CN108098825A - A kind of nine-degree of freedom picking mechanical arm - Google Patents
A kind of nine-degree of freedom picking mechanical arm Download PDFInfo
- Publication number
- CN108098825A CN108098825A CN201810130062.2A CN201810130062A CN108098825A CN 108098825 A CN108098825 A CN 108098825A CN 201810130062 A CN201810130062 A CN 201810130062A CN 108098825 A CN108098825 A CN 108098825A
- Authority
- CN
- China
- Prior art keywords
- finger joint
- base
- digitorum manus
- articulations digitorum
- degree
- 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
Links
- 210000001145 finger joint Anatomy 0.000 claims abstract description 118
- 241000905957 Channa melasoma Species 0.000 claims abstract description 45
- 230000037237 body shape Effects 0.000 claims 1
- 235000013399 edible fruits Nutrition 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 12
- 235000012055 fruits and vegetables Nutrition 0.000 description 7
- 239000002360 explosive Substances 0.000 description 4
- 238000003306 harvesting Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
Classifications
-
- 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
- B25J15/103—Gripping heads and other end effectors having finger members with three or more finger members for gripping the object in three contact points
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of nine-degree of freedom picking mechanical arms, which is characterized in that including palm and three fingers, there are three rotational freedoms for every finger.The palm is that circular plate structure or disc-shaped structure or circle bowl structure, three fingers are distributed on the palm circumference.The finger includes finger tip, middle finger joint and base finger joint, and corresponding articulations digitorum manus rotation connection is passed sequentially through between the finger tip, middle finger joint and base finger joint, is rotatablely connected between the base finger joint and the palm by corresponding articulations digitorum manus.Nine-degree of freedom picking mechanical arm of the present invention, crawl is flexible, and working space is big, it can be achieved that the picking of a variety of similar round fruits, improves the interchangeability of manipulator, reduce picking cost.
Description
Technical field
The invention belongs to agricultural robot equipment technology fields, and in particular to a kind of nine-degree of freedom picking mechanical arm.
Background technology
With the development of science and technology, agricultural machinery intelligence degree is continuously improved, fruit and vegetable picking is replaced artificial using robot
Have become the trend of modern agricultural development.Fruit and vegetable picking machinery hand be the important component of fruit and vegetable picking robot, it is necessary to
The ability for performing and perceiving is provided simultaneously with as human hand.
Fruits and vegetables are easy to damage when winning, while the shape of fruits and vegetables and upgrowth situation are complicated and changeable.And existing picking machine
Tool hand, mechanical structure is simple, and crawl is dumb, larger to the damage of fruit.In addition, existing picking mechanical arm, a kind of machinery
For hand usually just for a kind of specific fruits and vegetables, interchangeability is poor.This can undoubtedly increase Mechaniaed harvest cost and agriculture picking mechanical
Popularization.
The content of the invention
In order to realize the lossless interchangeability and application range for winning and improving manipulator to fruits and vegetables, present invention design
A kind of nine-degree of freedom picking mechanical arm.
To achieve these goals, present invention employs following scheme：
A kind of nine-degree of freedom picking mechanical arm, including palm and three fingers, there are three rotational freedoms for every finger.
Further, the palm is that circular plate structure or disc-shaped structure or circle bowl structure, three fingers are evenly distributed with
On the palm circumference.
Further, the finger include finger tip, middle finger joint and base finger joint, between the finger tip, middle finger joint and base finger joint according to
It is secondary to be rotatablely connected by corresponding articulations digitorum manus, it is rotated and connected by corresponding articulations digitorum manus between the base finger joint and the palm
It connects.
Further, the articulations digitorum manus between the finger tip and middle finger joint connects firmly that the finger tip is driven to turn with the middle finger joint
Dynamic, the articulations digitorum manus between the middle finger joint and base finger joint connects firmly that the middle finger joint is driven to rotate with the base finger joint, the base
Articulations digitorum manus between finger joint and the palm connects firmly that the base finger joint is driven to rotate with the palm.
Further, the finger tip includes finger tip left plate and finger tip body, the finger tip left plate upper end and the finger tip
Body connect, the finger tip left plate lower part be provided with " D " font hole with the articulations digitorum manus motor output shaft on the middle finger joint
Coordinate, be provided with round hole on the right side connecting plate of the finger tip body is matched somebody with somebody with the cylindrical stub shaft with the middle finger joint top
It closes.
