20) and potentiometer fixture a (21) and potentiometer fixture b (22)
It is fixedly connected, potentiometer b (67) is fixedly connected with potentiometer fixture c (23) and potentiometer fixture d (24), potentiometer c
(68) it is fixedly connected with potentiometer fixture e (25) and potentiometer fixture f (26).
3. clamping rotary-cutting type drive lacking two according to claim 1 refers to handss Fructus Vitis viniferae picker it is characterised in that described near
The end setting nearly finger joint motion of finger joint fixed mount (13) terminates limited block (1301), the end setting limit of described nearly finger joint (16)
Make remote finger joint motion and terminate limited block (1601).
4. clamping rotary-cutting type drive lacking two according to claim 1 refers to handss Fructus Vitis viniferae picker it is characterised in that described owe
Drive each hinged place in two finger mobile phone structures all hinged with bearing pin (65), split pin (66).
5. clamping rotary-cutting type drive lacking two according to claim 1 refers to handss Fructus Vitis viniferae picker it is characterised in that described put down
One layer of soft silica gel is posted on the surface of plate pressure transducer (19).
6. clamping rotary-cutting type drive lacking two according to claim 1 refers to handss Fructus Vitis viniferae picker it is characterised in that described circle
Disc blades (56) are passed through locking nut d (54) and are fixedly connected with axle sleeve (53) with increasing pad (55).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610976844.9A CN106342484B (en) | 2016-11-07 | 2016-11-07 | A kind of finger of clamping rotary-cutting type drive lacking two hand grape picker |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610976844.9A CN106342484B (en) | 2016-11-07 | 2016-11-07 | A kind of finger of clamping rotary-cutting type drive lacking two hand grape picker |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106342484A true CN106342484A (en) | 2017-01-25 |
| CN106342484B CN106342484B (en) | 2018-11-06 |
Family
ID=57864766
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610976844.9A Active CN106342484B (en) | 2016-11-07 | 2016-11-07 | A kind of finger of clamping rotary-cutting type drive lacking two hand grape picker |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106342484B (en) |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106856837A (en) * | 2017-01-23 | 2017-06-20 | 华南农业大学 | A kind of intelligent FRP clamping devices and its application |
| CN107041210A (en) * | 2017-02-24 | 2017-08-15 | 东北农业大学 | It is a kind of to grab the spheral fruit terminal executor of picking robot for cutting integral type |
| CN107873229A (en) * | 2017-11-25 | 2018-04-06 | 赵寰 | A kind of erecting device of graden machine blade |
| CN108481353A (en) * | 2018-05-28 | 2018-09-04 | 吉林大学 | A kind of fruit and vegetable picking terminal device |
| CN108513803A (en) * | 2018-06-14 | 2018-09-11 | 梧州学院 | Mandarin orange picks collection device |
| CN108522016A (en) * | 2018-06-24 | 2018-09-14 | 华北理工大学 | Pineapple assists picker |
| CN108668637A (en) * | 2018-04-25 | 2018-10-19 | 江苏大学 | A kind of machine vision places grape cluster crawl independent positioning method naturally |
| CN108811756A (en) * | 2018-08-03 | 2018-11-16 | 华中农业大学 | A kind of multi-functional pear device for picking and picking method |
| CN109079744A (en) * | 2018-10-10 | 2018-12-25 | 东南大学 | fruit and vegetable picking robot |
| CN109514531A (en) * | 2018-11-30 | 2019-03-26 | 东莞理工学院 | A kind of manipulator |
| CN110432000A (en) * | 2019-08-23 | 2019-11-12 | 佛山科学技术学院 | Fruit and vegetable picking actuator and its picking method based on soft grasping Yu tongs one |
| WO2020006086A1 (en) | 2018-06-26 | 2020-01-02 | Root Ai, Inc. | Gripper with tunable compliance for dexterous object manipulation |
| CN111070285A (en) * | 2019-12-31 | 2020-04-28 | 佛山景日自动化科技有限公司 | Electric control system of automatic spinning processing device |
| CN111656960A (en) * | 2020-07-20 | 2020-09-15 | 湖南翰坤实业有限公司 | Picking mechanical arm and intelligent fruit picking machine |
