CN113183172A - Variable-configuration under-actuated manipulator for fruit picking and using method thereof - Google Patents
Variable-configuration under-actuated manipulator for fruit picking and using method thereof Download PDFInfo
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- CN113183172A CN113183172A CN202110291708.7A CN202110291708A CN113183172A CN 113183172 A CN113183172 A CN 113183172A CN 202110291708 A CN202110291708 A CN 202110291708A CN 113183172 A CN113183172 A CN 113183172A
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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
- B25J15/02—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
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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
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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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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Abstract
The invention discloses a variable configuration under-actuated manipulator for fruit picking and a use method thereof, and the manipulator mainly comprises the following components: the manipulator is characterized by comprising a finger rotating mechanism, a paw opening and closing mechanism, a three-joint finger mechanism and a supporting mechanism, wherein the finger rotating mechanism is arranged in the supporting mechanism, the paw opening and closing mechanism is connected with the finger rotating mechanism in a matched mode, and the three-joint finger mechanism is connected with the paw opening and closing mechanism in a matched mode. Only one motor is needed to control the two motions of the paw, namely the configuration change and the opening and closing, to be carried out simultaneously, and the device has simple and compact structure and strong adaptability. The spiral pair transmission, the gear and rack transmission, the gear transmission, the worm and gear transmission and the four-bar mechanism are combined, so that the mechanism is compact and stable in transmission. The size of the mechanical arm can be reduced by the aid of the finger rotating mechanism, and the changeable configuration-changeable mechanical arm in the finger position can better stretch into branches with dense branches to pick fruits.
Description
Technical Field
The invention relates to the field of agricultural machinery, in particular to a variable configuration under-actuated manipulator for fruit picking and a use method thereof.
Background
China is a famous agricultural big country in the world, and the fruit planting industry is very prosperous. And the rapid development of the fruit planting industry promotes the market demand of orchard machinery. The labor force used in the picking operation accounts for 33-50% of the labor force used in the whole production process, and most of the fruit picking in China is still carried out manually at present. The fruit picking operation is complex, the seasonality is strong, and if the manual picking is used, the efficiency is low, the labor amount is large, the fruit damage is easily caused, and the economic loss is finally caused. Therefore, the improvement of the mechanization level of fruit picking operation has important significance.
The fruit picking machine is also a mechanical arm part, and the fruit picking machine is often blocked by dense branches and leaves, so that the mechanical arm is difficult to reach a designated working area. Meanwhile, most of the mechanical arms need to complete the movement with a plurality of degrees of freedom, and a plurality of driving sources and a complex structure are needed. Therefore, it is particularly important to design a picking manipulator with simple structure and strong adaptability.
Disclosure of Invention
The invention aims to provide a deformed under-actuated manipulator for fruit picking, which solves the problem of the defects existing in the design of the conventional fruit picking manipulator.
The invention is realized in such a way that the deformed under-actuated manipulator for fruit picking mainly comprises the following components: finger rotary mechanism, hand claw mechanism, three joint finger mechanisms and supporting mechanism combination form, finger rotary mechanism sets up in the supporting mechanism, hand claw mechanism that opens and shuts with finger rotary mechanism cooperation is connected, three joint finger mechanisms with hand claw mechanism that opens and shuts cooperation is connected.
The further technical scheme of the invention is as follows: the support mechanism is mainly composed of: the platform is connected with the lower plate through the long connecting rod, and the upper plate is connected with the platform through the short connecting rod.
