CN107932550A - A kind of end effector finger that operation size can be adjusted according to fruit size - Google Patents
A kind of end effector finger that operation size can be adjusted according to fruit size Download PDFInfo
- Publication number
- CN107932550A CN107932550A CN201810013085.5A CN201810013085A CN107932550A CN 107932550 A CN107932550 A CN 107932550A CN 201810013085 A CN201810013085 A CN 201810013085A CN 107932550 A CN107932550 A CN 107932550A
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- China
- Prior art keywords
- finger
- end effector
- fruit
- size
- different
- 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.)
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Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
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- 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
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
Abstract
This end effector finger can adjust operation size, main bending elongation and shortening using finger-joint layer according to fruit size, and adjust geometrical clamp and be located at height different on articulamentum, and operation size is adjusted so as to fulfill according to fruit size.The finger includes：Connector, runner, articulamentum, flow channel and multidirectional flexible strain transducer.By the degree of crook of gas flow optimized finger-joint layer, the crawl and release to different fruits are realized.Finger is fixed in the fixed plate of end effector by geometrical clamp, and elastic by adjusting screw realizes that geometrical clamp is located at the different height of articulamentum, forms the finger of different length, so as to fulfill picking of the end effector to a variety of different size fruits.End effector finger structure is simple, can effectively solve to adjoin fruit separation problem by the cooperation of three finger of end effector, realizes that single fruit stablizes crawl and lossless picking.
Description
Technical field
This patent is related to the picking field of fruit, and in particular to can be adjusted for one kind of different fruits according to fruit size
The end effector finger of operation size.
Background technology
In producing overall process in orchard, orchard harvest operation is most important link, has seasonal strong and labour intensive
The characteristics of, labor cost accounts for the 35% ~ 45% of whole production process.China is the country of fruit cultivated area maximum in the world,
But manually pick at present, be link most time-consuming and laborious in various fruit plantations.Therefore, research fruit picking robot has
Significance.Compared to industrial robot, there are certain difficulty in work for fruit picking robot.First, fruit picking
The manipulating object complexity of device people is high.Different from industrial production, fruit has certain flexibility, to be avoided in picking process
Hurt fruit tree and fruit acquires a certain degree of difficulty.Need to carry out adjoining fruit separation to ensure not damaging fruit during picking, reduce clamping
Power, while carpopodium is removed, the lossless picking of fruit is one of key technology of picking robot, is held mainly by picking robot end
Hang Qi mechanisms and finger principle ensure.
In " the 3D printing of highly elastic strain that Josef F. Christ et al. are delivered
Demonstrated in sensors using polyurethane/multiwall carbon nanotube composites " articles
The possibility of the embedded and multidirectional flexible strain transducer of low cost manufacture, and its in software robot, flexible electronic and health prison
Potential application in terms of survey.In " the 3D printed thermoplastic that CameronHohimer et al. is delivered
It is experimentally confirmed in the paper of polyurethane with isotropic material properties "：The air gap
The UTS of mold sample is had a significant impact, it is different from rigid thermoplastic, can be produced in the TPU samples of printing it is each to
The mechanical performance of the same sex.This material can be used in 3D printer, so as to construct the object of arbitrary shape.By special designing,
The shape of the object can be made to change after inflation, such as to be straight during unaerated, bent after inflation.
Analyzed based on more than, this patent proposition is a kind of can to adjust operation size based on flexible material according to fruit size
End effector finger, sets special gas passage, bends flexible material after inflation, and fruit, mould are surrounded using more fingers
Anthropomorphic hand realizes the picking of fruit.
The content of the invention
For the lossless picking of different fruits, this patent proposes a kind of end that operation size can be adjusted according to fruit size
Hold actuator finger.The end effector finger includes connector 11, runner 12, articulamentum 13, flow channel 14 and multidirectional soft
Property strain transducer 15., can be according to the flow velocity and fixing fabric structure of air-flow when there is air-flow to enter flow channel 14 by runner 12
The degree of crook of finger-joint layer, realizes crawl and release to different fruits.Multidirectional flexibility strain transducer 15 is placed in finger
Inside, the placement of multidirectional flexibility strain transducer 1 can feed back the size of grasp in time, judge whether promptly reliable.Finger leads to
Cross geometrical clamp 204 to be fixed in the fixed plate 205 of end effector, end effector includes forefinger 200, middle finger 201, the third finger
202nd, screw 203, geometrical clamp 204, fixed plate 205, diffluence pass 206, air inlet 207, gas channel ring 208,209 and of mainstream mouth
Elastic threads 210.The runner 12 of each finger is connected into by gas channel ring 208 by the connector 11 and hose of finger bottom；
Fixed plate 205 and elastic threads can effectively prevent fruit from dropping or damaging；The setting of the articulamentum 13 of finger is to allow finger
Have air-flow by when, preferably realize finger bending shrink and elongation.Elastic by adjusting screw 203 realizes geometrical clamp
204 are located at the different height of articulamentum 13, the finger of different length are formed, so as to fulfill an end effector to a variety of differences
The picking of size fruit.
The advantages of this patent：The end effector finger structure is simple；The use of multidirectional flexibility strain transducer allows entirely
It is process flexible, quick, add picking efficiency；It can effectively solve to adjoin fruit separation by the cooperation of three finger of end effector
Problem, realizes that single fruit stablizes crawl and lossless picking.
Brief description of the drawings
Below in conjunction with the accompanying drawings with embodiment to the further details of explanation of this patent.
