CN109773823A - A kind of apple-picking machinery hand - Google Patents
A kind of apple-picking machinery hand Download PDFInfo
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- CN109773823A CN109773823A CN201910152791.2A CN201910152791A CN109773823A CN 109773823 A CN109773823 A CN 109773823A CN 201910152791 A CN201910152791 A CN 201910152791A CN 109773823 A CN109773823 A CN 109773823A
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- finger
- finger joint
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- apple
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Abstract
The present invention provides a kind of apple-picking machinery hands, under the premise of can satisfy apple-picking, grasping stability, can solve the technical problems such as existing apple-picking machinery hand structure is complicated, production cost height.The picking mechanical arm is furnished with two joint finger, finger is installed on palm after being fixed by helical spring, every finger is made of two finger joints, a drive link and a follower link, tendon rope in drive link is vertically fixed on lifting disk after palm, and the lifting disk other end connects driving motor by tendon rope.By motor driven, tendon rope drive, finger is driven to gather, realizes and 3 fingers is driven to complete to grab the envelope of apple simultaneously by a motor.
Description
Technical field
The present invention relates to agricultural robots to pick field, particularly relates to a kind of simple structure, convenient control, and picking efficiency is high
Apple-picking machinery arm device, belong to agricultural auxiliary picker technology.
Background technique
China's apple cultivation area and yield, which occupy, to beat the world, and is traditional advantage exported product.In apple production,
Picking operation is a most time-consuming, most laborious link.Apple, which is plucked operation and relied primarily on, at present is accomplished manually, and needs largely to work
Power, industrialized development cause rural laborer and are largely lost, while with social population's aging, there are low efficiency, at
The problems such as this height, the big amount of labour, with the development of computer technology, artificial intelligence technology and automatic control technology, robot is just
Agricultural production is stepped into, this is but also apple picking robot becomes the important need of modern agricultural production.Picking
Manipulator is mounted in the part of picking robot mechanical arm front end direct operation, since the appearance of apple is more fragile,
The work of picking mechanical arm be directly related to picking robot entirely pick operation can be accurate, efficiently, its design is considered
It is one of the core technology of agricultural robot.
Certain research all is expanded in this field both at home and abroad, such as Belgian Baeten has formulated one and inhaled by vacuum
Hold picking apple-picking machinery hand, picking mechanical arm be in apple-shaped silica gel funnel, as the mouth of a vacuum cleaner,
But the apple adaptability different to size is poor and stability is not high；The apple that Jin Bo team, Zhejiang University develops 3 fingers is adopted
Manipulator is plucked, stepping motor driving equipped with the worm drive pair that nut and screw rod cooperatively form, passes through the transmission of connecting rod
The movement inwards of finger is driven, the crawl to apple is realized, uses three joint designs modes, grasping stability is important as measuring
The grasping configuration number of index is the relationship with the variation of joint number exponentially, and the grasping configuration the more more are easy to appear contact point disengaging,
It is less susceptible to stablize.
Summary of the invention
Technical problem to be solved by the present invention lies in for apple-picking machinery hand in the prior art, structure is complicated, control
The defects of difficulty is big, high production cost, proposes a kind of apple-picking machinery hand, by motor driven, tendon rope drive, realize by
The two joint finger of 3D printing ABS plastic production grabs the envelope of apple, and finger is reduced while guaranteeing grasping stability and is closed
Joint number, while three fingers are only furnished with a driver, simplify structure, reduce costs.
In order to achieve the above object, the present invention is achieved by the following scheme.
A kind of apple-picking machinery arm device, finger is using a two joint underactuatuated drive composition, including nearly finger joint
(6), remote finger joint (1), and every finger all has drive link (4) and follower link (2), has one on the drive link (4)
Three hinge holes of certainty ratio distribution, wherein one end and follower link (2) one end are hinged, and other end is connect with tendon rope (10),
Both ends of the hole angle is 35 °, and middle part and nearly finger joint (6), finger joint support (8) are common hinged；The follower link (2) and nearly finger joint
(6) both ends are disposed as groove, and there is hinge hole at each groove both ends, and notch is all rounded down；Remote finger joint (1) is set as right angle three
It is angular, after the cuboid of sizes such as the angle two end faces of bevel edge and right-angle side are removed hingedly with follower link (2), in addition one
It holds hinged with nearly finger joint (6) hinge hole；Ensure that internal each component will not interfere with finger at work.
