CN106363618A - Picking mechanical hand - Google Patents

Picking mechanical hand Download PDF

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Publication number
CN106363618A
CN106363618A CN201610737255.5A CN201610737255A CN106363618A CN 106363618 A CN106363618 A CN 106363618A CN 201610737255 A CN201610737255 A CN 201610737255A CN 106363618 A CN106363618 A CN 106363618A
Authority
CN
China
Prior art keywords
mechanical arm
disc
picking mechanical
drive mechanism
forearm
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
Application number
CN201610737255.5A
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Chinese (zh)
Inventor
苑明海
俞红焱
鲁义刚
王英博
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Changzhou Campus of Hohai University
Original Assignee
Changzhou Campus of Hohai University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Changzhou Campus of Hohai University filed Critical Changzhou Campus of Hohai University
Priority to CN201610737255.5A priority Critical patent/CN106363618A/en
Publication of CN106363618A publication Critical patent/CN106363618A/en
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators
    • 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
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a picking mechanical hand which comprises a terminal executor, a mechanical arm and a lifting platform. The lifting platform is installed on a creeper truck, and the creeper truck can automatically drive and achieve navigation. The mechanical arm is mainly and structurally comprises four joints, namely a base, a large arm, a small arm and a wrist. The base is connected with the lifting platform. The lifting platform mainly achieves movement in the vertical direction. The wrist is connected with the terminal executor. The terminal executor achieves space positioning and fruit harvesting action in harvesting operation. In the harvesting process, separation of fruits from fruit trees is mainly achieved through the degree of freedom of the wrist. The terminal executor has a visual analysis function, a pressure sensing function and a collision sensing function. For all the joint portions, an alternating current servo motor is selected as a driving source, and a planetary gear reducer is selected for speed reduction. The picking mechanical hand is small in structural mass and size, and has the advantages of being simple in transmission mechanism, low in design cost and the like.

