CN110547094A - Miniature three-degree-of-freedom picking manipulator - Google Patents
Miniature three-degree-of-freedom picking manipulator Download PDFInfo
- Publication number
- CN110547094A CN110547094A CN201910839583.XA CN201910839583A CN110547094A CN 110547094 A CN110547094 A CN 110547094A CN 201910839583 A CN201910839583 A CN 201910839583A CN 110547094 A CN110547094 A CN 110547094A
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- Prior art keywords
- pulley
- degree
- grooved wheel
- freedom
- picking manipulator
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- 230000007246 mechanism Effects 0.000 claims abstract description 17
- 229910000831 Steel Inorganic materials 0.000 claims description 21
- 239000010959 steel Substances 0.000 claims description 21
- 229910000838 Al alloy Inorganic materials 0.000 claims description 2
- 229910000851 Alloy steel Inorganic materials 0.000 claims description 2
- SNAAJJQQZSMGQD-UHFFFAOYSA-N aluminum magnesium Chemical compound [Mg].[Al] SNAAJJQQZSMGQD-UHFFFAOYSA-N 0.000 claims description 2
- UFGZSIPAQKLCGR-UHFFFAOYSA-N chromium carbide Chemical compound [Cr]#C[Cr]C#[Cr] UFGZSIPAQKLCGR-UHFFFAOYSA-N 0.000 claims description 2
- 239000007769 metal material Substances 0.000 claims description 2
- 229910003470 tongbaite Inorganic materials 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 230000005540 biological transmission Effects 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000002457 bidirectional effect Effects 0.000 description 2
- 210000000080 chela (arthropods) Anatomy 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 229920000742 Cotton Polymers 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 230000009916 joint effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000013138 pruning Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The application discloses miniature three degree of freedom picking manipulator includes: the left shaft is provided with a first U grooved wheel and a second U grooved wheel, the first U grooved wheel is rigidly connected with a first forceps mouth, the second U grooved wheel is rigidly connected with a second forceps mouth, and the front joint is connected with the rear joint through the right shaft; the right shaft is provided with a plurality of guide devices, the rear joint is provided with a plurality of traction mechanisms corresponding to the guide devices, and the traction mechanisms control the guide devices to enable the two forceps mouths to carry out picking actions in all directions. The invention has the advantages that: the structure is simple, and the device has the characteristics of small volume, light weight, strong flexibility, difficulty in damaging branches and leaves, and high freedom degree of movement among complex branches and leaves. The production process has relatively low requirement, low production cost and good guarantee.
Description
Technical Field
The invention relates to a miniature three-degree-of-freedom picking manipulator.
Background
The manipulator is located the end of arm, directly contacts with by the operation thing, has design requirements such as control accuracy height, operation flexibility and stability, snatch reliably. The mechanical arm specially used in the field of cotton pruning operation robots is basically blank, and the traditional industrial mechanical arm is mostly adopted. The joint action of the existing 'DaVinci' industrial manipulator adopts brake wire transmission, and only power can be output in a single direction, so that the degree of freedom is poor. The manipulator itself does not integrate a servo motor. The device has large volume, heavy weight, leakage structure, easy damage to branches and leaves during movement and poor flexibility.
Disclosure of Invention
the invention aims to overcome the defects and provide a miniature three-degree-of-freedom picking manipulator which can realize flexibility, energy conservation and increased endurance.
In order to achieve the above object, the present invention adopts the following technique: a miniature three-degree-of-freedom picking manipulator is characterized by comprising: the left shaft is provided with a first U grooved wheel and a second U grooved wheel, the first U grooved wheel is rigidly connected with a first forceps mouth, the second U grooved wheel is rigidly connected with a second forceps mouth, and the front joint is connected with the rear joint through the right shaft; the right shaft is provided with a plurality of guide devices, the rear joint is provided with a plurality of traction mechanisms corresponding to the guide devices, and the traction mechanisms control the guide devices to enable the two forceps mouths to carry out picking actions in all directions.