Further, three finger joint supports (8) and three helical springs II (7) are evenly distributed with 60 ° of central angles on palm (9):
Finger joint support (8) have certain altitude, can make drive link (4) tendon rope (10) driving under move up and down in a certain range and
It will not interfere with palm (9)；Helical spring II (7) is connect with drive link (4) lower part, is had certain rigidity, finger can be made to exist
It is in flared when nature, when work can be stretched, and resilient after crawl is flared.Helical spring I (3) and driving
Connecting rod (4) top is connected with nearly finger joint (6) back, so that drive link (4) can provide finger at work for nearly finger joint (6)
Auxiliary power makes its centripetal movement, and drive link (4) can force nearly finger joint (6) centrifugal movement to make its reset when power cut-off.
Further, the nearly finger joint (6), remote finger joint (1), drive link (4), follower link (2) constitute two joint
Finger, driving form use four-bar mechanism, have the characteristics that high-efficient, grasping force is big, using helical spring as power
And resetting-mechanism.
Further, 3 apertures are respectively uniformly distributed in the palm (9) and lifting disk (15), it is small on palm (9)
Hole is through-hole, and the position of opening of each through-hole can make tendon rope (10) vertical drop being connected with drive link (4) and not
It can contact；Going up and down the aperture on disk (15) is bolt hole, is fixed the tendon rope (10) of vertical drop by bolt, bolt
Need to adjust rate of tension when fixed to tendon rope (10), so as to picking mechanical arm under each operating condition between tendon rope (10) and through-hole not
It can contact.
Further, lifting disk (15) lower surface geometric center is equally provided with a bolt hole, tendon rope (10) one end
It is fixed by bolt hole, uniform winding is on pulley (13) groove after other end vertical drop.
Further, the pulley (13) is fixed in the shaft of driving motor (12), has between tendon rope (10) and shaft
One section of constant eccentricity, is tangential on groove always, is provided with certain tensioning, to guarantee that tendon rope (10) is sagging in any operating condition
Drop disk (15) center is gone straight up to, and go up and down disk (15) to shake.
Further, the driving motor (12) is fixed on pedestal (11).
Further, the nearly finger joint (6) and remote finger joint (1) inner surface cover soft silica gel pad, in order to avoid damage apple table
Skin.
Further, the nearly finger joint (6) and remote finger joint (1) inner surface are provided with pressure sensor (5), obtain at any time
Grasp force in picking process.
Compared with prior art, the advantages and positive effects of the present invention are:
A kind of apple-picking machinery arm device, the three finger two joint fingers reduce the articulations digitorum manus of traditional picking mechanical arm
Number, simplifies apparatus structure, keeps crawl control more flexible, and complete by tendon rope (10) and helical spring mechanism controls finger
Similar motion mode is grabbed with palm, smart structural design, control is flexible, production cost is low.
Detailed description of the invention
Fig. 1 is the overlooking structure diagram of picking mechanical arm of the invention.
Fig. 2 is palm of the invention, the attachment structure schematic diagram for going up and down disk and motor.
Fig. 3 is that picking mechanical arm of the invention faces finger expanded configuration schematic diagram when apple.
Fig. 4 is that picking mechanical arm envelope of the invention grabs apple structural schematic diagram.
Fig. 5 is picking mechanical arm finger structure schematic diagram of the invention.
Specific embodiment
In order to which the above objects, features and advantages of the present invention is more clearly understood, with reference to the accompanying drawing to this hair
It is bright to be described in further detail.
With reference to shown in Fig. 1, Fig. 3-Fig. 5, introduced by taking the identical three two joint fingers of structure as an example, two joint finger is by close
Finger joint (6), remote finger joint (1), drive link (4), follower link (2) are serially connected composition, drive link (4) one end and driven company
Bar (2) one end is hinged, and other end is connect with tendon rope (10), and both ends of the hole angle is 35 °, and curved drive link (4) can make it
There are bigger rotational travel in upper two ports in vertical palm (9) direction；Middle part and nearly finger joint (6), finger joint support (8) are cut with scissors jointly
It connecing, follower link (2) and nearly finger joint (6) in addition hingedly constitute a double leval jib finger structure with remote finger joint (1) respectively in both ends,
The helical spring I (3) being connected between drive link (4) and nearly finger joint (6) can turn in nearly finger joint (6) (16) direction Xiang Pingguo
Auxiliary power is provided when dynamic；It interferes between each mechanism of two joint finger, is taken in the present embodiment in order to prevent
Following measure: finger joint support (8) is provided with certain altitude in the case where ensuring normally to pick；Nearly finger joint (6) and driven
Connecting rod (2) both ends are both provided with U-shaped card slot, and slot bottom is rounded corner.