| CN113370248A (en) * | 2021-05-20 | 2021-09-10 | 上海大学 | Flexible end effector of fruit and vegetable picking robot with force sensing function |
| CN113575108A (en) * | 2021-07-19 | 2021-11-02 | 杭州电子科技大学 | Garlic sprout harvester and garlic sprout harvesting method thereof |
| CN113892346A (en) * | 2021-09-10 | 2022-01-07 | 山东农业大学 | Under-actuated arc finger fruit picking manipulator |
| CN114793625A (en) * | 2022-05-20 | 2022-07-29 | 山东理工大学 | Picking device of robot is picked to intelligence prickly ash |
| CN116061226A (en) * | 2023-02-09 | 2023-05-05 | 广东工业大学 | Under-actuated modularized charging gun clamping device |
| CN110432000B (en) * | 2019-08-23 | 2024-06-11 | 佛山科学技术学院 | Fruit and vegetable picking actuator based on integration of flexible gripping and clamping and shearing and picking method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060101798A1 (en) * | 2004-11-17 | 2006-05-18 | Ramero Luis A | Grape collection machine |
| US20070012018A1 (en) * | 2005-07-12 | 2007-01-18 | Pellenc, Societe Anonyme | Self-centering straddling harvesting head for small fruit harvesting machine and machine equipped with such harvesting head |
| CN104838809A (en) * | 2015-04-10 | 2015-08-19 | 江苏大学 | Under-actuated three-finger type fruit-vegetable flexible picking device |
| CN105875056A (en) * | 2016-05-16 | 2016-08-24 | 山东润竹山农业科技有限公司 | Grape picking clamp |
| CN105900610A (en) * | 2016-06-08 | 2016-08-31 | 山东农业大学 | Intelligent integrated machine for intactly picking and grading table grapes and control method thereof |
-
2016
- 2016-11-07 CN CN201610976844.9A patent/CN106342484B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060101798A1 (en) * | 2004-11-17 | 2006-05-18 | Ramero Luis A | Grape collection machine |
| US20070012018A1 (en) * | 2005-07-12 | 2007-01-18 | Pellenc, Societe Anonyme | Self-centering straddling harvesting head for small fruit harvesting machine and machine equipped with such harvesting head |
| CN104838809A (en) * | 2015-04-10 | 2015-08-19 | 江苏大学 | Under-actuated three-finger type fruit-vegetable flexible picking device |
| CN105875056A (en) * | 2016-05-16 | 2016-08-24 | 山东润竹山农业科技有限公司 | Grape picking clamp |
| CN105900610A (en) * | 2016-06-08 | 2016-08-31 | 山东农业大学 | Intelligent integrated machine for intactly picking and grading table grapes and control method thereof |
Cited By (28)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106856837B (en) * | 2017-01-23 | 2019-03-12 | 华南农业大学 | A kind of intelligent fiber enhancing composite material clamping device and its application |
| CN106856837A (en) * | 2017-01-23 | 2017-06-20 | 华南农业大学 | A kind of intelligent FRP clamping devices and its application |
| CN107041210A (en) * | 2017-02-24 | 2017-08-15 | 东北农业大学 | It is a kind of to grab the spheral fruit terminal executor of picking robot for cutting integral type |
| CN107873229A (en) * | 2017-11-25 | 2018-04-06 | 赵寰 | A kind of erecting device of graden machine blade |
| CN108668637A (en) * | 2018-04-25 | 2018-10-19 | 江苏大学 | A kind of machine vision places grape cluster crawl independent positioning method naturally |
| CN108481353A (en) * | 2018-05-28 | 2018-09-04 | 吉林大学 | A kind of fruit and vegetable picking terminal device |
| CN108481353B (en) * | 2018-05-28 | 2024-03-19 | 吉林大学 | Hand device is picked to fruit vegetables |
| CN108513803A (en) * | 2018-06-14 | 2018-09-11 | 梧州学院 | Mandarin orange picks collection device |
| CN108522016A (en) * | 2018-06-24 | 2018-09-14 | 华北理工大学 | Pineapple assists picker |
| WO2020006086A1 (en) | 2018-06-26 | 2020-01-02 | Root Ai, Inc. | Gripper with tunable compliance for dexterous object manipulation |
| US11647692B2 (en) | 2018-06-26 | 2023-05-16 | Appharvest Technology, Inc. | Gripper with tunable compliance for dexterous object manipulation |
| EP3813507A4 (en) * | 2018-06-26 | 2022-04-06 | Appharvest Technology, Inc. | Gripper with tunable compliance for dexterous object manipulation |
| CN108811756A (en) * | 2018-08-03 | 2018-11-16 | 华中农业大学 | A kind of multi-functional pear device for picking and picking method |
| CN108811756B (en) * | 2018-08-03 | 2023-05-26 | 华中农业大学 | Multifunctional pear picking device and picking method |
