CN111571597A

CN111571597A - Under-actuated dead poultry picking manipulator

Info

Publication number: CN111571597A
Application number: CN202010456978.4A
Authority: CN
Inventors: 霍哓静; 李丽华; 胡子康; 王文娣; 唐娟; 王辉; 姜来
Original assignee: Hebei Agricultural University
Current assignee: Hebei Agricultural University
Priority date: 2020-05-26
Filing date: 2020-05-26
Publication date: 2020-08-25

Abstract

The invention provides an under-actuated dead poultry picking manipulator which comprises a wrist part, a palm part and finger parts, wherein the wrist part, the palm part and the finger parts are sequentially arranged from bottom to top; a transmission assembly is arranged between the motor fixing plate and the palm, an internal thread is arranged at the center of the transmission assembly, a transmission screw is arranged at the output end of the motor, an external thread is arranged on the outer side of the transmission screw, and the external thread of the transmission screw is matched with the internal thread to convert the rotation of the motor into the linear motion of the transmission screw; the end part of the transmission assembly is fixedly connected with a sliding block, a sliding block hole is formed in the sliding block, the sliding block hole is matched with the supporting rod, the sliding block edge is achieved, the sliding block slides upwards on the supporting rod, and the sliding block is connected with the finger part, so that the grabbing action of the manipulator is achieved.

Description

Under-actuated dead poultry picking manipulator

Technical Field

The invention relates to the field of poultry industry equipment, in particular to an under-actuated dead poultry picking manipulator.

Background

Poultry breeding is a breeding industry which develops the fastest speed since the reform and the opening of China. In the prior broiler chicken farm, the environmental temperature and air volume control, the treatment of poultry eggs and poultry manure, and the automatic control of food and water supply are completed, but the automatic monitoring and treatment cannot be realized for dead chickens in the chicken farm. And dead chickens are remained in the henhouse for a long time, and are extremely unfavorable for epidemic prevention. If the chicken is manually patrolled, the labor cost is high, and the work is extremely complicated: the patrolling worker has to observe the condition of each poultry house for a long time, find dead chickens, and pick up and transport the dead chickens manually. In addition, a large amount of harmful gas exists in the henhouse, and dust particles also bring great influence on the health of patrolling workers. And the robot is picked up to dead chicken can not receive the influence of chicken coop environment, can save the labour cost for broiler chicken plant, reduces long-term cost, improves economic benefits.

The end effector of the dead chicken picking robot is one of the key parts for the robot to directly contact with the operated object, the performance of the end effector can determine the efficiency of the robot in working and the investment cost, and therefore the design of the end effector is of great importance. The design of the dead chicken picking robot end effector can solve the picking problem of automatically picking dead chickens, not only can meet the actual requirements, but also can promote the development of the automatic broiler chicken breeding industry, and has great significance.

The existing underactuated manipulator does not have the characteristic of adapting to the appearance of a grasped object and lacks sufficient grasping capacity and precision.

Therefore, how to provide a mechanical arm for picking up the dead poultry under-actuated with reasonable design, strong grabbing force and precision is a technical problem to be solved urgently by those skilled in the art at present.

Disclosure of Invention

In view of the above, the invention provides an under-actuated dead poultry picking manipulator, which solves the problems in the prior art, and the specific scheme is as follows:

an under-actuated dead poultry picking manipulator, which comprises a wrist part, a palm part and a finger part which are arranged from bottom to top in sequence,

the palm part is fixed on the wrist part through a motor fixing seat, a motor fixing plate is arranged above the motor, and the upper part of the motor fixing plate is fixedly connected with the palm through a supporting rod;

a transmission assembly is arranged between the motor fixing plate and the palm, an internal thread is arranged at the center of the transmission assembly, a transmission screw is arranged at the output end of the motor, an external thread is arranged on the outer side of the transmission screw, and the external thread of the transmission screw is matched with the internal thread to convert the rotation of the motor into the linear motion of the transmission screw;

the end part of the transmission component is fixedly connected with a sliding block, the sliding block is provided with a sliding block hole, the sliding block hole is matched with the supporting rod to realize the sliding of the sliding block along the supporting rod,

the sliding block is connected with the finger part, so that the grabbing action of the manipulator is realized.

Specifically, the finger part comprises a lower knuckle, a middle knuckle and an upper knuckle from bottom to top in sequence,

the lower knuckle comprises a lower knuckle front plate and a lower knuckle rear plate, the lower part of the lower knuckle front plate is hinged to the side face of the palm, the lower part of the lower knuckle rear plate is connected with the lower part of the lower knuckle front plate through a rotating sliding rod, and the rotating sliding rod is connected with a sliding block arm of the sliding block;

the middle knuckle comprises a middle knuckle front plate and a middle knuckle rear plate, and the lower part of the middle knuckle front plate, the lower part of the middle knuckle rear plate, the upper part of the lower knuckle front plate and the upper part of the lower knuckle rear plate are connected through a connecting triangle;

the upper knuckle is connected to the upper parts of the middle knuckle front plate and the middle knuckle rear plate.