Further, the middle finger joint includes middle finger joint left plate and middle finger joint right panel, in the middle part of the middle finger joint left plate rear end to
The right side has extended laterally installing plate, and mounting hole is provided on the installing plate to install corresponding articulations digitorum manus, the middle finger joint right panel
Front center has extended laterally preceding transverse slat to the left, is provided with connecting hole on the middle finger joint right panel and is closed with connecting fixed corresponding refer to
Section；The middle finger joint left plate lower part is provided with " D " font hole to coordinate with the articulations digitorum manus motor output shaft in the base finger joint, institute
It states middle finger joint right panel upper and lower part and is respectively arranged with cylindrical stub shaft, the cylindrical stub shaft of the middle finger joint right panel lower part and institute
State the round hole cooperation in base finger joint.
Further, the base finger joint includes base finger joint left plate and base finger joint right panel, in the middle part of the base finger joint left plate rear end to
The right side has extended laterally installing plate, and mounting hole is provided on the installing plate to install corresponding articulations digitorum manus, the base finger joint right panel
Front center has extended laterally preceding transverse slat to the left, is provided with connecting hole on the base finger joint right panel and is closed with connecting fixed corresponding refer to
Section；The base finger joint left plate lower part is provided with " D " font hole to coordinate with the articulations digitorum manus motor output shaft on the palm, described
Base finger joint right panel upper and lower part is respectively arranged with cylindrical hole to match somebody with somebody with the cylindrical stub shaft on the middle finger joint and the palm
It closes.
Further, the articulations digitorum manus includes DC speed-reducing and angular transducer, the DC speed-reducing and described
Angular transducer is arranged in motor set, and the output shaft of the DC speed-reducing is " D " font axis, the DC speed-reducing
Output shaft on be provided with motor output shaft gear, input shaft and the interference of angular transducer gear of the angular transducer connect
It connects, the motor output shaft gear is engaged with the angular transducer gear.
Further, for the motor set upper hollow to accommodate motor, motor set lower part left end is provided with groove structure
To accommodate the angular transducer, motor set lower part right end is " L " type or approximation " L " type connecting plate.
The nine-degree of freedom picking mechanical arm has the advantages that：
（1）Nine-degree of freedom picking mechanical arm of the present invention, working space are big, it can be achieved that the picking of a variety of similar round fruits, improves
The interchangeability of manipulator reduces picking cost.
（2）The present invention is there are three finger, degree of freedom that there are three each fingers, and grasping movement is flexible.
（3）Motor with angular transducer is connected by gear drive, realizes machinery by joint motor output shaft end of the present invention
The position of hand accurately controls.
（4）The mechanical structure of each finger of the present invention is identical, and the mechanical structure in each joint is identical, reduce manipulator into
This.
Description of the drawings
Fig. 1：The structure diagram of nine-degree of freedom picking mechanical arm in an embodiment of the present invention；
Fig. 2：The structure diagram of single finger in an embodiment of the present invention；
Fig. 3：The explosive view of single finger in an embodiment of the present invention；
Fig. 4：The structure diagram of finger tip body in an embodiment of the present invention；
Fig. 5：The structure diagram of middle finger joint right panel in an embodiment of the present invention；
Fig. 6：The structure diagram of base finger joint right panel in an embodiment of the present invention；
Fig. 7：The dimensional structure diagram of articulations digitorum manus in an embodiment of the present invention；
Fig. 8：The explosive view of articulations digitorum manus in an embodiment of the present invention.
Reference sign：
1-palm；2-finger；21-finger tip；211-finger tip left plate；212-finger tip body；22-middle finger joint；221—
Middle finger joint left plate；222-middle finger joint right panel；23-base finger joint；231-base finger joint left plate；232-base finger joint right panel；24-refer to
Joint；241-motor output shaft gear；242-motor set；243-angular transducer gear；244-angular transducer；
245-DC speed-reducing.
Specific embodiment
Below in conjunction with the accompanying drawings, the present invention will be further described：
Fig. 1 to Fig. 8 shows a kind of embodiment of nine-degree of freedom picking mechanical arm of the present invention.Fig. 1 is nine in present embodiment
The structure diagram of degree of freedom picking mechanical arm.
As shown in Figure 1, the nine-degree of freedom picking mechanical arm in present embodiment, including palm 1 and three fingers 2, every
Finger 2, can flexible motion there are three rotational freedom.
Preferably, palm 1 is that circular plate structure or disc-shaped structure or circle bowl structure, three fingers 2 are distributed on palm 1
On circumference.In the present embodiment, palm 1 employs circular plate structure.