The further technical scheme of the invention is as follows: finger rotary mechanism mainly forms by rotating part and fixed part combination, the rotating part includes: the device comprises a stepping motor, a coupler, a screw shaft, a double-rack device, a fixed gear, a double-gear connector and a finger connecting device; the stepping motor is connected with the motor connecting plate through a screw and is fixed on the platform; the screw shaft is connected with a rotating shaft of the stepping motor through the coupler; the hole of the double rack device is internally provided with a thread, and the double rack device is sleeved on the screw shaft and is connected with the screw shaft in a matching way; the fixed gear is fixedly connected with the platform; a first gear in the double-gear connecting body is meshed with one rack in the double-rack device, is placed on the fixed gear and is connected with the platform through a pin shaft; a second gear in the double-gear connecting body is meshed with the fixed gear and is connected with the platform through a pin shaft, and the pin shaft is in tangential fit with an arc-shaped groove on the platform; the two gears are welded through a connecting plate; the finger connecting device is fixed on a connecting plate in the double-gear connecting body through a screw.
The further technical scheme of the invention is as follows: the hand claw opening and closing mechanism comprises: the activity indicates and fixed finger, the activity indicates including: the device comprises bevel gears, an intermediate shaft, a middle gear, a first left transmission shaft, a second left gear, a second left transmission shaft, a third left gear, a first lower fixed gear, a fourth left gear, a sleeve connecting device, a left worm shaft, a fifth left gear, a left gear driving rod, a first right gear, a first right transmission shaft, a second right gear, a second lower fixed gear, a third right gear, a right worm shaft, a fourth right gear and a right gear driving rod; the bevel gears are divided into a first bevel gear and a second bevel gear; the first bevel gear is arranged on the screw shaft through a key and a shaft end retainer ring; the second bevel gear and the first bevel gear are arranged on a shaft collar of the intermediate shaft at an angle of 90 degrees, the upper end of the second bevel gear props against the platform through a sleeve, and the second bevel gear and the first bevel gear are fixed in the circumferential direction through a key; the intermediate gear is arranged on the intermediate shaft through a shaft collar, a key and a sleeve of the intermediate shaft; holes are formed in the lower fixed gear I and the lower plate, and the left transmission shaft I is installed in the holes; the left gear I is meshed with the middle gear and is arranged on the left transmission shaft I through a shaft shoulder, a shaft end retainer ring and a key on the left transmission shaft I; the lower plate is provided with an arc-shaped groove, and the left transmission shaft II is arranged in the arc-shaped groove; the left gear II is meshed with the left gear I and is arranged on the left transmission shaft II through a shaft shoulder, a shaft end retainer ring and a key on the left transmission shaft II; the left gear III is meshed with the lower fixed gear I and is arranged on the left transmission shaft II through a shaft shoulder and a key on the left transmission shaft II; the left worm shaft is arranged in the other arc-shaped groove of the lower plate; the left gear four is meshed with the left gear three-phase and is arranged on the left worm shaft through a shaft shoulder and a key on the left worm shaft; meanwhile, the left transmission shaft II is connected with the left worm shaft through a sleeve connecting device; the left gear V is meshed with the left worm shaft and is arranged on the finger connecting device through a pin shaft; the left gear driving rod is meshed with the left gear five and is arranged on the finger connecting device through a pin shaft; the lower plate is provided with an arc-shaped groove, and the right transmission shaft I is arranged in the arc-shaped groove; the right gear I is meshed with the middle gear and is arranged on the right transmission shaft I through a shaft shoulder, a shaft end retainer ring and a key on the right transmission shaft I; the lower fixed gear II is welded and fixed on the lower plate; the right gear II is meshed with the lower fixed gear II and is arranged on the right transmission shaft I through a shaft shoulder and a key on the right transmission shaft I; the right worm shaft is arranged in the other arc-shaped groove of the lower plate; the right gear III is meshed with the right gear II and is arranged on the right worm shaft through a shaft shoulder and a key on the right worm shaft; meanwhile, the first right transmission shaft and the left worm shaft are connected through a sleeve connecting device; the right gear IV is meshed with the right worm shaft and is arranged on the finger connecting device through a pin shaft; the right gear driving rod is meshed with the right gear in a four-phase mode and is installed on the finger connecting device through a pin shaft, the fixed gear and the arc-shaped groove which are welded on the platform play a role in guiding and limiting the rotation of fingers, and the sleeve connecting device in the paw opening and closing mechanism plays a role in axially fixing and guiding the rotation movement of adjacent transmission shafts.