Specifically, the connecting triangle comprises a first connecting surface, a second connecting surface and a connecting support, wherein the first connecting surface and the second connecting surface are respectively connected with the lower knuckle front plate and the middle knuckle front plate as well as the lower knuckle rear plate and the middle knuckle rear plate through connecting pin holes.

Specifically, the lower knuckle and the upper side included angle of the middle knuckle are both provided with limiting springs.

Specifically, the wrist includes steering wheel fixing base to and the steering wheel, the motor fixing base is fixed the top of steering wheel, the steering wheel fixing base is connected with the machinery xarm.

Specifically, the transmission assembly is cross, finger portion is equipped with four groups, and two liang of relative settings.

Specifically, pressure sensor is installed to last knuckle one side of two finger portions that set up relatively, and temperature sensor is installed to the opposite side, palm portion is equipped with proximity switch.

Specifically, the pressure sensor and the temperature sensor are thin film sensors.

The under-actuated dead poultry picking mechanical arm device provided by the invention has the following beneficial effects: 1. the grabbing device is controlled by a single motor, adopts a reasonable transmission mode, realizes grabbing actions of the manipulator, and reduces the processing cost. 2. The film temperature sensor is arranged to detect the body temperature of the poultry, so that the picking safety is improved, and the damage to the live poultry caused by the picking misoperation is avoided. 3. The manipulator main body part adopts carbon fiber material to lighten the weight of the whole device.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic structural view of a mechanical arm of the dead bird pickup machine provided by the invention.

Fig. 2 is a schematic view showing the state in which the palm and wrist are attached.

Fig. 3 is an enlarged schematic view of a portion a in fig. 2.

Fig. 4 is a schematic structural view of fig. 2 with the palm removed.

Fig. 5 is an enlarged view of B in fig. 4.

Fig. 6 is a schematic side view of a robot.

Fig. 7 is a schematic view of the structure of fig. 1.

Fig. 8 is a schematic view of the connection triangle.

Fig. 9 is a schematic view of a connecting triangle structure.

In the figure: 10. the device comprises a steering engine fixing seat 11, a steering engine 20, a motor fixing seat 21, a motor 210, a transmission screw rod 22, a motor fixing plate 220, a supporting rod 23, a transmission assembly 230, an internal thread 24, a sliding block 240, a sliding block hole 241, a sliding block arm 25, a rotating sliding rod 26, a palm 30, a lower knuckle 301, a lower knuckle front plate 302, a lower knuckle rear plate 31, a middle knuckle 311, a middle knuckle front plate 312, a middle knuckle rear plate 313, a connecting triangle 314, a first connecting surface 315, a second connecting surface 316, a connecting support 317, a connecting pin hole 32, an upper knuckle 40, a pressure sensor 41, a temperature sensor 50, a proximity switch 60 and a limiting spring.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Fig. 1 is a schematic structural view of a mechanical hand of a dead bird pickup machine provided by the invention, fig. 2 is a schematic view of an installation state of a palm part and a wrist part, fig. 3 is an enlarged schematic view of a part a in fig. 2, fig. 4 is a schematic structural view of the palm part removed in fig. 2, fig. 5 is an enlarged schematic view of a part B in fig. 4, fig. 6 is a schematic side view of the mechanical hand, fig. 7 is a schematic view of a three-dimensional structure with an angle opposite to that of fig. 1, fig. 8 is a schematic view of a connection state of a connection triangle, fig. 9 is a schematic view of a structure of the connection triangle, and fig. 1-9 show that the invention claims an under-actuated dead bird pickup mechanical hand which comprises a.

The palm part is fixed on the wrist part through a motor fixing seat 20, a motor fixing plate 22 is arranged above the motor 21, and the upper part of the motor fixing plate 22 is fixedly connected with the palm 26 through a supporting rod 220;

a transmission assembly 23 is arranged between the motor fixing plate 22 and the palm 26, an internal thread 230 is arranged at the center of the transmission assembly 23, a transmission screw 210 is arranged at the output end of the motor 21, an external thread is arranged on the outer side of the transmission screw 210, and the external thread of the transmission screw 210 is matched with the internal thread 230 to convert the rotation of the motor 21 into the linear motion of the transmission screw 210;

the end of the transmission assembly 23 is fixedly connected with a sliding block 24, the sliding block 24 is provided with a sliding block hole 240, the sliding block hole 240 is matched with the supporting rod 220 to realize the sliding of the sliding block 24 along the supporting rod 220,

the slider 24 is connected with the finger part to realize the grabbing action of the manipulator.