Fig. 1 is the three-view diagram of finger structure；
Fig. 2 is the three-view diagram and its bottom view of installation diagram of the finger on end effector.
Embodiment
As shown in Figure 1, 2, a kind of end effector finger that operation size can be adjusted according to fruit size of this patent, should
End effector finger includes connector 11, runner 12, articulamentum 13, flow channel 14 and multidirectional flexible strain transducer 15.
Specific work process：
During work, geometrical clamp 204 is located at by articulamentum 13 beforehand through the elastic of adjusting screw 203 according to the size of different fruits
Different height, the finger of different length is formed, preferably to realize the picking to different fruits.Identification based on robot is determined
Position system moves to end effector below fruit, then raises end effector, when the multidirectional flexible strain on finger passes
When sensor 15 touches fruit, start to inflate finger.Air-flow is by the enterprising gas port 207 of end effector by mainstream mouth 209
Into gas channel ring 208, air-flow gradually fills gas channel ring 208, while enters the air-flow of finger via each diffluence pass 206
Road 14, and then control each digital flexion to firmly grasp fruit, which can effectively strut at the same time adjoins fruit, the elastic threads 210 of bottom
And fixed plate 205 can prevent dropping or damaging for fruit, middle finger 201 is longer than other two fingers not still for bionical human hand
Structure, is even more the actual needs of picking process：If each finger is highly consistent, can be contacted between finger during bending promptly crowded
Pressure, influences to firmly grasp fruit.When grasp reaches pre set force, stop inflation, delivered based on Fu Longsheng et al.《Kiwi berry
Terminal executor of picking robot designs and experiment》In rotation picking principle：Fruit can bear larger when being separated with branch
Tension, but by easily being separated during shearing force.Then end effector is rotated in a vertical plane certain angle to realize
The separation of fruit and branch, completes picking.
Claims (1)
- A kind of 1. end effector finger that operation size can be adjusted according to fruit size, by connector（11）, runner（12）、 Articulamentum（13）, flow channel（14）With multidirectional flexible strain transducer（15）Composition；When having air-flow by connector（11）By dividing Runner（12）Into flow channel（14）When, can be according to the flow velocity and fixing fabric structure finger-joint layer of air-flow（13）Degree of crook, Finger-joint layer（13）Elongation and shortening when layering is easy to bending, realize the crawl and release to different fruits；Multidirectional flexibility Strain transducer（15）It is placed in finger interior, multidirectional flexibility strain transducer（15）Placement can feed back the big of grasp in time It is small, judge whether promptly reliable；The finger passes through geometrical clamp（204）It is fixed on the fixed plate of end effector（205）On, end End actuator includes forefinger（200）, middle finger（201）, it is nameless（202）, screw（203）, geometrical clamp（204）, fixed plate （205）, diffluence pass（206）, air inlet（207）, gas channel ring（208）, mainstream mouth（209）And elastic threads（210）；Utilize hand Refer to the connector of bottom（11）And hose is by the runner of each finger（12）Connect into gas channel ring（208）, fixed plate（205） And elastic threads can effectively prevent fruit from dropping or damaging；Pass through adjusting screw（203）Elastic realize geometrical clamp（204）It is located at Articulamentum（13）Different height, forms the finger of different length, so as to fulfill an end effector to a variety of different sizes Fruit picking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810013085.5A CN107932550A (en) | 2018-01-08 | 2018-01-08 | A kind of end effector finger that operation size can be adjusted according to fruit size |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810013085.5A CN107932550A (en) | 2018-01-08 | 2018-01-08 | A kind of end effector finger that operation size can be adjusted according to fruit size |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107932550A true CN107932550A (en) | 2018-04-20 |
Family
ID=61938487
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810013085.5A Withdrawn CN107932550A (en) | 2018-01-08 | 2018-01-08 | A kind of end effector finger that operation size can be adjusted according to fruit size |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107932550A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108748250A (en) * | 2018-06-19 | 2018-11-06 | 河海大学常州校区 | A kind of software manipulator of embedded rubber hose |
| CN108908379A (en) * | 2018-06-27 | 2018-11-30 | 天津大学 | A kind of pneumatic software finger with haptic force and shape perceptional function |
| CN110788881A (en) * | 2019-11-13 | 2020-02-14 | 上海交通大学 | Pneumatic soft gripper for vacuum adsorption type locking joint |
| WO2020041221A1 (en) * | 2018-08-20 | 2020-02-27 | Siemens Aktiengesellschaft | Customized robotic grippers with feedback sensors |
-
2018
- 2018-01-08 CN CN201810013085.5A patent/CN107932550A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108748250A (en) * | 2018-06-19 | 2018-11-06 | 河海大学常州校区 | A kind of software manipulator of embedded rubber hose |
| CN108748250B (en) * | 2018-06-19 | 2021-11-16 | 河海大学常州校区 | Soft mechanical arm embedded into rubber hose |
| CN108908379A (en) * | 2018-06-27 | 2018-11-30 | 天津大学 | A kind of pneumatic software finger with haptic force and shape perceptional function |
| WO2020041221A1 (en) * | 2018-08-20 | 2020-02-27 | Siemens Aktiengesellschaft | Customized robotic grippers with feedback sensors |
| CN110788881A (en) * | 2019-11-13 | 2020-02-14 | 上海交通大学 | Pneumatic soft gripper for vacuum adsorption type locking joint |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180420 |
|
| WW01 | Invention patent application withdrawn after publication |