The further technical scheme of the invention is as follows: the structure of the fixed finger is the same as that of the movable finger, and the fixed finger is connected with the fixed part of the finger rotating mechanism.
The further technical scheme of the invention is as follows: the three-joint finger mechanism comprises: a four-bar mechanism, a torsion spring and a third phalanx; the four-bar mechanism includes: the first four-bar mechanism is characterized in that one end of a gear driving rod is connected with one end of a first rack through a pin shaft, the other end of the gear driving rod is connected with one end of a first connecting rod through a pin shaft, the other end of the first connecting rod is connected with one end of a first rocker through a pin shaft, and the other end of the first rocker is connected with the other end of the first rack through a pin shaft; meanwhile, a torsional spring is arranged at the joint of the rocker I and the rack I; the second four-bar mechanism is mainly characterized in that one end of a rocker I is connected with one end of a connecting rod II through a pin shaft, the other end of the connecting rod II is connected with one end of a third phalanx through a pin shaft, the other end of the third phalanx is connected with one end of a rack II through a pin shaft, meanwhile, a torsional spring is arranged at the joint of the third phalanx and the rack II, the other end of the rack II is connected with the other end of the rocker I through a pin shaft, and the torsional spring installed in the three-joint finger mechanism plays a self-adaptive role; when the frame contacts the object, the torsion spring will drive the next phalange to rotate, thereby better gripping the object.
The further technical scheme of the invention is as follows: finger connecting device's lower extreme has a rotatory stop device, and rotatory stop device includes spring, sleeve, lantern ring and connecting rod, the connecting rod includes: the lower end of the finger connecting device is provided with a small hole, one end of the spring is sleeved in the small hole, the other end of the spring is sleeved in the sleeve, the sleeve ring is sleeved on the sleeve, one ends of the first connecting rod and the second connecting rod are connected with the hole in the sleeve ring through a bolt, and the other ends of the first connecting rod and the second connecting rod are connected with the first rack through a pin shaft; the platform is provided with a hole matched with the platform, and when the finger rotates to the position of the small hole, the spring presses the sleeve into the small hole to play a limiting role.
The further technical scheme of the invention is as follows: the lower end of the finger connecting device is provided with a worm connecting rod, the finger connecting device is connected with the worm shaft through the worm connecting rod, and the worm connecting rod is used for limiting the worm shaft to rotate around the circle center of the lower fixed gear, so that the whole device only closes the paw, and does not rotate the fingers.
The further technical scheme of the invention is as follows: the outer surface of one end of the screw shaft is provided with threads, the outer surface of the other end of the screw shaft is not provided with threads, when the double-rack device moves to one section of the screw shaft without threads, the fingers rotate by a specified angle just, at the moment, the double-rack device cannot move, the left finger and the right finger cannot rotate, only the paw opening and closing mechanism is left to move, and the paw is slowly closed.