| CN109079744A (en) * | 2018-10-10 | 2018-12-25 | 东南大学 | fruit and vegetable picking robot |
| CN109514531A (en) * | 2018-11-30 | 2019-03-26 | 东莞理工学院 | A kind of manipulator |
| CN110432000A (en) * | 2019-08-23 | 2019-11-12 | 佛山科学技术学院 | Fruit and vegetable picking actuator and its picking method based on soft grasping Yu tongs one |
| CN110432000B (en) * | 2019-08-23 | 2024-06-11 | 佛山科学技术学院 | Fruit and vegetable picking actuator based on integration of flexible gripping and clamping and shearing and picking method thereof |
| CN111070285A (en) * | 2019-12-31 | 2020-04-28 | 佛山景日自动化科技有限公司 | Electric control system of automatic spinning processing device |
| CN111656960A (en) * | 2020-07-20 | 2020-09-15 | 湖南翰坤实业有限公司 | Picking mechanical arm and intelligent fruit picking machine |
| CN113370248A (en) * | 2021-05-20 | 2021-09-10 | 上海大学 | Flexible end effector of fruit and vegetable picking robot with force sensing function |
| CN113575108B (en) * | 2021-07-19 | 2022-05-13 | 杭州电子科技大学 | Garlic sprout harvester and garlic sprout harvesting method thereof |
| CN113575108A (en) * | 2021-07-19 | 2021-11-02 | 杭州电子科技大学 | Garlic sprout harvester and garlic sprout harvesting method thereof |
| CN113892346A (en) * | 2021-09-10 | 2022-01-07 | 山东农业大学 | Under-actuated arc finger fruit picking manipulator |
| CN114793625A (en) * | 2022-05-20 | 2022-07-29 | 山东理工大学 | Picking device of robot is picked to intelligence prickly ash |
| CN114793625B (en) * | 2022-05-20 | 2024-04-19 | 山东理工大学 | Picking device of intelligent pepper picking robot |
| CN116061226A (en) * | 2023-02-09 | 2023-05-05 | 广东工业大学 | Under-actuated modularized charging gun clamping device |
| CN116061226B (en) * | 2023-02-09 | 2024-03-29 | 广东工业大学 | Under-actuated modularized charging gun clamping device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106342484B (en) | 2018-11-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106342484A (en) | Clamping rotary cutting type underactuated two-finger grape picking device | |
| CN104838809B (en) | A kind of drive lacking three refers to hands formula fruit and vegerable flexibility picker | |
| CN103688657B (en) | A kind of apparatus and method for automatically plucking pineapple | |
| CN102668815B (en) | Vibration picking manipulator for fruit trees | |
| CN109500834A (en) | A kind of end effector mechanism of picking mechanical arm | |
| CN107214716A (en) | Tamato fruit string picking end effector and its picking method | |
| CN109463116B (en) | Coconut picking device | |
| CN103029132A (en) | Tail end executing mechanism and picking method for spherical fruit automatic picker | |
| CN109514531A (en) | A kind of manipulator | |
| CN105830755B (en) | High branch trimming machinery dynamic counter weight device and control method | |
| CN110235607B (en) | End effector of fruit stem clamping and cutting type picking robot | |
| CN108522016B (en) | Pineapple auxiliary picking device | |
| CN108293418A (en) | Fruit string picking mechanical arm end effector and its picking method | |
| CN108934439A (en) | A kind of drive lacking flexible retainer | |
| CN205266301U (en) | Strawberry picking manipulator device | |
| CN202565760U (en) | Fruit tree vibration picking hand | |
| CN208210824U (en) | Corn threshing device | |
| CN104025916B (en) | A kind of green fence type pruning machine structure of double leval jib transmission | |
| CN207783600U (en) | Fruits picking mechanical hand arm | |
| CN208708181U (en) | It is a kind of to be pre-positioned autonomous clipping picking mechanism and picking collection device | |
| CN209478174U (en) | A kind of agricultural robot platform based on intersection girder rack | |
| CN207927251U (en) | A kind of fruit string picking mechanical arm end effector | |
| CN107750640B (en) | Automatic double-trunk clamping device and method for self-propelled vibration harvester | |
| CN204426040U (en) | A kind of caragana microphylla pick-up unit | |
| CN207014387U (en) | A kind of tamato fruit string picking end effector |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |