CN108481353B - Hand device is picked to fruit vegetables - Google Patents
Hand device is picked to fruit vegetables Download PDFInfo
- Publication number
- CN108481353B CN108481353B CN201810522033.0A CN201810522033A CN108481353B CN 108481353 B CN108481353 B CN 108481353B CN 201810522033 A CN201810522033 A CN 201810522033A CN 108481353 B CN108481353 B CN 108481353B
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- finger
- motor
- micro
- inter
- cutting
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- 235000013399 edible fruits Nutrition 0.000 title description 7
- 235000013311 vegetables Nutrition 0.000 title description 4
- 238000005520 cutting process Methods 0.000 claims abstract description 94
- 235000012055 fruits and vegetables Nutrition 0.000 claims abstract description 43
- 210000001145 finger joint Anatomy 0.000 claims description 64
- 230000005540 biological transmission Effects 0.000 claims description 30
- 238000004891 communication Methods 0.000 claims description 10
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 230000000694 effects Effects 0.000 claims description 3
- 241000345998 Calamus manan Species 0.000 description 8
- 235000012950 rattan cane Nutrition 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
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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
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
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- 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
- B25J15/0019—End effectors other than grippers
-
- 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
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
-
- 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
Abstract
The invention provides a fruit and vegetable picking hand device, which comprises a picking hand and a cutting mechanism arranged at the rear part of the picking hand, wherein the picking hand comprises a palm, the front end surface of the palm is fixedly provided with a chute, the rear ends of two fingers which are identical in structure and are symmetrically arranged are slidably connected in the chute, the two fingers are connected through an inter-finger sliding mechanism so that the two fingers can perform actions of inwards tightening and outwards stretching along the chute, an inter-finger supporting surface is arranged between the two fingers, the cutting mechanism is arranged on the upper end surface of the palm through a cutting mechanism bracket, a swinging micro-motor in the cutting mechanism drives a circular cutter to fall down or lift up between the two fingers, and an output shaft of the cutting micro-motor in the cutting mechanism drives the circular cutter to rotate so as to complete the cutting action; the invention is suitable for grabbing targets with different sizes, can realize reliable grabbing and cutting actions, has simple and compact structure, does not harm the main body part of fruits and vegetables, and improves grabbing and cutting efficiency.
Description
Technical Field
The invention belongs to the technical field of robot hands, relates to a fruit and vegetable picking hand device, and in particular relates to a fruit and vegetable picking mechanical hand device which has bionic characteristics, actively changes the width between fingers to adapt to different grabbing targets, completes fruit and vegetable rattan cutting work and achieves fruit and vegetable picking mechanical hand device.
Background
The picking operation of fruits and vegetables is a link of time consumption and labor consumption in a fruit and vegetable production chain, at present, the picking automation degree is still low, along with the development of times and technological progress, the development of robot technology has a large application space in the aspect, however, at present, the general hand-shaped structure of the picking robot hand in the picking operation is fixed, the picking robot hand cannot actively adapt to the shape of a target object, the picking is unstable, and the structure is large, so that the cutting of fruit and vegetable rattan is influenced. The existing picking mechanism has the defects of low picking efficiency and inconvenient application due to weak continuity of the gripping and cutting operations.
Disclosure of Invention
The invention provides a hand-type variable fruit and vegetable picking manipulator device for solving the problem of poor adaptability of the traditional picking manipulator device and grabbing fruits and vegetables with different sizes.
In order to solve the technical problems, the invention is realized by adopting the following technical scheme:
the utility model provides a fruit vegetables picking hand device, a serial communication port, including a picking hand and a cutting mechanism who sets up at picking hand rear portion, picking hand includes a rectangle palm, the preceding terminal surface of palm is fixed to be provided with a spout, the rear end sliding connection of two identical and symmetrical finger that set up of structure is in the spout, two fingers are connected through inter-finger sliding mechanism and make two fingers do the action of inwards tightening up and outwards stretching along the spout, there is the inter-finger supporting surface between two fingers, the inter-finger supporting plays spacing and support to the fruit vegetables of finger centre gripping, cutting mechanism passes through the cutting mechanism support setting on the up end of palm, swing micromotor in the cutting mechanism drives circular cutter and falls down or upwards lifts between two fingers, the output shaft of the cutting micromotor in the cutting mechanism drives circular cutter and rotates in order to accomplish the cutting action, swing micromotor and cutting micromotor are connected with host computer, host computer is connected with the host computer.
The further technical scheme comprises the following steps:
the finger comprises a finger joint at the front part and a finger joint transmission box at the rear part, wherein the finger joint transmission box comprises two vertical box surfaces, two side walls connected with two sides of the two box surfaces and a hollow box body with an opening at the top and a closed bottom, the box body is formed by connecting box bottoms at the bottoms of the two box surfaces, a driving gear is arranged in the box body of the finger joint transmission box through a driving shaft horizontally arranged between the two box surfaces, a driven gear is arranged in the box body of the finger joint transmission box through a driven shaft horizontally arranged between the two box surfaces, and the driving gear is meshed with the driven gear; the finger joint support seat at the bottom of the finger joint is fixedly connected with one end of a finger joint connecting rod in the finger joint transmission box, the other end of the finger joint connecting rod is connected into a groove on the driven gear in an interference fit manner, and one end of the driving shaft penetrates through one box surface of the finger joint transmission box and then is connected with an output shaft of a finger joint micro motor fixed in the middle of the outer side of the box surface; a rectangular groove is arranged in the middle of the inner side of the knuckle, a pressure sensor is arranged in the rectangular groove, and a knuckle tip round hole is arranged at the inner side tip of the knuckle, and a touch sensor is arranged in the knuckle tip round hole; the finger joint micro-motor, the touch sensor and the force sensor are connected with the main controller; the finger sliding block is fixedly arranged on the lower end face of the box bottom of the knuckle transmission box, namely the rear end of the finger, and is slidably connected in the sliding groove on the front end face of the palm.
The inter-finger sliding mechanism comprises two cylindrical guide sliding rods, four sliding blocks, two connecting rods and a central shaft, wherein the first connecting rod and the second connecting rod are hinged at the centers of the two connecting rods through the central shaft to form an X shape, the outer side surface of the second connecting rod is fixedly connected with a coupling disc through two rectangular bosses, an output shaft of a micro motor of the inter-finger sliding mechanism is fixedly connected with the center of the coupling disc, an inter-finger sliding mechanism micro motor fixing seat is arranged below the front end surface of a palm and used for supporting and fixing the micro motor of the inter-finger sliding mechanism, and the micro motor of the inter-finger sliding mechanism is connected with a main controller; one end of the first connecting rod is hinged with a third sliding block, the other end of the first connecting rod is hinged with a second sliding block, one end of the second connecting rod is hinged with the first sliding block, the other end of the second connecting rod is hinged with a fourth sliding block, the first sliding block and the second sliding block are sleeved on a first sliding rod, and the third sliding block and the fourth sliding block are sleeved on a second sliding rod;
the two knuckle transmission boxes are fixedly connected with connecting plates on opposite side walls respectively, the upper end of each connecting plate is fixedly connected with an upper L-shaped locating plate, the lower end of each connecting plate is fixedly connected with a lower L-shaped locating plate, and the first sliding rod and the second sliding rod are fixedly connected between the upper L-shaped locating plates and the lower L-shaped locating plates of the connecting plates of the corresponding knuckle transmission boxes respectively.
The inter-finger supporting surface is composed of two semi-inter-finger supporting surfaces with the same structure, one side of each semi-inter-finger supporting surface is provided with a rectangular notch, the upper part of the other side of each semi-inter-finger supporting surface is provided with a concave plane, the rectangular notch of the first semi-inter-finger supporting surface and the rectangular notch of the second semi-inter-finger supporting surface are fixedly connected with the box surfaces of the two knuckle transmission boxes respectively, the first semi-inter-finger supporting surface and the second semi-inter-finger supporting surface are oppositely arranged, the concave plane of the first semi-inter-finger supporting surface is upwards arranged, the concave plane of the second semi-inter-finger supporting surface is downwards arranged, the two concave planes are completely attached when the two fingers are inwards tightened, staggered and mutually supported when the two fingers are outwards opened, and the lower end surface of each semi-inter-finger supporting surface is fixed on the corresponding upper L-shaped positioning plate through screws for supporting and stably grabbing a target effect.
The cutting mechanism comprises a round cutter, two cutter end covers, a locating pin, a cutting micro-motor support frame, a cutting micro-motor and a swinging micro-motor, wherein the round cutter is fixedly arranged between the cutter upper end cover and the cutter lower end cover through the locating pin, the center of the cutter lower end cover is fixedly connected with an output shaft of the cutting micro-motor, one end of the cutting micro-motor support frame is fixedly connected with a cutting micro-motor fixing disc fixedly connected to the bottom of the cutting micro-motor, the other end of the cutting micro-motor support frame is fixedly connected with a swinging micro-motor shaft disc at the front end of the output shaft of the swinging micro-motor, and the swinging micro-motor is fixed on the cutting mechanism support.
The pressure sensor is provided with a rubber sheet with the same size as the rectangular groove, and the rubber sheet and the pressure sensor are fixed in the rectangular groove through screws;
the main controller comprises a system reset end, a starting signal end, a stopping signal end, a motor control end and a communication port, wherein the touch sensor is connected with the starting signal end, the force sensor is connected with the stopping signal end, a control wire of the knuckle micro motor is connected with the knuckle micro motor control end, a control wire of the inter-finger sliding mechanism micro motor is connected with the inter-finger sliding mechanism micro motor control end, a control wire of the cutting micro motor is connected with the cutting micro motor control end, a control wire of the swinging micro motor is connected with the swinging micro motor control end, the communication port is connected with an upper computer communication port of an upper computer, and the reset signal is triggered by the reset end of the main controller.
Compared with the prior art, the invention has the beneficial effects that:
1. the fruit and vegetable picking manipulator device comprises a picking hand and a cutting mechanism, wherein the picking hand is a grabbing actuating mechanism of the fruit and vegetable picking manipulator, the fruit and vegetable picking manipulator device is compact in structure, flexible in action, stable in grabbing motion and high in grabbing load capacity, and the cutting mechanism is a fruit and vegetable rattan cutting actuating mechanism of the fruit and vegetable picking manipulator, has the capability of rapidly cutting and separating fruits and rattan, and is harmless to a fruit and vegetable body due to the integral operation of the device, so that the working efficiency is improved;
2. the two fingers and the inter-finger supporting surface of the fruit and vegetable picking mechanical hand device have the characteristic of actively changing the position relationship so as to adapt to the grabbing of targets with different sizes, and the inter-finger supporting surface structure is beneficial to supporting and stably grabbing the targets;
3. the X-shaped structure of the inter-finger sliding mechanism of the device is simple and compact, so that the whole structure of the hand is small and flexible, and the grabbing universality is improved;
4. the cutting mechanism of the device is an actuating mechanism for separating fruits from rattan in the fruit and vegetable picking process, the cutting range is wide, the grabbing motion and the cutter motion do not interfere, and reliable grabbing and cutting integrated operation can be realized.
Drawings
The invention is further described below with reference to the accompanying drawings:
fig. 1 is a schematic structural view of an initial state of a fruit and vegetable picking hand device according to the present invention;
fig. 2 is a cross-sectional view of the internal structure of a knuckle and knuckle transmission box in a fruit and vegetable picking hand device according to the invention;
fig. 3 is a schematic view of the finger joint support and the finger joint connecting rod of the hand device for picking fruits and vegetables according to the present invention
Fig. 4 is a schematic structural view of an inter-finger sliding mechanism of the hand device for picking fruits and vegetables according to the present invention;
fig. 5 is a schematic structural view of a connecting plate of a hand device for picking fruits and vegetables according to the present invention;
fig. 6 is a schematic diagram of the palm structure of a fruit and vegetable picking hand device according to the present invention;
fig. 7 is a schematic structural view of an inter-finger support surface of a fruit and vegetable picking hand device according to the present invention;
fig. 8 is a schematic structural view of a second connecting rod with a boss of the hand device for picking fruits and vegetables according to the present invention;
fig. 9 is a schematic structural view of a slider of a hand device for picking fruits and vegetables according to the present invention;
fig. 10 is a schematic structural view of a cutting mechanism of a hand device for picking fruits and vegetables according to the present invention;
fig. 11 is a schematic view of a cutting limit state structure of a hand device for picking fruits and vegetables according to the present invention;
fig. 12 is a schematic structural view of a knuckle transmission box body of a fruit and vegetable picking hand device according to the present invention.
