CN106607892A - Dragonfly-claw type bionic end executor suitable for grabbing different forms of fruits and vegetables - Google Patents
Dragonfly-claw type bionic end executor suitable for grabbing different forms of fruits and vegetables Download PDFInfo
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- CN106607892A CN106607892A CN201510689296.7A CN201510689296A CN106607892A CN 106607892 A CN106607892 A CN 106607892A CN 201510689296 A CN201510689296 A CN 201510689296A CN 106607892 A CN106607892 A CN 106607892A
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Abstract
The invention discloses an agricultural robot end executor with a bionic structure feature. Dragonfly claw fingers serve as the bionic study object of the mechanical arm, and the specific structure feature of six fingers of a dragonfly is applied to the design of the mechanical arm. The mechanical arm is composed of a frame-type mechanical platform, a control system, a feedback system, a transmission system and an electric auxiliary system. When fruits and vegetables are grabbed, the angles, relative to median claws, of two pairs of claw fingers in the front and back direction of the mechanical arm are controlled through a flat base push rod plate type cam mechanism mounted on the lower portions of servomotors. When the mechanical arm makes contact with the fruits and vegetables, the rotation ranges of the servomotors are adjusted through the force value feedback of a sensor, so that tightening up or releasing of a high-strength flexible polyamide rope inside the claw fingers is adjusted, and the purpose that the different sizes and different shapes of fruits and vegetables can be grabbed stably and smoothly is achieved.
Description
Technical field
The present invention relates to a kind of bionical Aeschna melanictera claw end effector with crawl fruit and vegerable function, belongs to a kind of novel bionic mechanical hand in agricultural engineering field.
Background technology
In agricultural engineering field, during winning and sort fruit and vegerable using agriculture intelligence equipment, due to fruit and vegerable broad categories, different sizes, so wanting that it is very difficult to reach using the effect of the variously-shaped fruit and vegerable of same mechanical hand crawl.In addition fruit and vegerable are easily damaged, so stable and submissive crawl is also highly important.But mechanical hand has significant limitation to the adaptedness and submissive degree that capture object of different shapes now, so the research of end effector is just particularly important in winning and sorting.
It is well known that Aeschna melanictera is when object is captured, its pawl refers to the branch branch still kept flat with extensive adaptability, either vertical branch top, and Aeschna melanictera can the firm stability for capturing and keeping body.Forms of motion when this phenomenon is captured with which has direct relation, and from the six of its uniqueness, its forms of motion refers to that the different movement mechanism of mechanism and each leg section is inseparable.Therefore bionics fiber object of the Aeschna melanictera pawl for end effector, by structure, form and the mechanism of studying its pawl, can provide bio-information for the end effector for capturing fruit and vegerable.Therefore the characteristics of probing into Aeschna melanictera pawl has tangible meaning for the end effector for improving tradition crawl fruit and vegerable.
The content of the invention
The invention reside in providing a kind of agricultural robot end effector with biomimetic features feature, the mechanical hand is referred to as bionics fiber object with Aeschna melanictera pawl, and its distinctive six fingers architectural feature is applied to the design of the mechanical hand.The mechanical hand is made up of frame-type mechanical platform, control system, feedback system, drive system, electric auxiliary system.The mechanical hand with composite as material, with electric power as drive energy.When fruit and vegerable are captured, by the Cam being equipped with below servomotor, before and after control machinery hand, two pairs of pawls refer to the angle relative to median claw.When mechanical hand touches fruit and vegerable, by the rotation amplitude of the force value feedback regulation servomotor of sensor, refer to tightening up or diastole for internal high-strength flexible polyamide rope so as to carry out adjustable claw.And then realize carrying out different size, fruit and vegerable of different shapes the purpose of stable and complaisant grasping.