The invention has the beneficial effects that:
Simple structure includes: the left shaft is provided with a first U grooved wheel and a second U grooved wheel, the first U grooved wheel is rigidly connected with a first forceps mouth, the second U grooved wheel is rigidly connected with a second forceps mouth, and the front joint is connected with the rear joint through the right shaft; the right shaft is provided with a plurality of guide devices, the rear joint is provided with a plurality of traction mechanisms corresponding to the guide devices, and the traction mechanisms control the guide devices to enable the two forceps mouths to carry out picking actions in all directions. The servo motor system is integrated, the modularized design is achieved, field maintenance and maintenance are facilitated, the mechanical arm connecting portion is connected with an electric plug-in unit and a gearless chain, disassembly and assembly are facilitated, each shaft is bidirectional power output, and the terminal jaw can be opened and closed and can also rotate along an opening and closing central point. Small volume, light weight, strong flexibility, difficult damage to branches and leaves and high freedom of movement among complex branches and leaves. The production process has relatively low requirement, low production cost and good guarantee.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a schematic structural view of a three-degree-of-freedom micro picking manipulator according to the present invention
Schematic of the reference numerals
11-a first forceps mouth, 12-a second forceps mouth, 13-an anterior joint, 14-a posterior joint, 15-a first U grooved pulley,
16-second U grooved wheel, 17-guide groove, 18-first steel cable, 19-second steel cable and 131-left shaft
20-a third steel cable, 21-a right shaft, 22-a rear shaft, 23-a third servo motor, 24-a fixed welding point,
25-first pulley, 26-second pulley, 27-third pulley.
Detailed Description
As used in the specification and in the claims, certain terms are used to refer to particular components. As one skilled in the art will appreciate, manufacturers may refer to a component by different names. This specification and claims do not intend to distinguish between components that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. "substantially" means within an acceptable error range, and a person skilled in the art can solve the technical problem within a certain error range to substantially achieve the technical effect. The description which follows is a preferred embodiment of the present application, but is made for the purpose of illustrating the general principles of the application and not for the purpose of limiting the scope of the application. The protection scope of the present application shall be subject to the definitions of the appended claims.
Referring to fig. 1, a micro three-degree-of-freedom picking manipulator of the present invention includes: the front joint 13 is provided with a transverse left shaft 131 and a longitudinal right shaft 21, the left shaft 131 is provided with a first U-grooved pulley 16 and a second U-grooved pulley 17, the first U-grooved pulley 16 is rigidly connected with the first jaw 11, the second U-grooved pulley 17 is rigidly connected with the second jaw 12, and the front joint 13 is connected with the rear joint 14 through the right shaft 21;
A plurality of guide devices are provided on the right shaft 21, a plurality of traction mechanisms corresponding to the guide devices are provided in the posterior joint, and the traction mechanisms control the guide devices so that the two forceps jaws perform picking actions in each direction.
In one embodiment, the guide device comprises: a first pulley 25, a second pulley 26 and a third pulley 27, wherein the third pulley 27 is provided between the first pulley 25 and the second pulley 26, and each pulley is wound with a corresponding steel wire, and each steel wire is connected to a traction mechanism through a corresponding guide groove.
In one embodiment, the traction mechanism includes a servo motor corresponding to each wire.
In one embodiment, further comprising: after the second U-grooved pulley is wound for 1.5 circles, the first steel cable 18 is wound for 1 circle around the first pulley at both ends, and is connected with the first servo motor in the rear joint 14 through corresponding guide grooves. (the picture is too slender and inconvenient to display, and the servo motor is not shown). The first clamp mouth is driven to rotate in the Y direction after the transmission direction is changed.
In one embodiment, the third pulley is fixed to the anterior joint.
In one embodiment, further comprising: after the first U-grooved pulley is wound for 1.5 circles, the third steel cable 20 is wound for 1 circle around the second pulley at both ends, and is connected with a third servo motor 23 in the rear joint through corresponding guide grooves. The second clamp mouth is driven to rotate in the Y direction after the transmission direction is changed.
In one embodiment, further comprises a second cable 19, said second cable 19 is wound 1.5 times around said third pulley and connected to a second servomotor (limited to a picture too long and not easy to show, the servomotor is not shown) in the posterior joint via a corresponding guide slot. The front joint is driven to rotate in the X direction relative to the rear joint by changing the transmission direction.
In one embodiment, the wire groove is made of chromium carbide metal material.
In one embodiment, the anterior joint 13 is made of an alloy steel material.