As shown in Figure 1, Figure 2 and Figure 3, Fig. 2 is the structure diagram of single finger in present embodiment, and Fig. 2 is this implementation
The explosive view of single finger in mode, finger 2 include finger tip 21, middle finger joint 22 and base finger joint 23, finger tip 21, middle finger joint 22 and base
Corresponding articulations digitorum manus 24 is passed sequentially through between finger joint 23 pivotally to connect, and is passed through between base finger joint 23 and palm 1
Corresponding articulations digitorum manus 24 pivotally connects.
In the present embodiment, the articulations digitorum manus 24 between finger tip 21 and middle finger joint 22 connects firmly to drive 21 turns of finger tip with middle finger joint 22
Dynamic, the articulations digitorum manus 24 between middle finger joint 22 and base finger joint 23 connects firmly that middle finger joint 22 is driven to rotate with base finger joint 23, base finger joint 23
Articulations digitorum manus 24 between palm 1 connects firmly that base finger joint 23 is driven to rotate with palm 1.
As shown in Figure 3 and Figure 4, Fig. 4 is the structure diagram of finger tip body in present embodiment, and it is left that finger tip 21 includes finger tip
Side plate 211 and finger tip body 212,211 upper end of finger tip left plate are connected with finger tip body 212, and 211 lower part of finger tip left plate is set
There is " D " font hole to coordinate with the articulations digitorum manus motor output shaft on middle finger joint 22, set on the right side connecting plate of finger tip body 212
There is round hole to coordinate with the cylindrical stub shaft on 22 top of middle finger joint.
As shown in Figure 3 and Figure 5, Fig. 5 is the structure diagram of middle finger joint right panel in present embodiment, during middle finger joint 22 includes
Finger joint left plate 221 and middle finger joint right panel 222, have extended laterally to the right installing plate in the middle part of 221 rear end of middle finger joint left plate, on installing plate
Mounting hole is provided with to install corresponding articulations digitorum manus 24,222 front center of middle finger joint right panel has extended laterally preceding transverse slat to the left, in
Connecting hole is provided on finger joint right panel 222 to connect fixed corresponding articulations digitorum manus 24；221 lower part of middle finger joint left plate is provided with " D "
To coordinate with the articulations digitorum manus motor output shaft in base finger joint 23,222 upper and lower part of middle finger joint right panel is respectively arranged in font hole
Cylindrical stub shaft, cylindrical stub shaft and the round hole in base finger joint 23 of 22 right panel lower part of middle finger joint coordinate.
As shown in Figure 3 and Figure 6, Fig. 6 is the structure diagram of base finger joint right panel in present embodiment, and base finger joint 23 includes base
Finger joint left plate 231 and base finger joint right panel 232, have extended laterally to the right installing plate in the middle part of 231 rear end of base finger joint left plate, on installing plate
Mounting hole is provided with to install corresponding articulations digitorum manus 24,232 front center of base finger joint right panel has extended laterally preceding transverse slat, base to the left
Connecting hole is provided on finger joint right panel 232 to connect fixed corresponding articulations digitorum manus 24；231 lower part of base finger joint left plate is provided with " D "
To coordinate with the articulations digitorum manus motor output shaft on palm 1,232 upper and lower part of base finger joint right panel is respectively arranged with cylinder in font hole
Cylindrical stub shaft cooperation on Kong Yiyu middle finger joints 22 and palm 1.
As shown in Figure 7 and Figure 8, Fig. 7 is articulations digitorum manus dimensional structure diagram in present embodiment；Fig. 8 is present embodiment
The explosive view of middle articulations digitorum manus, articulations digitorum manus 24 include DC speed-reducing 245 and angular transducer 244,245 He of DC speed-reducing
Angular transducer 244 is arranged in motor set 242, and the output shaft of DC speed-reducing 245 is " D " font axis, and direct current slows down electric
Motor output shaft gear 241, input shaft and the angular transducer gear 243 of angular transducer 244 are provided on the output shaft of machine
Interference connects, and motor output shaft gear 241 is engaged with angular transducer gear 243.It motor output shaft end will by gear drive
Motor is connected with angular transducer, and the corner information of motor is passed to angular transducer, realizes the position-force control of motor.
For 242 upper hollow of motor set to accommodate motor, 242 lower part left end of motor set is provided with groove structure to accommodate angle
Sensor 244,242 lower part right end of motor set be " L " type or approximation " L " type connecting plate in order to which articulations digitorum manus 24 is fixed, " L " type or
Mounting hole is machined on approximate " L " type connecting plate.In the present embodiment, articulations digitorum manus 24 passes through bolt and corresponding mounting hole, company
Hole cooperation installation is connect to fix.