A kind of Aeschna melanictera claw end effector with bionic geometric structure feature of the present invention, the mechanical hand are made up of frame-type mechanical platform, intelligence control system, feedback system, drive system, electric auxiliary system.Mechanical platform main body frame (1) and gripper refer to and are made up of composite，Main body frame (1) bottom is fixed by slideway (19) by bolt，Pass through spring constraint between two mechanical hands trochanter slide block (18)，There is the chute (15) of two up/down perforations on mechanical hand trochanter slide block (18)，Gripper is referred to and is connected with median claw chassis (13) by ball pivot (12) and ball pivot beam (16) through chute (15) by mechanical hand trochanter slide block (18)，Median claw chassis (13) is interfixed by median claw beam (14) with mechanical hand median claw leg section (8)，The median claw chassis (13) that servomotor (3) is fixed on flat push rod disc cam (17) by positioning bolt hole，By the change of flat push rod disc cam (17) and the relative position of mechanical hand trochanter slide block (18)，And constraint of the spring to mechanical hand trochanter slide block (18)，Realize linear reciprocating motion of mechanical hand trochanter slide block (18) on slideway (19).Before and after mechanical hand, the two pairs of pawls refer to it is identical, and mechanical hand fore paw is hinged and is formed by mechanical hand fore paw leg section (4), mechanical hand fore paw tibia (5), mechanical hand fore paw digitus (6).Mechanical hand rear solid end is hinged and is formed by mechanical hand rear solid end leg section (23), mechanical hand rear solid end tibia (24), mechanical hand rear solid end digitus (25).Mechanical hand median claw is hinged and is formed by mechanical hand median claw leg section (8), mechanical hand median claw tibia (9), mechanical hand median claw digitus (10).Before Aeschna melanictera（Afterwards）Pawl end is hinged barb (22), and barb (22) is made up of barb hinged place (28), barbed end (26) and barb corner (27), and in barb (22) there is warp architecture.Foil gauge (20) is posted in mechanical hand barb (22) and mechanical hand median claw digitus (10) surface all sides.High-strength flexible polyamide rope is fixed with the inside of mechanical hand barb (22), high-strength flexible polyamide rope is wrapped in by mechanical hand inside groove (21) and is fixed on the wire spool (11) of servomotor (2), (7) output shaft, with the effect for realizing being driven.
Description of the drawings
Fig. 1 is schematic structural view of the invention；
The top view that Fig. 2 refers to for two pairs of pawls before and after end effector；
Fig. 3 refers to structural representation for mechanical hand fore paw.
In figure：L, main body frame；2nd, servomotor；3rd, servomotor；4th, mechanical hand fore paw leg section；5th, mechanical hand fore paw tibia；6th, mechanical hand fore paw digitus；7th, servomotor；8th, mechanical hand median claw leg section；9th, mechanical hand median claw tibia；10th, mechanical hand median claw digitus；11st, wire spool, 12, ball pivot；13rd, median claw chassis；14th, median claw beam；15th, chute；16th, ball pivot beam；17th, flat push rod disc cam；18th, mechanical hand trochanter slide block；19th, slideway, 20, foil gauge；21st, inside groove；22nd, barb.