In the figure: 1. finger joint, 2, rectangular recess, 3, finger tip circular, 4, finger joint support, 5, finger joint connecting rod, 6, finger, 7, finger joint driving box, 8, driven gear, 9, driving gear, 10, driven shaft, 11, driving shaft, 12, finger slide, 13, upper L-shaped locating plate, 14, lower L-shaped locating plate, 15a, first guide slide, 15b, second guide slide, 16, connecting plate, 17a, first slide, 17b, second slide, 17c, third slide, 17d, fourth slide, 18a, first link, 18b, second link, 19, coupling disk, 20, inter-finger sliding mechanism micro-motor, 21, center shaft, 22, cutter upper end cap, 23, locating pin, 24, circular cutter, 25, cutter lower end cap, 26, cutting micro-motor, 27, cutting micro-motor support frame, 29, swing micro-motor, 30, swing micro-disk, 31, cutting mechanism support, 32, 33, chute, 34a, finger supporting surface, 34a, second inter-finger sliding mechanism, and finger sliding mechanism, 37, inter-finger sliding mechanism, and finger sliding mechanism.
Detailed Description
The invention is described in detail below with reference to the attached drawing figures:
the invention relates to a fruit and vegetable picking manipulator device, which is shown in figures 1 to 12; the hand picking device comprises a picking hand and a cutting mechanism arranged at the rear part of the picking hand, wherein the picking hand comprises a rectangular palm 32, a chute 33 is fixedly arranged on the front end face of the palm 32, finger sliders 12 are arranged at the rear ends of two fingers 6 which are identical in structure and are symmetrically arranged, the finger sliders 12 are slidably connected in the chute 33, the two fingers 6 can be connected through an inter-finger sliding mechanism 37 to enable the two fingers 6 to perform inward tightening and outward stretching actions along the chute 33, an inter-finger supporting surface is arranged between the two fingers 6, the cutting mechanism is arranged on the upper end face of the palm 32 through a cutting mechanism bracket 31, a swinging micro motor 29 in the cutting mechanism drives a circular cutter 24 to fall down or lift up between the two fingers 6, and an output shaft of a cutting micro motor 26 in the cutting mechanism drives the circular cutter 24 to rotate to complete cutting actions, and the swinging micro motor 29 and the cutting micro motor 26 are connected with a main controller. The picking hand is a grabbing executing mechanism of the fruit and vegetable picking mechanical hand part, has strong grabbing load capacity, and the cutting mechanism is a fruit and vegetable rattan cutting executing mechanism of the fruit and vegetable picking mechanical hand part, and has the capacities of quickly cutting and separating fruits and rattan.
The finger 6 comprises a finger joint 1 and a finger joint transmission box 7, wherein the finger joint transmission box 7 is a hollow box body with an opening at the top and a closed bottom, the box body is formed by two vertical box surfaces, two side walls connected with two sides of the two box surfaces and a box bottom connected with the bottom of the two box surfaces, a driving gear 9 is arranged in the box body of the finger joint transmission box 7 through a driving shaft 11 horizontally arranged between the two box surfaces, a driven gear 8 is arranged in the box body of the finger joint transmission box 7 through a driven shaft 10 horizontally arranged between the two box surfaces, and the driving gear 9 is meshed with the driven gear 8; the finger joint support seat 4 at the bottom of the finger joint 1 is fixedly connected with one end of the finger joint connecting rod 5 in the finger joint transmission box 7, the other end of the finger joint connecting rod 5 is connected into a groove on the driven gear 8 in an interference fit manner, and one end of the driving shaft 11 penetrates through one box surface of the finger joint transmission box 7 and is connected with an output shaft of a finger joint micro motor fixed in the middle of the outer side of the box surface; a rectangular groove 2 is arranged in the middle of the inner side of the finger joint 1, a pressure sensor is arranged in the rectangular groove, a finger joint tip round hole 3 is arranged at the tip of the inner side of the finger joint 1, and a touch sensor is arranged in the finger joint tip round hole; the finger joint micro-motor, the touch sensor and the force sensor are connected with the main controller. The finger sliding block 12 is fixedly arranged at the center of the lower end face of the box bottom of the knuckle transmission box 7.