Nine-degree of freedom picking mechanical arm of the present invention, working space are big, it can be achieved that the picking of a variety of similar round fruits, improves
The interchangeability of manipulator reduces picking cost.
The present invention is there are three finger, degree of freedom that there are three each fingers, and grasping movement is flexible.
Motor with angular transducer is connected by gear drive, realizes manipulator by joint motor output shaft end of the present invention
Position accurately control.
The mechanical structure of each finger of the present invention is identical, and the mechanical structure in each joint is identical, reduces the cost of manipulator.
Illustrative description is carried out to the present invention above in conjunction with attached drawing, it is clear that realization of the invention and from aforesaid way
Limitation, as long as employ the inventive concept and technical scheme of the present invention progress various improvement or not improved by the present invention
Design and technical solution directly apply to other occasions, within the scope of the present invention.
Claims (9)
1. a kind of nine-degree of freedom picking mechanical arm, which is characterized in that including palm and three fingers, there are three rotate for every finger
Degree of freedom.
2. nine-degree of freedom picking mechanical arm according to claim 1, which is characterized in that the palm be circular plate structure or
Disc-shaped structure or circle bowl structure, three fingers are distributed on the palm circumference.
3. nine-degree of freedom picking mechanical arm according to claim 1 or 2, which is characterized in that the finger include finger tip, in
Finger joint and base finger joint pass sequentially through corresponding articulations digitorum manus rotation connection, the base between the finger tip, middle finger joint and base finger joint
It is rotatablely connected between finger joint and the palm by corresponding articulations digitorum manus.
4. nine-degree of freedom picking mechanical arm according to claim 3, which is characterized in that between the finger tip and middle finger joint
Articulations digitorum manus and the middle finger joint connect firmly that the finger tip is driven to rotate, the articulations digitorum manus between the middle finger joint and base finger joint with it is described
Base finger joint connects firmly that the middle finger joint is driven to rotate, and the articulations digitorum manus between the base finger joint and the palm is connected firmly with the palm
The base finger joint to be driven to rotate.
5. nine-degree of freedom picking mechanical arm according to claim 4, which is characterized in that the finger tip includes finger tip left plate
With finger tip body, the finger tip left plate upper end is connected with the finger tip body, and the finger tip left plate lower part is provided with " D " word
Type hole is provided with circle to coordinate with the articulations digitorum manus motor output shaft on the middle finger joint on the right side connecting plate of the finger tip body
Shape hole with the cylindrical stub shaft on the middle finger joint top coordinate.
6. nine-degree of freedom picking mechanical arm according to claim 4, which is characterized in that it is left that the middle finger joint includes middle finger joint
Plate and middle finger joint right panel, the middle finger joint left plate rear end middle part have extended laterally to the right installing plate, have been provided on the installing plate
For mounting hole to install corresponding articulations digitorum manus, the middle finger joint right panel front center has extended laterally preceding transverse slat, the middle finger to the left
Connecting hole is provided on section right panel to connect fixed corresponding articulations digitorum manus；The middle finger joint left plate lower part is provided with " D " font hole
To coordinate with the articulations digitorum manus motor output shaft in the base finger joint, the middle finger joint right panel upper and lower part is respectively arranged with cylinder
Shape short axle, the cylindrical stub shaft of the middle finger joint right panel lower part coordinate with the round hole in the base finger joint.
7. nine-degree of freedom picking mechanical arm according to claim 4, which is characterized in that it is left that the base finger joint includes base finger joint
Plate and base finger joint right panel, the base finger joint left plate rear end middle part have extended laterally to the right installing plate, have been provided on the installing plate
Mounting hole is to install corresponding articulations digitorum manus, and the base finger joint right panel front center has extended laterally preceding transverse slat to the left, and the base refers to
Connecting hole is provided on section right panel to connect fixed corresponding articulations digitorum manus；The base finger joint left plate lower part is provided with " D " font hole
To coordinate with the articulations digitorum manus motor output shaft on the palm, the base finger joint right panel upper and lower part is respectively arranged with cylindrical hole
To coordinate with the cylindrical stub shaft on the middle finger joint and the palm.
8. according to any nine-degree of freedom picking mechanical arm of claim 3 to 7, which is characterized in that the articulations digitorum manus includes
DC speed-reducing and angular transducer, the DC speed-reducing and the angular transducer are arranged in motor set, described
The output shaft of DC speed-reducing is " D " font axis, and motor output shaft tooth is provided on the output shaft of the DC speed-reducing
Wheel, the input shaft of the angular transducer are connected with angular transducer gear interference, the motor output shaft gear and the angle
Spend sensor gear engagement.