In one embodiment, magnesium-aluminum alloy is used for the first and second plier mouths 11 and 12.
as a specific embodiment, the first U-grooved pulley 15 is rigidly connected to the first pincer nozzle 11, and the second U-grooved pulley 16 is rigidly connected to the second pincer nozzle 12; the two are fixed on the left shaft of the front joint 13, the two clamp mouths can rotate around the left shaft of the front joint 13, the left edge of the third pulley 27 is welded with the front joint 13, the third steel cable 20 and the first steel cable 18 are respectively wound around the first U grooved pulley 15 and the second U grooved pulley 16 for one circle or 2 circles, then the steel cable is guided to the direction by the guide grooves 17, respectively wound around the second pulley 26 and the first pulley 25 for one circle, and then led out by the guide grooves 17. The invention can independently control the first clamp mouth and the second clamp mouth to realize fine actions of opening and closing, picking up and putting down objects and the like, and has high freedom degree of movement among complex branches and leaves.
The invention has the beneficial effects that:
Simple structure includes: the left shaft is provided with a first U grooved wheel and a second U grooved wheel, the first U grooved wheel is rigidly connected with a first forceps mouth, the second U grooved wheel is rigidly connected with a second forceps mouth, and the front joint is connected with the rear joint through the right shaft; the right shaft is provided with a plurality of guide devices, the rear joint is provided with a plurality of traction mechanisms corresponding to the guide devices, and the traction mechanisms control the guide devices to enable the two forceps mouths to carry out picking actions in all directions. The servo motor system is integrated, the modularized design is achieved, field maintenance and maintenance are facilitated, the mechanical arm connecting portion is connected with an electric plug-in unit and a gearless chain, disassembly and assembly are facilitated, each shaft is bidirectional power output, and the terminal jaw can be opened and closed and can also rotate along an opening and closing central point. Small volume, light weight, strong flexibility, difficult damage to branches and leaves and high freedom of movement among complex branches and leaves. The production process has relatively low requirement, low production cost and good guarantee.
The foregoing description shows and describes several preferred embodiments of the present application, but as aforementioned, it is to be understood that the application is not limited to the forms disclosed herein, but is not to be construed as excluding other embodiments and is capable of use in various other combinations, modifications, and environments and is capable of changes within the scope of the application as described herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the application, which is to be protected by the claims appended hereto.
Claims (10)
1. A miniature three-degree-of-freedom picking manipulator is characterized by comprising: the left shaft is provided with a first U grooved wheel and a second U grooved wheel, the first U grooved wheel is rigidly connected with a first forceps mouth, the second U grooved wheel is rigidly connected with a second forceps mouth, and the front joint is connected with the rear joint through the right shaft;
The right shaft is provided with a plurality of guide devices, the rear joint is provided with a plurality of traction mechanisms corresponding to the guide devices, and the traction mechanisms control the guide devices to enable the two forceps mouths to carry out picking actions in all directions.
2. The micro three-degree-of-freedom picking manipulator according to claim 1, wherein the guiding device comprises: the steel wire traction mechanism comprises a first pulley, a second pulley and a third pulley, wherein the third pulley is arranged between the first pulley and the second pulley, corresponding steel wires are wound on the pulleys, and the steel wires are connected with the traction mechanism through corresponding guide grooves.
3. The micro three-degree-of-freedom picking manipulator according to claim 2, wherein the traction mechanism comprises a servo motor corresponding to each steel wire.
4. The micro three-degree-of-freedom picking manipulator according to claim 3, further comprising: after the first steel cable winds the second U grooved wheel for 1.5 circles, two ends of the first steel cable respectively wind the first pulley for 1 circle, and the first steel cable is connected with a first servo motor in the rear joint through corresponding guide grooves.
5. the micro three-degree-of-freedom picking manipulator according to claim 3, wherein the third pulley is fixed with a front joint.
6. The micro three-degree-of-freedom picking manipulator according to claim 3, further comprising: after the third steel cable winds the first U grooved wheel for 1.5 circles, two ends of the third steel cable respectively wind the second pulley for 1 circle, and the third steel cable is connected with a third servo motor in the rear joint through corresponding guide grooves.
7. The three-degree-of-freedom micro picking manipulator according to claim 5, further comprising a second steel cable which is wound on the third pulley for 1.5 circles and then connected with a second servo motor in the rear joint through a corresponding guide groove.