The invention is realized in this way, a method for using a variable configuration under-actuated manipulator for fruit picking, firstly starting a stepping motor to drive a screw shaft connected with a coupler to rotate, and rotating a section of screw thread on the screw shaft to drive a double-rack device to do linear upward movement; the rack on the double-rack device is meshed with the first gear of the double-gear connector arranged on the platform, so that the gear is driven to rotate; the second gear of the double-gear connector is meshed with the fixed gear on the platform, so that the double-gear connector rotates around the fixed gear, the left and right connected fingers are driven to rotate oppositely, and the configuration changing operation of changing one finger into three fingers is realized; after the double-rack device rotates to a designated position, a spring in the rotary limiting device presses the sleeve into a small hole in the platform, the double-rack device also moves to a section without threads on the screw shaft, and the finger stops rotating; meanwhile, the worm shaft is connected through the worm connecting rod, the worm is limited to rotate around the circle center of the lower fixed gear, and then only the closing movement of the paw is carried out; the screw shaft rotates to drive the bevel gears on the shaft to rotate, and the first bevel gear drives the second bevel gear to rotate; the second bevel gear rotates to drive the intermediate shaft to rotate, and the intermediate shaft drives the intermediate gear to rotate; the worm shaft rotates to drive the gear arranged on the finger connecting device to rotate, so that the gear driving rod is driven to rotate, the rotation of two four-bar mechanisms on the finger is realized, when three fingers close and grasp an object, and when the motor rotates reversely, the fingers open, a lantern ring in the rotation limiting device is driven to lift the sleeve by using the lever principle, and meanwhile, the worm shaft rotates around the center of a circle of the lower fixed gear to drive the fingers to rotate; the fingers and the double-gear connector are fixed together, so that the double-gear connector drives the double-rack device to push into a section with threads on the screw shaft, and the screw shaft rotates to drive the double-rack device to do linear downward movement, so that the two fingers reversely rotate around the center of the fixed gear; when the rotating platform rotates to the upper end of the arc-shaped groove on the platform, the rotation of the left finger and the right finger is limited, so that the three fingers are parallel to each other, namely, the three fingers are changed into one finger, and meanwhile, the paw is opened to restore the original state.
The invention has the beneficial effects that: the variable configuration under-actuated manipulator for fruit picking has a good under-actuated effect. Only one motor is needed to control the two motions of the paw, namely the configuration change and the opening and closing, to be carried out simultaneously, and the device has simple and compact structure and strong adaptability. The spiral pair transmission, the gear and rack transmission, the gear transmission, the worm and gear transmission and the four-bar mechanism are combined, so that the mechanism is compact and stable in transmission. The size of the mechanical arm can be reduced by the aid of the finger rotating mechanism, and the changeable configuration-changeable mechanical arm in the finger position can better stretch into branches with dense branches to pick fruits.
Drawings
FIG. 1 is a schematic view of the overall structure of an under-actuated mechanical arm with an alternative configuration for fruit picking according to the present invention;
FIG. 2 is a partial cross-sectional view of a finger rotating mechanism of an under-actuated robot of an alternative configuration for fruit picking according to the present invention;
FIG. 3 is a transmission schematic diagram of a paw opening and closing mechanism of an under-actuated mechanical arm with an alternative configuration for fruit picking according to the present invention;
FIG. 4 is a perspective view of the whole structure of the upper plate of the deformed underactuated manipulator for picking fruit provided by the invention;
fig. 5 is a schematic overall structure diagram of a rotation limiting device of a deformed under-actuated manipulator for fruit picking provided by the invention.
Reference numerals: 1. the hand-held device comprises a finger rotating mechanism 2, a paw opening and closing mechanism 3, a three-joint finger mechanism 4, a supporting mechanism 11, a stepping motor 12, a coupler 13, a double-rack device 14, a screw shaft 15, a motor connecting plate 16, a fixed gear 17, a double-gear connecting body 18, a finger connecting device 21, a middle gear 22, a left gear I23, a left transmission shaft II 24, a left gear III 25, a left gear IV 26, a lower fixed gear II 27, a right gear I28, a right gear II 29, a right gear III 211, a second bevel gear 212, a middle shaft 213, a sleeve connecting device 214, a left transmission shaft I215, a left transmission shaft II 216, a left worm shaft 217, a left gear V218, a left gear driving rod 219, a right transmission shaft I220, a right worm shaft 221, a right gear IV 222, a right gear driving rod 31, a rack I32, a connecting rod I33, a rocker I34, a connecting rod II 35, a third finger bone 36, a rack II 37, a torsion spring 41, a right gear II, a left gear II, a right gear connecting rod II, a left gear connecting rod II, a right gear connecting rod, Upper plate 42, short connecting rod 43, platform 44, long connecting rod 45, lower plate 5, spring 6, sleeve 7, collar 8, connecting rod.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention.