9. nine-degree of freedom picking mechanical arm according to claim 8, which is characterized in that the motor set upper hollow is to hold
Receive motor, motor set lower part left end is provided with groove structure to accommodate the angular transducer, the motor set lower right
End is " L " type or approximation " L " type connecting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810130062.2A CN108098825A (en) | 2018-02-08 | 2018-02-08 | A kind of nine-degree of freedom picking mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810130062.2A CN108098825A (en) | 2018-02-08 | 2018-02-08 | A kind of nine-degree of freedom picking mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108098825A true CN108098825A (en) | 2018-06-01 |
Family
ID=62220832
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810130062.2A Pending CN108098825A (en) | 2018-02-08 | 2018-02-08 | A kind of nine-degree of freedom picking mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108098825A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108908308A (en) * | 2018-10-05 | 2018-11-30 | 西北农林科技大学 | A kind of greenhouse picking robot |
| CN111421566A (en) * | 2020-05-22 | 2020-07-17 | 西安建筑科技大学 | Belt type under-actuated three-joint mechanical finger structure and operation method thereof |
| CN112025744A (en) * | 2020-08-20 | 2020-12-04 | 广西大学 | Mechanical finger and mechanical arm |
| CN114766202A (en) * | 2022-04-14 | 2022-07-22 | 华南农业大学 | Tea leaf picking robot with nine degrees of freedom |
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| CN1418765A (en) * | 2002-12-13 | 2003-05-21 | 北京航空航天大学 | Clever hands mechanism of robot |
| CN1565812A (en) * | 2003-07-10 | 2005-01-19 | 战强 | Multi joint linkage poly-finger ingenious holder |
| US20110163561A1 (en) * | 2010-01-07 | 2011-07-07 | Samsung Electronics Co., Ltd. | Robot hand and robot having the same |
| CN102821918A (en) * | 2010-03-24 | 2012-12-12 | 株式会社安川电机 | Robot hand and robot device |
| CN102873690A (en) * | 2012-09-27 | 2013-01-16 | 浙江大学 | Dexterous hand driven by shape memory alloy |
| CN103299776A (en) * | 2013-05-29 | 2013-09-18 | 西北农林科技大学 | Dexterous three-finger hand of fruit picking robot |
| CN204566136U (en) * | 2015-04-28 | 2015-08-19 | 西安蒜泥电子科技有限责任公司 | Novel bionic hand finger controlled system with self-regulation |
| CN205238068U (en) * | 2015-11-10 | 2016-05-18 | 山东科技大学 | It indicates dexterous hand to drive three entirely based on gear drive |
| CN207971966U (en) * | 2018-02-08 | 2018-10-16 | 西北农林科技大学 | A kind of nine-degree of freedom picking mechanical arm |
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2018
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Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1418765A (en) * | 2002-12-13 | 2003-05-21 | 北京航空航天大学 | Clever hands mechanism of robot |
| CN1565812A (en) * | 2003-07-10 | 2005-01-19 | 战强 | Multi joint linkage poly-finger ingenious holder |
| US20110163561A1 (en) * | 2010-01-07 | 2011-07-07 | Samsung Electronics Co., Ltd. | Robot hand and robot having the same |
| CN102821918A (en) * | 2010-03-24 | 2012-12-12 | 株式会社安川电机 | Robot hand and robot device |
| CN102873690A (en) * | 2012-09-27 | 2013-01-16 | 浙江大学 | Dexterous hand driven by shape memory alloy |
| CN103299776A (en) * | 2013-05-29 | 2013-09-18 | 西北农林科技大学 | Dexterous three-finger hand of fruit picking robot |
| CN204566136U (en) * | 2015-04-28 | 2015-08-19 | 西安蒜泥电子科技有限责任公司 | Novel bionic hand finger controlled system with self-regulation |
| CN205238068U (en) * | 2015-11-10 | 2016-05-18 | 山东科技大学 | It indicates dexterous hand to drive three entirely based on gear drive |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108908308A (en) * | 2018-10-05 | 2018-11-30 | 西北农林科技大学 | A kind of greenhouse picking robot |
| CN111421566A (en) * | 2020-05-22 | 2020-07-17 | 西安建筑科技大学 | Belt type under-actuated three-joint mechanical finger structure and operation method thereof |
| CN112025744A (en) * | 2020-08-20 | 2020-12-04 | 广西大学 | Mechanical finger and mechanical arm |
| CN114766202A (en) * | 2022-04-14 | 2022-07-22 | 华南农业大学 | Tea leaf picking robot with nine degrees of freedom |
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