Specific embodiment
A kind of described Aeschna melanictera claw end effector with bionic geometric structure feature, the mechanical hand are made up of frame-type mechanical platform, intelligence control system, feedback system, drive system, electric auxiliary system.Mechanical platform main body frame (1) and gripper refer to and are made up of composite，Main body frame (1) bottom is fixed by slideway (19) by bolt，Pass through spring constraint between two mechanical hands trochanter slide block (18)，There is the chute (15) of two up/down perforations on mechanical hand trochanter slide block (18)，Gripper is referred to and is connected with median claw chassis (13) by ball pivot (12) and ball pivot beam (16) through chute (15) by mechanical hand trochanter slide block (18)，Median claw chassis (13) is interfixed by median claw beam (14) with mechanical hand median claw leg section (8)，The median claw chassis (13) that servomotor (3) is fixed on flat push rod disc cam (17) by positioning bolt hole，By the change of flat push rod disc cam (17) and the relative position of mechanical hand trochanter slide block (18)，And constraint of the spring to mechanical hand trochanter slide block (18)，Realize linear reciprocating motion of mechanical hand trochanter slide block (18) on slideway (19).Before and after mechanical hand, the two pairs of pawls refer to it is identical, and mechanical hand fore paw is hinged and is formed by mechanical hand fore paw leg section (4), mechanical hand fore paw tibia (5), mechanical hand fore paw digitus (6).Mechanical hand rear solid end is hinged and is formed by mechanical hand rear solid end leg section, mechanical hand rear solid end tibia, mechanical hand rear solid end digitus.Mechanical hand median claw is hinged and is formed by mechanical hand median claw leg section (8), mechanical hand median claw tibia (9), mechanical hand median claw digitus (10).Before Aeschna melanictera（Afterwards）Pawl end is hinged barb (22), and barb (22) is made up of barb hinged place, barbed end and barb corner, and in barb (22) there is warp architecture.Foil gauge (20) is posted in mechanical hand barb (22) and mechanical hand median claw digitus (10) surface all sides.High-strength flexible polyamide rope is fixed with the inside of mechanical hand barb (22), high-strength flexible polyamide rope is wrapped in by mechanical hand inside groove (21) and is fixed on the wire spool (11) of servomotor (2), (7) output shaft, with the effect for realizing being driven.When using starting, servomotor (2), (3), (7) are in initial position, control system adjusts the relative position of flat push rod disc cam (17) and mechanical hand trochanter slide block (18) by machine vision technique, along with constraint of the spring to mechanical hand trochanter slide block (18), realize motion of mechanical hand trochanter slide block (18) on slideway (19), and then two refer to angle relative to median claw to pawl when realizing crawl fruit and vegerable, reach the action of bionical Aeschna melanictera pawl to capture the purpose of fruit and vegerable of different shapes.The ratio of the leg section of every gripper is the ratio of bionical Aeschna melanictera leg section, more adapts to variously-shaped fruit and vegerable.When mechanical hand touches fruit and vegerable, by the foil gauge (20) posted on the inside of barb (22) and mechanical hand median claw digitus (10), the force value for measuring is fed back to control system, and then adjust servomotor (2), the rotation of (7), the high-strength flexible polyamide rope being fixed in mechanical hand barb (22) and mechanical hand median claw digitus (10) inside groove (21) is tightened up or diastole, reach the purpose of soft crawl different shape fruit and vegerable.This bionical Aeschna melanictera claw end effector adaptability is high, is adapted to the crawl of variously-shaped fruit and vegerable.
Claims (2)
1. a kind of Aeschna melanictera claw end effector with bionic geometric structure feature, the mechanical hand are made up of frame-type mechanical platform, intelligence control system, feedback system, drive system, electric auxiliary system；Mechanical platform main body frame (1) and gripper refer to and are made up of composite，Main body frame (1) bottom is fixed by slideway (19) by bolt，Pass through spring constraint between two mechanical hands trochanter slide block (18)，There is the chute (15) of two up/down perforations on mechanical hand trochanter slide block (18)，Gripper is referred to and is connected with median claw chassis (13) by ball pivot (12) and ball pivot beam (16) through chute (15) by mechanical hand trochanter slide block (18)，Median claw chassis (13) is interfixed by median claw beam (14) with mechanical hand median claw leg section (8)，The median claw chassis (13) that servomotor (3) is fixed on flat push rod disc cam (17) by positioning bolt hole，By the change of flat push rod disc cam (17) and the relative position of mechanical hand trochanter slide block (18)，And constraint of the spring to mechanical hand trochanter slide block (18)，Realize linear reciprocating motion of mechanical hand trochanter slide block (18) on slideway (19)；Before and after mechanical hand, the two pairs of pawls refer to it is identical, and mechanical hand fore paw is hinged and is formed by mechanical hand fore paw leg section (4), mechanical hand fore paw tibia (5), mechanical hand fore paw digitus (6)；Mechanical hand rear solid end is hinged and is formed by mechanical hand rear solid end leg section (23), mechanical hand rear solid end tibia (24), mechanical hand rear solid end digitus (25)；Mechanical hand median claw is hinged and is formed by mechanical hand median claw leg section (8), mechanical hand median claw tibia (9), mechanical hand median claw digitus (10)；Before Aeschna melanictera（Afterwards）Pawl end is hinged barb (22), and barb (22) is made up of barb hinged place (28), barbed end (26) and barb corner (27), and in barb (22) there is warp architecture；Foil gauge (20) is posted in mechanical hand barb (22) and mechanical hand median claw digitus (10) surface all sides；High-strength flexible polyamide rope is fixed with the inside of mechanical hand barb (22), high-strength flexible polyamide rope is wrapped in by mechanical hand inside groove (21) and is fixed on the wire spool (11) of servomotor (2), (7) output shaft, with the effect for realizing being driven.