It should be noted that the structures, ratios, sizes, and the like shown in the drawings attached to the present specification are only used for matching the disclosure of the present specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions of the present invention, so that the present invention has no technical essence, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.
The first embodiment is as follows: fig. 1-5 show an alternative configuration under-actuated manipulator for fruit picking, which consists essentially of: the finger rotating mechanism is arranged in the supporting mechanism, the paw opening and closing mechanism is connected with the finger rotating mechanism in a matching way, and the three-joint finger mechanism is connected with the paw opening and closing mechanism in a matching way; the support mechanism is mainly composed of: the device comprises an upper plate, a short connecting rod, a platform, a long connecting rod and a lower plate, wherein the platform is connected with the lower plate through the long connecting rod, and the upper plate is connected with the platform through the short connecting rod; finger rotary mechanism mainly forms by rotating part and fixed part combination, the rotating part includes: the device comprises a stepping motor, a coupler, a screw shaft, a double-rack device, a fixed gear, a double-gear connector and a finger connecting device; the stepping motor is connected with the motor connecting plate through a screw and is fixed on the platform; the screw shaft is connected with a rotating shaft of the stepping motor through the coupler; the hole of the double rack device is internally provided with a thread, and the double rack device is sleeved on the screw shaft and is connected with the screw shaft in a matching way; the fixed gear is fixedly connected with the platform; a first gear in the double-gear connecting body is meshed with one rack in the double-rack device, is placed on the fixed gear and is connected with the platform through a pin shaft; a second gear in the double-gear connecting body is meshed with the fixed gear and is connected with the platform through a pin shaft, and the pin shaft is in tangential fit with an arc-shaped groove on the platform; the two gears are welded through a connecting plate; the finger connecting device is fixed on a connecting plate in the double-gear connecting body through a screw; the hand claw opening and closing mechanism comprises: the activity indicates and fixed finger, the activity indicates including: the device comprises bevel gears, an intermediate shaft, a middle gear, a first left transmission shaft, a second left gear, a second left transmission shaft, a third left gear, a first lower fixed gear, a fourth left gear, a sleeve connecting device, a left worm shaft, a fifth left gear, a left gear driving rod, a first right gear, a first right transmission shaft, a second right gear, a second lower fixed gear, a third right gear, a right worm shaft, a fourth right gear and a right gear driving rod; the bevel gears are divided into a first bevel gear and a second bevel gear; the first bevel gear is arranged on the screw shaft through a key and a shaft end retainer ring; the second bevel gear and the first bevel gear are arranged on a shaft collar of the intermediate shaft at an angle of 90 degrees, the upper end of the second bevel gear props against the platform through a sleeve, and the second bevel gear and the first bevel gear are fixed in the circumferential direction through a key; the intermediate gear is arranged on the intermediate shaft through a shaft collar, a key and a sleeve of the intermediate shaft; holes are formed in the lower fixed gear I and the lower plate, and the left transmission shaft I is installed in the holes; the left gear I is meshed with the middle gear and is arranged on the left transmission shaft I through a shaft shoulder, a shaft end retainer ring and a key on the left transmission shaft I; the lower plate is provided with an arc-shaped groove, and the left transmission shaft II is arranged in the arc-shaped groove; the left gear II is meshed with the left gear I and is arranged on the left transmission shaft II through a shaft shoulder, a shaft end retainer ring and a key on the left transmission shaft II; the left gear III is meshed with the lower fixed gear I and is arranged on the left transmission shaft II through a shaft shoulder and a key on the left transmission shaft II; the left worm shaft is arranged in the other arc-shaped groove of the lower plate; the left gear four is meshed with the left gear three-phase and is arranged on the left worm shaft through a shaft shoulder and a key on the left worm shaft; meanwhile, the left transmission shaft II is connected with the left worm shaft through a sleeve connecting device; the left gear V is meshed with the left worm shaft and is arranged on the finger connecting device through a pin shaft; the left gear driving