The inter-finger sliding mechanism 37 comprises two cylindrical guide slide bars, four sliding blocks, two connecting rods and a central shaft 21, wherein the centers of the two connecting rods are hinged to form an X shape through the central shaft 21, the outer side surface of the second connecting rod 18b is fixedly connected with a coupling disc 19 through two rectangular bosses 35, the output shaft of the inter-finger sliding mechanism micro-motor 20 is fixedly connected with the center of the coupling disc 19, and an inter-finger sliding mechanism micro-motor fixing seat 36 is arranged below the front end surface of the palm 32 and used for supporting and fixing the inter-finger sliding mechanism micro-motor 20, and the inter-finger sliding mechanism micro-motor 20 is connected with the main controller; one end of a first connecting rod 18a is hinged with a third sliding block 17c, the other end of the first connecting rod 18a is hinged with a second sliding block 17b, one end of the second connecting rod 18b is hinged with a first sliding block 17a, the other end of the second connecting rod is hinged with a fourth sliding block 17d, the first sliding block 17a and the second sliding block 17b are sleeved on a first sliding rod 15a, and the third sliding block 17c and the fourth sliding block 17d are sleeved on a second sliding rod 15 b;
the opposite side walls of the two knuckle drive boxes 7 are fixedly connected with a connecting plate 16 respectively, the upper end of each connecting plate 16 is fixedly connected with an upper L-shaped locating plate 13, the lower end of each connecting plate 16 is fixedly connected with a lower L-shaped locating plate 14, and a first sliding rod 15a and a second sliding rod 15b are fixedly connected between the upper L-shaped locating plate 13 and the lower L-shaped locating plate 14 of the connecting plate 16 of the corresponding knuckle drive box 7 respectively.
The inter-finger support surface consists of two half inter-finger support surfaces with the same structure, one side of each half inter-finger support surface is provided with a rectangular notch, the upper part of the other side of each half inter-finger support surface is provided with a concave plane, the rectangular notch of the first half inter-finger support surface 34a and the rectangular notch of the second half inter-finger support surface 34b are fixedly connected with the box surfaces of the two knuckle transmission boxes 7 respectively, the first half inter-finger support surface 34a and the second half inter-finger support surface 34b are oppositely arranged, the concave plane of the first half inter-finger support surface 34a is upwards arranged, the concave plane of the second half inter-finger support surface 34b is downwards arranged, the two concave planes are completely attached when the two fingers 6 are inwards tightened, are staggered and mutually supported when the two fingers 6 are outwards stretched, and the lower end surface of each half inter-finger support surface is fixed on the corresponding upper L-shaped positioning plate 13 through screws for supporting and stabilizing the grabbing target effect.
The cutting mechanism comprises a circular cutter 24, two cutter end covers, a locating pin 23, a cutting micro-motor support 28, a cutting micro-motor 26 and a swinging micro-motor 29, wherein the circular cutter 24 is fixedly arranged between the cutter upper end cover 22 and the cutter lower end cover 25 through the locating pin 23, the center of the cutter lower end cover 25 is fixedly connected with an output shaft of the cutting micro-motor 26, one end of the cutting micro-motor support 28 is fixedly connected with a cutting micro-motor fixing disc 27 fixedly connected to the bottom of the cutting micro-motor 26, the other end of the cutting micro-motor support 28 is fixedly connected with a shaft disc 30 at the front end of the output shaft of the swinging micro-motor 29, the swinging micro-motor 29 is fixed on a cutting mechanism support 31, and the cutting micro-motor 26 and the swinging micro-motor 29 are connected with a main controller.
The pressure sensor is provided with a rubber sheet with the same size as the rectangular groove 2, and the rubber sheet and the pressure sensor are fixed in the rectangular groove 2 through screws;
the finger joint micro motor, the inter-finger sliding mechanism micro motor 20 and the swinging micro motor 29 are digital steering engines, and the cutting micro motor 26 is a micro stepping motor.