2. a kind of Aeschna melanictera claw end effector with bionic geometric structure feature according to claim l, it is characterised in that：The ratio of the distance between the distance between two ball pivot beam (16) end AB being connected with mechanical hand fore paw leg section (4) and the distance between two median claw beam (14) end CD and two ball pivot beam (16) end EF being connected with mechanical hand rear solid end leg section (23) is 64：123：64；In the plane residing for median claw chassis (13), between the ball pivot beam (16) being connected with mechanical hand fore paw leg section (4) and median claw beam (14), folded angle is 30 °, and between the ball pivot beam (16) being connected with mechanical hand rear solid end leg section (23) and median claw beam (14), folded angle is 30 °.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510689296.7A CN106607892A (en) | 2015-10-23 | 2015-10-23 | Dragonfly-claw type bionic end executor suitable for grabbing different forms of fruits and vegetables |
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| CN201510689296.7A CN106607892A (en) | 2015-10-23 | 2015-10-23 | Dragonfly-claw type bionic end executor suitable for grabbing different forms of fruits and vegetables |
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| CN201510689296.7A Pending CN106607892A (en) | 2015-10-23 | 2015-10-23 | Dragonfly-claw type bionic end executor suitable for grabbing different forms of fruits and vegetables |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107350331A (en) * | 2017-06-22 | 2017-11-17 | 嘉兴敏实机械有限公司 | A kind of automobile guide rail Full automatic punching cut machine |
| CN107926290A (en) * | 2017-12-29 | 2018-04-20 | 南京工程学院 | Novel fruits picker |
| CN108945146A (en) * | 2018-07-30 | 2018-12-07 | 中国矿业大学 | A kind of game spider robot leg mechanism and working method |
| CN112623062A (en) * | 2021-01-06 | 2021-04-09 | 中国铁建重工集团股份有限公司 | Walking chassis and engineering machine |
-
2015
- 2015-10-23 CN CN201510689296.7A patent/CN106607892A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107350331A (en) * | 2017-06-22 | 2017-11-17 | 嘉兴敏实机械有限公司 | A kind of automobile guide rail Full automatic punching cut machine |
| CN107926290A (en) * | 2017-12-29 | 2018-04-20 | 南京工程学院 | Novel fruits picker |
| CN108945146A (en) * | 2018-07-30 | 2018-12-07 | 中国矿业大学 | A kind of game spider robot leg mechanism and working method |
| CN108945146B (en) * | 2018-07-30 | 2021-12-07 | 中国矿业大学 | Spider robot leg mechanism for game and working method |
| CN112623062A (en) * | 2021-01-06 | 2021-04-09 | 中国铁建重工集团股份有限公司 | Walking chassis and engineering machine |
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Application publication date: 20170503 |
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