rod is meshed with the left gear five and is arranged on the finger connecting device through a pin shaft; the lower plate is provided with an arc-shaped groove, and the right transmission shaft I is arranged in the arc-shaped groove; the right gear I is meshed with the middle gear and is arranged on the right transmission shaft I through a shaft shoulder, a shaft end retainer ring and a key on the right transmission shaft I; the lower fixed gear II is welded and fixed on the lower plate; the right gear II is meshed with the lower fixed gear II and is arranged on the right transmission shaft I through a shaft shoulder and a key on the right transmission shaft I; the right worm shaft is arranged in the other arc-shaped groove of the lower plate; the right gear III is meshed with the right gear II and is arranged on the right worm shaft through a shaft shoulder and a key on the right worm shaft; meanwhile, the first right transmission shaft and the left worm shaft are connected through a sleeve connecting device; the right gear IV is meshed with the right worm shaft and is arranged on the finger connecting device through a pin shaft; the right gear driving rod is meshed with the right gear in a four-phase mode and is installed on the finger connecting device through a pin shaft, the fixed gear and the arc-shaped groove which are welded on the platform play a role in guiding and limiting the rotation of fingers, and the sleeve connecting device in the paw opening and closing mechanism plays a role in axially fixing and guiding the rotation movement of adjacent transmission shafts; the structure of the fixed finger is the same as that of the movable finger, and the fixed finger is connected with the fixed part of the finger rotating mechanism; the three-joint finger mechanism comprises: a four-bar mechanism, a torsion spring and a third phalanx; the four-bar mechanism includes: the first four-bar mechanism is characterized in that one end of a gear driving rod is connected with one end of a first rack through a pin shaft, the other end of the gear driving rod is connected with one end of a first connecting rod through a pin shaft, the other end of the first connecting rod is connected with one end of a first rocker through a pin shaft, and the other end of the first rocker is connected with the other end of the first rack through a pin shaft; meanwhile, a torsional spring is arranged at the joint of the rocker I and the rack I; the second four-bar mechanism is mainly characterized in that one end of a rocker I is connected with one end of a connecting rod II through a pin shaft, the other end of the connecting rod II is connected with one end of a third phalanx through a pin shaft, the other end of the third phalanx is connected with one end of a rack II through a pin shaft, meanwhile, a torsional spring is arranged at the joint of the third phalanx and the rack II, the other end of the rack II is connected with the other end of the rocker I through a pin shaft, and the torsional spring installed in the three-joint finger mechanism plays a self-adaptive role; when the frame contacts an object, the torsion spring drives the next phalange to rotate, so that the object is better grasped; finger connecting device's lower extreme has a rotatory stop device, and rotatory stop device includes spring, sleeve, lantern ring and connecting rod, the connecting rod includes: the lower end of the finger connecting device is provided with a small hole, one end of the spring is sleeved in the small hole, the other end of the spring is sleeved in the sleeve, the sleeve ring is sleeved on the sleeve, one ends of the first connecting rod and the second connecting rod are connected with the hole in the sleeve ring through a bolt, and the other ends of the first connecting rod and the second connecting rod are connected with the first rack through a pin shaft; the platform is provided with a hole matched with the platform, and when the finger rotates to the position of the small hole, the spring presses the sleeve into the small hole to play a role in limiting; the lower end of the finger connecting device is provided with a worm connecting rod, the finger connecting device is connected with a worm shaft by the worm connecting rod, and the worm connecting rod is used for limiting the worm shaft to rotate around the circle center of the lower fixed gear, so that the whole device only performs the closing of the paw, and does not perform the rotating motion of the finger; the outer surface of one end of the screw shaft is provided with threads, the outer surface of the other end of the screw shaft is not provided with threads, when the double-rack device moves to one section of the screw shaft without threads, the fingers rotate by a specified angle just, at the moment, the double-rack device cannot move, the left finger and the right finger cannot rotate, only the paw opening and closing mechanism is left to move, and the paw is slowly closed.