Specifically, the finger part comprises a lower knuckle 30, a middle knuckle 31 and an upper knuckle 32 from bottom to top in sequence,

the lower knuckle 30 comprises a lower knuckle front plate 301 and a lower knuckle rear plate 302, the lower part of the lower knuckle front plate 301 is hinged to the side surface of the palm 26, the lower part of the lower knuckle rear plate 302 is connected with the lower part of the lower knuckle front plate 301 through a rotary sliding rod 25, and the rotary sliding rod 25 is connected with a sliding block arm 241 of the sliding block 24;

the middle knuckle 31 comprises a middle knuckle front plate 311 and a middle knuckle rear plate 312, wherein the lower part of the middle knuckle front plate 311, the lower part of the middle knuckle rear plate 312, the upper part of the lower knuckle front plate 301 and the upper part of the lower knuckle rear plate 302 are connected through a connecting triangle 313;

the upper knuckle 32 is connected to the upper portions of the middle knuckle front plate 311 and the middle knuckle rear plate 312.

Specifically, the connecting triangle 313 includes a first connecting surface 314, a second connecting surface 315 and a connecting support 316, wherein the first connecting surface 314 and the second connecting surface 315 are respectively connected with the lower knuckle front plate 301 and the middle knuckle front plate 311, and the lower knuckle back plate 302 and the middle knuckle back plate 312 through connecting pin holes 317.

Specifically, the upper side included angle of the lower knuckle 30 and the middle knuckle 31 is provided with a limiting spring 60.

Specifically, the wrist includes steering wheel fixing base 10 to and steering wheel 11, motor fixing base 20 is fixed above steering wheel 11, steering wheel fixing base 10 is connected with mechanical xarm (not shown in the figure).

Specifically, the transmission assembly 23 is cross-shaped, and the finger parts are provided with four groups, and two pairs of the finger parts are arranged oppositely. The finger part can also be provided with six groups, and each side is provided with three, namely three-phase opposite arrangement, so as to adapt to the grabbing of the dead poultry with smaller heads.

Specifically, a pressure sensor 40 is installed on one side of the upper knuckle 32 of the two oppositely-arranged finger parts, a temperature sensor 41 is installed on the other side of the upper knuckle 32, and a proximity switch 50 is arranged on the palm part.

Specifically, the pressure sensor 40 and the temperature sensor 41 are thin film sensors.

The device is arranged on a cross arm cross shaft (not shown) of a cylindrical coordinate system machine through a steering engine fixing seat 10, when the robot works, firstly, a matched machine vision detection system sends position coordinates of dead poultry to a controller, the controller controls the cross shaft of a mechanical arm to extend into a breeding place (the breeding place can be open or in a breeding cage), and then a robot moving platform is controlled to move, so that the mechanical arm is brought to the appointed coordinate position of the dead poultry.

When not grabbing, the included angle between the manipulator and the mechanical cross arm shaft (not shown) is 180 degrees⁰When the mechanical arm is moved toAfter reaching the designated coordinate position, the steering engine 11 rotates 90⁰When the palm part is downward, the included angle between the manipulator and the transverse arm shaft of the manipulator becomes 90⁰Then, the horizontal shaft of the mechanical arm drives the mechanical arm to move downwards, meanwhile, the proximity switch 50 starts to detect the distance between the end part of the mechanical arm and the dead poultry, when the mechanical arm reaches a proper position, the motor 21 rotates and is converted into the vertical displacement of the transmission assembly 23, so that the sliding block 24 is driven to move up and down, when the lower knuckle front plate 301 contacts the dead poultry, the movement of the lower knuckle front plate 301 stops, at the moment, the action of the rotating sliding rod 25 does not stop, so that the included angle between the connecting triangle 313 and the lower knuckle front plate 301 continues to be increased, and when a certain pressure is reached, the limiting spring 60 is stretched, and the middle knuckle 31 is bent relative to the lower knuckle 30. Similarly, the movement of the middle knuckle front plate 311 stops after the middle knuckle front plate 311 contacts the dead poultry, and the bending of the upper knuckle 32 relative to the middle knuckle 31 is realized under the action of the limiting spring 60.

After the dead poultry is grabbed, the film pressure sensor 40 arranged on the upper knuckle 32 detects the clamping force degree, data information is fed back to the controller, the controller controls the clamping force to be in a proper range, and after the clamping force adjustment is completed, the film temperature sensor 41 arranged on the upper knuckle 32 detects the temperature of the clamped poultry, so that whether the poultry is dead or not is judged, and the poultry is prevented from being grabbed by mistake. When the poultry is judged to be dead, the mechanical arm drives the mechanical arm to ascend integrally, and the steering engine 11 rotates 90 DEG simultaneously⁰So that the direct included angle between the manipulator and the transverse shaft of the mechanical arm returns to 180 degrees of the initial state⁰Then the mechanical arm cross shaft drives the mechanical arm and the dead poultry to leave the field, and the grabbing process is completed.