Description

A kind of picking mechanical arm
Technical field
The present invention relates to field of agricultural robots is and in particular to a kind of picking mechanical arm.
Background technology
At present, fruit and vegetable picking operation is complicated, and automaticity is relatively low, relies primarily on manpower and carries out, and plucker is many Based on middle-aged and elderly people, but world community all suffers from this Tough questions of aged tendency of population, and meanwhile, fruit and vegetable varieties are various and fruit and vegerable Pluck and there is certain danger sometimes, and improve the efficiency of fruit and vegetable picking, be not only able to reduce harvesting cost additionally it is possible to increase The income of grower, reduces the labor intensity of workman, therefore, the development of fruit picking robot is to fruit and vegetable picking energy simultaneously There are great impact in enough mechanization and automatization.
Content of the invention
The invention provides a kind of picking mechanical arm, solve to pluck at present labour force in work big and there is danger etc. lack Fall into, its architecture quality and small volume, it is simple to have a drive mechanism, the low advantage of design cost.
In order to solve above-mentioned technical problem, the present invention adopts the following technical scheme that
A kind of picking mechanical arm is it is characterised in that include end effector, mechanical arm and hoistable platform, described hoistable platform Being arranged on can be with the creeper truck of automatic running navigation.
Further, described end effector includes clamping device, servomotor, adds inside the finger of clamping device Rubber nylon material is to reduce the damage to fruit surface.
Further, end effector is provided with digi-hibw-60 video frequency pick-up head, finger tips are provided with fsr- 402 pressure transducers, digi-hibw-60 video frequency pick-up head and fsr-402 pressure transducer connect controller, digi-hibw- 60 video frequency pick-up heads gather end effector and shaped size information, the fsr- plucking the distance between object information and fruit The pressure conversion of finger tips is the signal of telecommunication by 402 pressure transducers, and controller gathers above signal and controls end effector Action.
Further, setting collision perceptron on end effector, is harvested to whole with reducing branch etc. during results The adverse effect of action.
Further, described mechanical arm includes wrist, forearm, large arm and base.
Further, described wrist includes a flat board, and described flat board has draw-in groove, and described draw-in groove is provided with driver Structure simultaneously connects described end effector, and described flat board both sides are provided with two pieces of otic placodes, and described otic placode is articulated with forearm, described forearm with Otic placode hinged place arranges drive mechanism.
Further, described forearm includes two pieces of thin plates connecting by bar, and described forearm is connected big by drive mechanism Arm, described large arm passes through drive mechanism connect base, and the space installing forearm drive mechanism is left in described large arm front end.
Further, described base is divided into upper and lower two-layer, described top bottom-disc and low bottom-disc to lead to by top bottom-disc and low bottom-disc Cross support rod member to connect, large arm electric machine stand is set on described top bottom-disc, described large arm electric machine stand is by drive mechanism even Connect large arm；Between described top bottom-disc and low bottom-disc, the drive mechanism being connected with described lifting platform is set, enables described base 360 The rotation of degree.
Further, described drive mechanism concatenates the kind of drive of planetary reducer for AC servo motor.
Further, described hoistable platform includes servomotor, screw mandrel, connecting rod fold mechanism, upper mounting plate, described flat Platform arranges the guide rail of level, and the outfan of described servomotor connects described screw mandrel, and described screw mandrel connects described connecting rod and folds Mechanism lower end, the telescopic direction of described connecting rod fold mechanism is vertical direction, and the upper end of described connecting rod fold mechanism is cut with scissors with slide bar Connect, described slide bar is arranged in described guide rail, and described base is arranged on described upper mounting plate.
The invention has the beneficial effects as follows: the picking mechanical arm of the present invention adopts AC servo motor as driving, concatenation row Star gear reduction unit slows down, and simultaneously to actuator setting video frequency pick-up head, pressure transducer device and collision perceptron, significantly carries The high quality plucking fruit, designed mechanical arm has five degree of freedom, is arranged on the pedrail of two degree of freedom, carries out Band car can be navigated with automatic running, is simultaneously provided with lifting platform, it is possible to achieve the motion of mechanical arm vertical direction, and whole mechanical hand is real Existing 360 degree of rotations are plucked, and facilitate feasible, and architecture quality and small volume, can greatly improve picking efficiency, reduce artificial labor Power, reduces and plucks cost.
Brief description
The invention will be further described with reference to the accompanying drawings and detailed description:
Fig. 1 is mechanical arm of the present invention and end effector graphics；
Fig. 2 is the structure chart of end effector clamping device of the present invention；
Fig. 3 is present invention machinery wrist main body supporting structure figure；
Fig. 4 is mechanical arm base lower base disk outside drawing of the present invention；
Fig. 5 is waist electric machine stand graphics of the present invention；
Fig. 6 is large arm electric machine stand graphics of the present invention；
Fig. 7 is hoistable platform structure schematic diagram of the present invention；
Reference implication is as follows: 1: servomotor；2: right gear；3: crank；4: right crank；5: left crank；6: left gear； 7: connect sheet metal component；8: connect sheet metal component；9: drive end bearing bracket；10: wrist；11: forearm；12: large arm；13: large arm motor machine Seat；14: top bottom-disc；15: upper bed-plate connecting rod；16: low bottom-disc；17: lower bottom base；18: interior bar；19: support rod member；20: lower bottom base； 21: waist electric machine stand；22: final drive shaft；23: lower plate；24: connector；25: securing member；26: securing member；27: connecting rod Fold mechanism；28: securing member；29: upper mounting plate；30: slide bar；31: guide rail；32: nut；33: screw mandrel；34: servomotor.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings:
As shown in Fig. 1 ~ 7, a kind of picking mechanical arm, including end effector, mechanical arm and hoistable platform, described hoistable platform Being arranged on can be with the creeper truck of automatic running navigation.
Described end effector includes clamping device, servomotor (1), adds rubber Buddhist nun inside the finger of clamping device Imperial material is to reduce the damage to fruit surface.
Digi-hibw-60 video frequency pick-up head is provided with end effector, finger tips are provided with fsr-402 pressure and pass Sensor, digi-hibw-60 video frequency pick-up head and fsr-402 pressure transducer connect controller, digi-hibw-60 video camera Head collection end effector and shaped size information, the fsr-402 pressure biography of plucking the distance between object information and fruit The pressure conversion of finger tips is the signal of telecommunication by sensor, and controller gathers above signal and controls the action of end effector.
Described mechanical arm includes wrist (10), forearm (11), large arm (12) and base.
Described wrist (10) includes a flat board (101), and described flat board (101) has draw-in groove (102), described draw-in groove (102) it is provided with drive mechanism and connects described end effector, described flat board (101) both sides are provided with two pieces of otic placodes (103), institute State otic placode (103) and be articulated with forearm (11), described forearm (11) arranges drive mechanism with otic placode (103) hinged place.
Described forearm (11) includes two pieces of thin plates connecting by bar, and described forearm connects large arm, institute by drive mechanism State large arm and pass through drive mechanism connect base, the space installing forearm drive mechanism is left in described large arm front end.
Described base passes through top bottom-disc (16) and low bottom-disc (17) is divided into upper and lower two-layer, described top bottom-disc (16) and low bottom-disc (17) pass through to support rod member (19) to connect, setting large arm electric machine stand (13), described large arm motor on described top bottom-disc (16) Support (13) connects large arm (12) by drive mechanism；Setting and described lifting between described top bottom-disc (16) and low bottom-disc (17) The drive mechanism that platform connects, enables the rotation of 360 degree of described base.
Described drive mechanism concatenates the kind of drive of planetary reducer for AC servo motor.
Described hoistable platform includes servomotor (34), screw mandrel (33), connecting rod fold mechanism (27), upper mounting plate (29), Described upper mounting plate (29) arranges the guide rail (31) of level, and the outfan of described servomotor (34) connects described screw mandrel (33), Described screw mandrel (33) connects described connecting rod fold mechanism (27) lower end, and the telescopic direction of described connecting rod fold mechanism (27) is vertical Direction, the upper end of described connecting rod fold mechanism (27) is hinged with slide bar (30), and described slide bar (30) is arranged at described guide rail (31) Interior, described base is arranged on described upper mounting plate (29).
Particular embodiments described above, to present invention solves the technical problem that, technical scheme and beneficial effect carry out Further describe, be should be understood that the specific embodiment that the foregoing is only the present invention, be not limited to this Invention, all any modification, equivalent substitution and improvement within the spirit and principles in the present invention, done etc., should be included in this Within bright protection domain.