The main controller comprises a system reset end, a starting signal end, a stopping signal end, a motor control end and a communication port, wherein the touch sensor is connected with the starting signal end, the force sensor is connected with the stopping signal end, the knuckle micro-motor control line is connected with the knuckle micro-motor control end, the inter-finger sliding mechanism micro-motor 20 control line is connected with the inter-finger sliding mechanism micro-motor control end, the cutting micro-motor 26 control line is connected with the cutting micro-motor control end, the swinging micro-motor 29 control line is connected with the swinging micro-motor control end, the communication port is connected with an upper computer communication port of an upper computer, the reset end of the main controller triggers a reset signal, the reset signal initializes an initial state of the fruit and vegetable picking manipulator device, the inter-finger supporting surfaces are gathered and attached, and the cutting micro-motor support 28 and the side surface of the palm 32 are in an angle of approximately 60 degrees.
The working principle and working process of the hand device for picking fruits and vegetables are as follows: before the device works, the posture of the device is in an initial state. When the picking target exceeds the grabbing range of the current hand, the main controller drives the inter-finger sliding mechanism micro motor 20 to rotate reversely through the control end of the inter-finger sliding mechanism micro motor according to the command signal sent by the upper computer, so that the second connecting rod 18b rotates reversely around the central shaft 21, the first sliding block 17a and the second sliding block 17b slide relatively along the first guiding sliding rod 15a, the third sliding block 17c and the fourth sliding block 17d slide relatively along the second guiding sliding rod 15b, the first connecting rod 18a rotates positively around the central shaft 21 passively, the finger sliding blocks 12 on the two finger boxes are driven to slide outwards along the sliding grooves 33, and the distance between fingers is enlarged, so that the targets with larger sizes can be grabbed adaptively, and the purpose of enlarging the grabbing range is achieved;
the main controller controls the control end of the knuckle micro-motor to drive the knuckle micro-motor to rotate by utilizing signals from the touch sensor and the force sensor so as to realize grabbing action or stopping action; when the touch sensor at the tip of a certain finger joint touches a gripped target object, the main controller receives signals of the touch sensor and controls the finger joint micro motor to drive the driving shaft 11 to rotate, and the driving gear 9 on the driving shaft drives the driven gear 8 on the driven shaft 10 to rotate, so that the finger joint connecting rod 5 drives the finger joint body to complete closing movement.
Along with the progress of snatching, two knuckles tighten up relatively, and the knuckle receives target object pressure and increases gradually, and the power that the force sense sensor that is located in rectangle recess 2 at this moment detects increases gradually, when reaching the settlement threshold value, and main control unit produces stop signal, makes knuckle micromotor stop moving, makes the knuckle keep current position and state, accomplishes effectual grasping operation.
At this time, the cutting micro-motor 26 and the swing micro-motor 29 start to operate, and the cutting micro-motor drives the cutter 24 to rotate, so that the cutter 24 enters a cutting operation state; the swing micro-motor 29 drives the cutting micro-motor support 28 to rotate to the finger joint direction, so that the cutter 24 enters an effective cutting working range; when the cutter 24 swings to a position which is enough to cut off rattan connected with fruits and vegetables (a plane which passes through the middle level line of the knuckle and is perpendicular to the movement plane of the knuckle 1), the swing micro-motor 29 stops, the cutting micro-motor 26 stops after a short cutting operation, and meanwhile, the swing micro-motor 29 starts to reversely rotate, the cutting micro-motor support frame 28 is driven to return to an initial state, and the fruit and vegetable picking manipulator part finishes picking operation.
When the fruit and vegetable picking manipulator puts down a picked target, the main controller receives a release instruction of the upper computer, the finger joint micro motor starts to rotate reversely, the output shaft of the finger joint micro motor drives the driving shaft 11, the driving gear 9 on the driving shaft drives the driven gear 8 on the driven shaft 10 to rotate reversely, the finger joint body is driven to open and reset through the finger joint connecting rod 5, and the gripped target object is released.