8. The micro three-degree-of-freedom picking manipulator according to claim 1, wherein the wire guide groove is made of chromium carbide metal material.
9. The micro three-degree-of-freedom picking manipulator according to claim 2, wherein the front joint is made of alloy steel.
10. The miniature three-degree-of-freedom picking manipulator according to claim 1, wherein the first gripper jaw and the second gripper jaw are made of magnesium aluminum alloy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910839583.XA CN110547094A (en) | 2019-09-06 | 2019-09-06 | Miniature three-degree-of-freedom picking manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910839583.XA CN110547094A (en) | 2019-09-06 | 2019-09-06 | Miniature three-degree-of-freedom picking manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110547094A true CN110547094A (en) | 2019-12-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910839583.XA Pending CN110547094A (en) | 2019-09-06 | 2019-09-06 | Miniature three-degree-of-freedom picking manipulator |
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| Country | Link |
|---|---|
| CN (1) | CN110547094A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110771351A (en) * | 2019-12-11 | 2020-02-11 | 桂林电子科技大学 | Giant-exendin-imitating cotton collecting device |
Citations (10)
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|---|---|---|---|---|
| WO1994001254A1 (en) * | 1992-07-13 | 1994-01-20 | Friedman, Mark, M. | Extendible and retractable device |
| CN1136988A (en) * | 1995-05-31 | 1996-12-04 | 北京航空航天大学 | Driving method and use for joint driving mechanism |
| CN101733743A (en) * | 2010-01-02 | 2010-06-16 | 华南理工大学 | Drawing wire type serial mechanical arm |
| KR101045994B1 (en) * | 2011-04-13 | 2011-07-06 | 강희석 | Remote manipulation device |
| CN201938094U (en) * | 2010-11-15 | 2011-08-24 | 聊城大学 | Four-freedom fruit-picking manipulator system |
| US20160073584A1 (en) * | 2014-09-12 | 2016-03-17 | Washington State University | Robotic systems, methods, and end-effectors for harvesting produce |
| CN206100948U (en) * | 2016-10-20 | 2017-04-19 | 安徽工程大学 | Melon and fruit picking manipulator |
| CN207151236U (en) * | 2017-06-15 | 2018-03-30 | 深圳普思英察科技有限公司 | A kind of apple picking robot |
| CN108684317A (en) * | 2018-05-30 | 2018-10-23 | 李佳馨 | A kind of steel wire drive-type fruit and branch are adopted and cut device |
| CN211240881U (en) * | 2019-09-06 | 2020-08-14 | 贵州航天智慧农业有限公司 | Miniature three-degree-of-freedom picking manipulator |
-
2019
- 2019-09-06 CN CN201910839583.XA patent/CN110547094A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1994001254A1 (en) * | 1992-07-13 | 1994-01-20 | Friedman, Mark, M. | Extendible and retractable device |
| CN1136988A (en) * | 1995-05-31 | 1996-12-04 | 北京航空航天大学 | Driving method and use for joint driving mechanism |
| CN101733743A (en) * | 2010-01-02 | 2010-06-16 | 华南理工大学 | Drawing wire type serial mechanical arm |
| CN201938094U (en) * | 2010-11-15 | 2011-08-24 | 聊城大学 | Four-freedom fruit-picking manipulator system |
| KR101045994B1 (en) * | 2011-04-13 | 2011-07-06 | 강희석 | Remote manipulation device |
| US20160073584A1 (en) * | 2014-09-12 | 2016-03-17 | Washington State University | Robotic systems, methods, and end-effectors for harvesting produce |
| CN206100948U (en) * | 2016-10-20 | 2017-04-19 | 安徽工程大学 | Melon and fruit picking manipulator |
| CN207151236U (en) * | 2017-06-15 | 2018-03-30 | 深圳普思英察科技有限公司 | A kind of apple picking robot |
| CN108684317A (en) * | 2018-05-30 | 2018-10-23 | 李佳馨 | A kind of steel wire drive-type fruit and branch are adopted and cut device |
| CN211240881U (en) * | 2019-09-06 | 2020-08-14 | 贵州航天智慧农业有限公司 | Miniature three-degree-of-freedom picking manipulator |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110771351A (en) * | 2019-12-11 | 2020-02-11 | 桂林电子科技大学 | Giant-exendin-imitating cotton collecting device |
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