Claims (9)

1. a kind of picking mechanical arm it is characterised in that including end effector, mechanical arm and hoistable platform, put down by described lifting Platform is arranged on can be with the creeper truck of automatic running navigation.
2. a kind of picking mechanical arm according to claim 1 is it is characterised in that described end effector includes clamping machine Structure, servomotor, add rubber nylon material to reduce the damage to fruit surface inside the finger of clamping device.
3. a kind of picking mechanical arm according to claim 1 is it is characterised in that be provided with digi- on end effector Hibw-60 video frequency pick-up head, finger tips are provided with fsr-402 pressure transducer, digi-hibw-60 video frequency pick-up head and Fsr-402 pressure transducer connect controller, digi-hibw-60 video frequency pick-up head collection end effector with pluck object it Between range information and the shaped size information of fruit, fsr-402 pressure transducer the pressure conversion of finger tips is electricity Signal, controller gathers above signal and controls the action of end effector.
4. a kind of picking mechanical arm according to claim 1 is it is characterised in that described mechanical arm includes wrist, forearm, big Arm and base.
5. a kind of picking mechanical arm according to claim 4 is it is characterised in that described wrist includes a flat board, described Draw-in groove is had, described draw-in groove is provided with drive mechanism and connects described end effector, and described flat board both sides are provided with two on flat board Block otic placode, described otic placode is articulated with forearm, and described forearm arranges drive mechanism with otic placode hinged place.
6. a kind of picking mechanical arm according to claim 4 is it is characterised in that described forearm includes two pieces is connected by bar Thin plate, described forearm by drive mechanism connect large arm, described large arm pass through drive mechanism connect base, described large arm front end Leave the space installing forearm drive mechanism.
7. a kind of picking mechanical arm according to claim 4 is it is characterised in that described base passes through top bottom-disc and low bottom-disc It is divided into upper and lower two-layer, described top bottom-disc and low bottom-disc to pass through to support rod member to connect, large arm motor machine is set on described top bottom-disc Seat, described large arm electric machine stand connects large arm by drive mechanism；Setting and described lifting between described top bottom-disc and low bottom-disc The drive mechanism that platform connects, enables the rotation of 360 degree of described base.
8. a kind of picking mechanical arm according to claim 1 to 7 any one claim is it is characterised in that described biography Motivation structure concatenates the kind of drive of planetary reducer for AC servo motor.
9. a kind of picking mechanical arm according to claim 1 is it is characterised in that described hoistable platform includes servomotor , screw mandrel, connecting rod fold mechanism, upper mounting plate, described upper mounting plate arranges the guide rail of level, and the outfan of described servomotor is even Connect described screw mandrel, described screw mandrel connects described connecting rod fold mechanism lower end, and the telescopic direction of described connecting rod fold mechanism is vertical Direction, the upper end of described connecting rod fold mechanism is hinged with slide bar, and described slide bar is arranged in described guide rail, and described base is arranged at On described upper mounting plate.
CN201610737255.5A 2016-08-29 2016-08-29 Picking mechanical hand Pending CN106363618A (en)

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CN107214725A (en) * 2017-06-07 2017-09-29 佛山市建金建电子科技有限公司 Production line material-feeding and fetching robot hand
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CN108310975A (en) * 2018-03-26 2018-07-24 新昌县以琳环保科技有限公司 The ceramic membrane cylinder regulating arm device of sewage disposal
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Cited By (77)

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Publication number Priority date Publication date Assignee Title
CN106818047A (en) * 2017-02-24 2017-06-13 四川农业大学 A kind of efficient tealeaves tender shoots picking machine
CN106576593A (en) * 2017-02-24 2017-04-26 四川农业大学 Efficient tea-leaf picker clamping end transmission device
CN107211651B (en) * 2017-06-06 2019-03-29 台州创兴环保科技有限公司 A kind of cotton collecting device with harvesting stalk function
CN107211651A (en) * 2017-06-06 2017-09-29 宋刘洋 It is a kind of that there is the cotton collecting device for gathering in stalk function
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Application publication date: 20170201