The device is particularly suitable for dead poultry pickup, such as broiler chicken factories, laying hen factories, quail breeding and the like, and the main body part is made of carbon fiber materials, so that the whole weight of the mechanical claw is reduced, the strength is increased, and the flexibility is enhanced.

While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. The utility model provides a mechanical hand is picked up to dead poultry of under-actuated, includes wrist, palm portion, the finger portion that sets gradually from bottom to top, its characterized in that:

the palm part is fixed on the wrist part through a motor fixing seat (20), a motor fixing plate (22) is arranged above the motor (21), and the upper part of the motor fixing plate (22) is fixedly connected with the palm (26) through a supporting rod (220);

a transmission assembly (23) is arranged between the motor fixing plate (22) and the palm (26), internal threads (230) are arranged at the center of the transmission assembly (23), a transmission screw (210) is arranged at the output end of the motor (21), external threads are arranged on the outer side of the transmission screw (210), and the external threads of the transmission screw (210) are matched with the internal threads (230) to convert the rotation of the motor (21) into linear motion of the transmission screw (210);

the end part of the transmission component (23) is fixedly connected with a sliding block (24), the sliding block (24) is provided with a sliding block hole (240), the sliding block hole (240) is matched with the supporting rod (220) to realize the sliding of the sliding block (24) along the supporting rod (220),

the sliding block (24) is connected with the finger part to realize the grabbing action of the manipulator.

2. An under-actuated dead bird pick-up robot as claimed in claim 1, further comprising: the finger part comprises a lower knuckle (30), a middle knuckle (31) and an upper knuckle (32) from bottom to top in sequence,

the lower knuckle (30) comprises a lower knuckle front plate (301) and a lower knuckle rear plate (302), the lower part of the lower knuckle front plate (301) is hinged to the side face of the palm (26), the lower part of the lower knuckle rear plate (302) is connected with the lower part of the lower knuckle front plate (301) through a rotating sliding rod (25), and the rotating sliding rod (25) is connected with a sliding block arm (241) of the sliding block (24);

the middle knuckle (31) comprises a middle knuckle front plate (311) and a middle knuckle rear plate (312), wherein the lower part of the middle knuckle front plate (311), the lower part of the middle knuckle rear plate (312), the upper part of the lower knuckle front plate (301) and the upper part of the lower knuckle rear plate (302) are connected through a connecting triangle (313);

the upper knuckle (32) is connected to the upper portions of the middle knuckle front plate (311) and the middle knuckle rear plate (312).

3. An under-actuated dead bird pick-up robot as claimed in claim 2, further comprising: the connecting triangle (313) comprises a first connecting surface (314), a second connecting surface (315) and a connecting support (316), wherein the first connecting surface (314) and the second connecting surface (315) are respectively connected with the lower knuckle front plate (301), the middle knuckle front plate (311), the lower knuckle rear plate (302) and the middle knuckle rear plate (312) through connecting pin holes (317).

4. An under-actuated dead bird pick-up robot as claimed in claim 3, further comprising: and limiting springs (60) are arranged at the upper side included angles of the lower knuckle (30) and the middle knuckle (31).

5. An under-actuated dead bird pick-up robot as claimed in claim 4, further comprising: the wrist comprises a steering engine fixing seat (10) and a steering engine (11), the motor fixing seat (20) is fixed above the steering engine (11), and the steering engine fixing seat (10) is connected with a transverse shaft of a mechanical cross arm.

6. An under-actuated dead bird pick-up robot as claimed in any one of claims 1 to 5, wherein: the transmission assembly (23) is cross-shaped, and the finger parts are provided with four groups and are arranged in a pairwise opposite mode.

7. An under-actuated dead bird pick-up robot as claimed in claim 6, further comprising: pressure sensor (40) are installed to last knuckle (32) one side of two finger portions that set up relatively, and temperature sensor (41) are installed to the opposite side, the palm portion is equipped with proximity switch (50).

8. An under-actuated dead bird pick-up robot as claimed in claim 7, further comprising: the pressure sensor (40) and the temperature sensor (41) are thin film sensors.

9. An under-actuated dead bird pick-up robot as claimed in claim 8, further comprising: is suitable for picking up dead poultry in the poultry.

10. An under-actuated dead bird pick-up robot as claimed in claim 9, further comprising: the wrist, palm portion and finger portion main part adopts carbon fiber material.