When the fruit and vegetable picking manipulator part needs to grasp a smaller target, the main controller drives the inter-finger sliding mechanism micro motor 20 to rotate positively through the inter-finger sliding mechanism micro motor control end according to an instruction signal sent by the upper computer, so that the second connecting rod 18b rotates positively around the central shaft 21, the first sliding block 17a and the second sliding block 17b slide reversely along the first guiding sliding rod 15a, the third sliding block 17c and the fourth sliding block 17d slide reversely along the second guiding sliding rod 15b, so that the first connecting rod 18a rotates reversely around the central shaft 21 passively, and further the finger sliding blocks 12 on the two finger joint boxes slide inwards along the sliding grooves 33, so that the finger interval is reduced to adapt to grasping the target with smaller size; when the finger gap is narrowed to the initial position, the inter-finger sliding mechanism micro motor 20 is stopped and the finger gap is maintained in the initial state.
Claims (1)
1. The fruit and vegetable picking hand device is characterized by comprising a picking hand and a cutting mechanism arranged at the rear part of the picking hand, wherein the picking hand comprises a rectangular palm (32), the front end surface of the palm (32) is fixedly provided with a chute (33), the rear ends of two symmetrically arranged fingers (6) with the same structure are slidably connected in the chute (33), the two fingers (6) can be connected through an inter-finger sliding mechanism (37) to enable the two fingers (6) to perform inward tightening and outward stretching actions along the chute (33), an inter-finger supporting surface is arranged between the two fingers (6), the inter-finger supporting surface plays a role of limiting and supporting fruits and vegetables clamped by the fingers (6), the cutting mechanism is arranged on the upper end surface of the palm (32) through a cutting mechanism bracket (31), a swinging micro motor (29) in the cutting mechanism drives a circular cutter (24) to fall down or lift up between the two fingers (6), an output shaft of a cutting micro motor (26) in the cutting mechanism drives the circular cutter (24) to rotate so as to complete the cutting action, and the swinging motor (29) and the micro motor (26) are connected with a main controller;
the finger (6) comprises a finger joint (1) at the front part and a finger joint transmission box (7) at the rear part, the finger joint transmission box (7) is a hollow box body with an opening at the top and a closed bottom, wherein the hollow box body is formed by two vertical box surfaces, two side walls connected with two sides of the two box surfaces and a box bottom connected with the bottom of the two box surfaces, the driving gear (9) is arranged in the box body of the finger joint transmission box (7) through a driving shaft (11) horizontally arranged between the two box surfaces, a driven gear (8) is arranged in the box body of the finger joint transmission box (7) through a driven shaft (10) horizontally arranged between the two box surfaces, and the driving gear (9) is meshed with the driven gear (8); the finger joint support seat (4) at the bottom of the finger joint (1) is fixedly connected with one end of the finger joint connecting rod (5) in the finger joint transmission box (7), the other end of the finger joint connecting rod (5) is connected into a groove on the driven gear (8) in an interference fit manner, and one end of the driving shaft (11) penetrates through one box surface of the finger joint transmission box (7) and then is connected with an output shaft of a finger joint micro motor fixed in the middle of the outer side of the box surface; a rectangular groove (2) is arranged in the middle of the inner side of the finger joint (1), a pressure sensor is arranged in the rectangular groove, a finger joint tip round hole (3) is arranged at the tip of the inner side of the finger joint (1), and a touch sensor is arranged in the finger joint tip round hole; the finger joint micro-motor, the touch sensor and the force sensor are connected with the main controller; the finger sliding block (12) is fixedly arranged on the lower end face of the box bottom of the knuckle transmission box (7), namely the rear end of the finger (6), and the finger sliding block (12) is slidably connected in the sliding groove (33) on the front end face of the palm (32);