Finger is generally directly proportional to joint number to the shape adaptability of object, and still, as measuring, grasping stability is important
The grasping configuration number of index is the relationship with the variation of joint number exponentially, and the grasping configuration the more more are easy to appear contact point disengaging,
And then it grabs and is less susceptible to stablize.Purpose of design is apple to be grabbed as final executive device, therefore grab steady in the present embodiment
It is qualitative just to seem more important.The present embodiment improves traditional multi-joint picking mechanical arm, reduces articulations digitorum manus number, uses
Four-bar mechanism combination transmission not only increases grasp stability, and easy to control, movement is flexibly.
Refering to what is shown in Fig. 2, being evenly distributed with three finger joint supports (8) and helical spring II (7) on palm (9) with 60 ° of central angles, drive
Dynamic connecting rod (4) and nearly finger joint (6) according to corresponding hinge hole with finger joint support (8) hingedly, under natural conditions, no matter picking mechanical
Hand is in horizontal or heeling condition, and the rigidity of helical spring II (7) is enough to ensure that three fingers are opened outside entirety, at the same time
Under the cooperation with driving motor (12), tendon rope (10), lifting disk (15) will not shake；When normal work, driving electricity
The driving force of machine (12) overcomes the rigidity of helical spring II (7), and three fingers are rotated towards apple (16), tendon rope (10), lifting
Disk (15) will not shake.
Refering to what is shown in Fig. 3, in the raw, whole outer, be in flaring to three fingers during facing apple (16)
Structure is convenient for the receiving of apple (16)；Tendon rope (10) is by being uniformly distributed on palm after 3 aperture vertical drops and lifting disk
(15) fixed, tendon rope (10) one end is connected with lifting disk (15) lower surface geometric center, and other end free-falling is wrapped in
On pulley (13) groove, and tendon rope (10) original state has certain tensile force, and pulley (13) is fixed on driving motor (12)
Shaft on, driving motor (12) work when, tendon rope (10) uniform winding on pulley (13) groove.
Refering to what is shown in Fig. 4, machine shaft overcomes the resistance band movable pulley of helical spring II (7) when picking mechanical arm works
(13) it rotates, shrinks tendon rope (10), lifting disk (15) moves down, and drives drive link (4) hinged with middle part by tendon rope (10)
Hole is that the center of circle rotates the heart, and helical spring I (3) deformation pushes nearly finger joint (6) to rotate around finger joint support (8), until touching apple
Fruit (16), by the effect of contraction of contact seal force, the freedom degree is restrained, while follower link (2) is in drive link (4)
Driving is lower so that remote finger joint (1) becomes freedom to work degree, and remote finger joint (1) is centripetal to collapse and contact in apple (16), ultimately forms
The containing cavities for containing apple (16) realize moving to the heart for finger, complete apple (16) crawl；Nearly finger joint (6) and remote finger joint (1)
Inner surface covers soft silica gel pad, in order to avoid damage apple (16) epidermis；Nearly finger joint (6) and remote finger joint (1) inner surface are provided with
Pressure sensor (5) obtains the grasp force in picking process at any time, signal is fed back to driving motor when power reaches required value
(12), driving motor (12) stops working.
Claims (9)
1. a kind of apple-picking machinery hand, it is characterised in that: include two joint finger, helical spring, palm (9), tendon rope
(10), pulley (13) and driving motor (12), the two joint finger are supported in the palm by the finger joint support (8) respectively
Disk (9)；Tendon rope (10) one end connection finger, the other end are vertically fixed on the lifting disk (15) after palm (9)；
Fixed lifting disk (15) center in tendon rope (10) one end, the other end connect the pulley (13)；Pulley (13) is assemblied in drive
The shaft of dynamic motor (12)；Driving motor (12) is fixed on the pedestal (11).
2. a kind of picking mechanical arm according to claim 1, it is characterised in that: the two joint finger is provided with nearly finger joint
(6), remote finger joint (1), drive link (4) and follower link (2), nearly finger joint (6), drive link (4) middle part hinge hole and finger joint
Support (8) is common hinged, and helical spring I (3), drive link (4) and palm are equipped between nearly finger joint (6) and drive link (4)
(9) between be equipped with helical spring II (7), follower link (2) and drive link (4) one end are hinged, remote finger joint (1) both ends respectively with
Nearly finger joint (6) and follower link (2) are hinged.
3. a kind of picking mechanical arm according to claim 1 or 2, it is characterised in that: uniformly distributed three fingers on the palm (9)
It saves support (8), has 3 hinge holes on the drive link (4), have 35 ° of angles between two stomidiums, be set as curved company
Bar, wherein hingedly, other end is connect with tendon rope (10) for one end and follower link (2).