the inter-finger sliding mechanism (37) comprises two cylindrical guide sliding rods, four sliding blocks, two connecting rods and a central shaft (21), the first connecting rod (18 a) and the second connecting rod (18 b) are hinged at the centers of the two connecting rods through the central shaft (21) to form an X shape, the outer side surface of the second connecting rod (18 b) is fixedly connected with a coupling disc (19) through two rectangular bosses (35), the output shaft of the inter-finger sliding mechanism micro-motor (20) is fixedly connected with the center of the coupling disc (19), an inter-finger sliding mechanism micro-motor fixing seat (36) is arranged below the front end surface of a palm (32) and used for supporting and fixing the inter-finger sliding mechanism micro-motor (20), and the inter-finger sliding mechanism micro-motor (20) is connected with a main controller; one end of a first connecting rod (18 a) is hinged with a third sliding block (17 c), the other end of the first connecting rod (18 a) is hinged with a second sliding block (17 b), one end of the second connecting rod (18 b) is hinged with the first sliding block (17 a), the other end of the second connecting rod is hinged with a fourth sliding block (17 d), the first sliding block (17 a) and the second sliding block (17 b) are sleeved on a first sliding rod (15 a), and the third sliding block (17 c) and the fourth sliding block (17 d) are sleeved on a second sliding rod (15 b);
the two knuckle transmission boxes (7) are fixedly connected with connecting plates (16) on opposite side walls respectively, the upper end of each connecting plate (16) is fixedly connected with an upper L-shaped locating plate (13), the lower end of each connecting plate (16) is fixedly connected with a lower L-shaped locating plate (14), and a first sliding rod (15 a) and a second sliding rod (15 b) are fixedly connected between the upper L-shaped locating plates (13) and the lower L-shaped locating plates (14) of the connecting plates (16) of the corresponding knuckle transmission boxes (7) respectively;
the inter-finger support surface consists of two semi-inter-finger support surfaces with the same structure, one side of each semi-inter-finger support surface is provided with a rectangular notch, the upper part of the other side of each semi-inter-finger support surface is provided with a concave plane, the rectangular notch of the first semi-inter-finger support surface (34 a) and the rectangular notch of the second semi-inter-finger support surface (34 b) are fixedly connected with the box surfaces of the two knuckle transmission boxes (7) respectively, the first semi-inter-finger support surface (34 a) and the second semi-inter-finger support surface (34 b) are oppositely arranged, the concave plane of the first semi-inter-finger support surface (34 a) is upwards arranged, the concave plane of the second semi-inter-finger support surface (34 b) is downwards arranged, the two concave planes are completely attached when the two fingers (6) are inwards tightened, are staggered and mutually supported when the two fingers (6) outwards open, and the lower end surfaces of each semi-inter-finger support surface are fixed on the corresponding upper L-shaped positioning plate (13) through screws for supporting and stably grabbing a target effect;
the cutting mechanism comprises a round cutter (24), two cutter end covers, a locating pin (23), a cutting micro-motor support frame (28), a cutting micro-motor (26) and a swinging micro-motor (29), wherein the round cutter (24) is fixedly arranged between the cutter upper end cover (22) and the cutter lower end cover (25) through the locating pin (23), the center of the cutter lower end cover (25) is fixedly connected with an output shaft of the cutting micro-motor (26), one end of the cutting micro-motor support frame (28) is fixedly connected with a cutting micro-motor fixing disc (27) fixedly connected to the bottom of the cutting micro-motor (26), the other end of the cutting micro-motor support frame (28) is fixedly connected with a swinging micro-motor shaft disc (30) at the front end of the output shaft of the swinging micro-motor (29), and the swinging micro-motor (29) is fixed on a cutting mechanism support (31);
the pressure sensor is provided with a rubber sheet with the same size as the rectangular groove (2), and the rubber sheet and the pressure sensor are fixed in the rectangular groove (2) through screws;
the main controller comprises a system reset end, a starting signal end, a stopping signal end, a motor control end and a communication port, wherein the touch sensor is connected with the starting signal end, the force sensor is connected with the stopping signal end, a control wire of the knuckle micro motor is connected with the knuckle micro motor control end, a control wire of the inter-finger sliding mechanism micro motor (20) is connected with the inter-finger sliding mechanism micro motor control end, a control wire of the cutting micro motor (26) is connected with the cutting micro motor control end, a control wire of the swinging micro motor (29) is connected with the swinging micro motor control end, the communication port is connected with an upper computer communication port of an upper computer, and the reset end of the main controller triggers a reset signal.
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| CN111185925A (en) * | 2018-11-14 | 2020-05-22 | 鲁班嫡系机器人（深圳）有限公司 | End effector and automation equipment |
| CN109952859B (en) * | 2019-04-17 | 2020-10-27 | 北京石油化工学院 | Rotary twisting type pineapple picking device |
| 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 |
| NL2028781B1 (en) * | 2021-07-19 | 2023-01-25 | Honest Agtech B V | Agricultural manipulator; assembly thereof with a robot arm |
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