4. a kind of picking mechanical arm according to claim 3, it is characterised in that: uniformly distributed three apertures on the palm (9),
Tendon rope (10) is fixed with lifting disk (15) after 3 aperture vertical drops by being uniformly distributed on palm (9).
5. a kind of picking mechanical arm according to claim 4, it is characterised in that: lifting disk (15) lower surface geometry center of circle
Place is provided with a bolt hole, and tendon rope (10) one end is by bolt and fixation, in other end vertical drop and pulley (13)
Described in groove uniform winding, falling direction and lifting disk (15) center overlapping of axles, it is tangent with pulley (13), pulley (13) is fixed
In the shaft of driving motor (12).
6. a kind of picking mechanical arm according to claim 5, it is characterised in that: pass through between palm (9) and pedestal (11)
Equally distributed three support rods (14) are fixed.
7. a kind of picking mechanical arm according to claim 1 or 2, it is characterised in that: in nearly finger joint (6) and remote finger joint (1)
Side surface covers soft silica gel pad, reduces the damage during grabbing to apple, and the pressure in nearly finger joint (6) and remote finger joint (1)
Force snesor (5) can feed back chucking power.
8. a kind of picking mechanical arm described according to claim 1 or 2 or 5, it is characterised in that: the driving motor (12) turns
Speed is controlled according to motor pulses frequency, and the pressure sensor (5) obtains the contact force of each finger, when finger surface pressure passes
Sensor (5) reaches the grasp force of setting, and signal is fed back to driving motor (12), driving motor (12) stop motion, realizes apple
Crawl.
9. a kind of picking mechanical arm according to claim 1 or 2 or 4, it is characterised in that: the finger, support rod, finger joint
Support (8), palm (9), lifting disk (15), pedestal (11) select 3D printing ABS plastic.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910152791.2A CN109773823A (en) | 2019-02-28 | 2019-02-28 | A kind of apple-picking machinery hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910152791.2A CN109773823A (en) | 2019-02-28 | 2019-02-28 | A kind of apple-picking machinery hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109773823A true CN109773823A (en) | 2019-05-21 |
Family
ID=66485969
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910152791.2A Pending CN109773823A (en) | 2019-02-28 | 2019-02-28 | A kind of apple-picking machinery hand |
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| Country | Link |
|---|---|
| CN (1) | CN109773823A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111015646A (en) * | 2019-12-25 | 2020-04-17 | 中国科学院沈阳自动化研究所 | Rope-driven under-actuated self-adaptive flexible manipulator |
| CN111230911A (en) * | 2020-03-20 | 2020-06-05 | 燕山大学 | Flexible finger joint paw based on 4D printing and trajectory tracking control method thereof |
| CN112005723A (en) * | 2020-09-16 | 2020-12-01 | 辽宁工程技术大学 | Hard fruit picking mechanical head device |
| CN112809715A (en) * | 2021-01-21 | 2021-05-18 | 武汉轻工大学 | Manipulator and mechanical arm |
| CN113442159A (en) * | 2021-06-30 | 2021-09-28 | 中国科学院沈阳自动化研究所 | Robot tail end execution gripper based on rope driving |
-
2019
- 2019-02-28 CN CN201910152791.2A patent/CN109773823A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111015646A (en) * | 2019-12-25 | 2020-04-17 | 中国科学院沈阳自动化研究所 | Rope-driven under-actuated self-adaptive flexible manipulator |
| CN111230911A (en) * | 2020-03-20 | 2020-06-05 | 燕山大学 | Flexible finger joint paw based on 4D printing and trajectory tracking control method thereof |
| CN111230911B (en) * | 2020-03-20 | 2021-05-04 | 燕山大学 | Flexible finger joint paw based on 4D printing and trajectory tracking control method thereof |
| CN112005723A (en) * | 2020-09-16 | 2020-12-01 | 辽宁工程技术大学 | Hard fruit picking mechanical head device |
| CN112809715A (en) * | 2021-01-21 | 2021-05-18 | 武汉轻工大学 | Manipulator and mechanical arm |
| CN112809715B (en) * | 2021-01-21 | 2022-04-12 | 武汉轻工大学 | Manipulator and mechanical arm |
| CN113442159A (en) * | 2021-06-30 | 2021-09-28 | 中国科学院沈阳自动化研究所 | Robot tail end execution gripper based on rope driving |
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Legal Events
| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190521 |
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| WD01 | Invention patent application deemed withdrawn after publication |