When in use: three fingers are initially mounted in parallel and can be considered as one finger. The stepping motor drives the screw shaft connected with the coupler to rotate, and a section of the screw thread on the screw shaft rotates to drive the double-rack device to move linearly upwards; the rack on the double-rack device is meshed with the first gear of the double-gear connector arranged on the platform, so that the gear is driven to rotate; the second gear of the double-gear connector is meshed with the fixed gear on the platform, so that the double-gear connector rotates around the fixed gear, the left and right connected fingers are driven to rotate oppositely, and the configuration changing operation of changing one finger into three fingers is realized; after the double-rack device rotates to a designated position, a spring in the rotary limiting device presses the sleeve into a small hole in the platform, the double-rack device also moves to a section without threads on the screw shaft, and the finger stops rotating; meanwhile, the worm shaft is connected through the worm connecting rod, the worm is limited to rotate around the circle center of the lower fixed gear, and then only the closing movement of the paw is carried out; the screw shaft rotates to drive the bevel gears on the shaft to rotate, and the first bevel gear drives the second bevel gear to rotate; the second bevel gear rotates to drive the intermediate shaft to rotate, and the intermediate shaft drives the intermediate gear to rotate; the worm shaft rotates to drive the gear arranged on the finger connecting device to rotate, so that the gear driving rod is driven to rotate, the rotation of two four-bar mechanisms on the finger is realized, when three fingers close and grasp an object, and when the motor rotates reversely, the fingers open, a lantern ring in the rotation limiting device is driven to lift the sleeve by using the lever principle, and meanwhile, the worm shaft rotates around the center of a circle of the lower fixed gear to drive the fingers to rotate; the fingers and the double-gear connector are fixed together, so that the double-gear connector drives the double-rack device to push into a section with threads on the screw shaft, and the screw shaft rotates to drive the double-rack device to do linear downward movement, so that the two fingers reversely rotate around the center of the fixed gear; when the rotating platform rotates to the upper end of the arc-shaped groove on the platform, the rotation of the left finger and the right finger is limited, so that the three fingers are parallel to each other, namely, the three fingers are changed into one finger, and meanwhile, the paw is opened to restore the original state.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A deformed under-actuated manipulator for fruit picking is characterized by mainly comprising the following components in parts by weight: finger rotary mechanism, hand claw mechanism, three joint finger mechanisms and supporting mechanism combination form, finger rotary mechanism sets up in the supporting mechanism, hand claw mechanism that opens and shuts with finger rotary mechanism cooperation is connected, three joint finger mechanisms with hand claw mechanism that opens and shuts cooperation is connected.
2. The deformable under-actuated manipulator for fruit picking according to claim 1, characterized in that the support mechanism is mainly composed of: the platform is connected with the lower plate through the long connecting rod, and the upper plate is connected with the platform through the short connecting rod.
3. The under-actuated manipulator of claim 2, wherein the finger rotating mechanism is mainly composed of a rotating part and a fixed part, the rotating part comprises: the device comprises a stepping motor, a coupler, a screw shaft, a double-rack device, a fixed gear, a double-gear connector and a finger connecting device; the stepping motor is connected with the motor connecting plate through a screw and is fixed on the platform; the screw shaft is connected with a rotating shaft of the stepping motor through the coupler; the hole of the double rack device is internally provided with a thread, and the double rack device is sleeved on the screw shaft and is connected with the screw shaft in a matching way; the fixed gear is fixedly connected with the platform; a first gear in the double-gear connecting body is meshed with one rack in the double-rack device, is placed on the fixed gear and is connected with the platform through a pin shaft; a second gear in the double-gear connecting body is meshed with the fixed gear and is connected with the platform through a pin shaft, and the pin shaft is in tangential fit with an arc-shaped groove on the platform; the two gears are welded through a connecting plate; the finger connecting device is fixed on a connecting plate in the double-gear connecting body through a screw.
4. The deformable under-actuated manipulator for fruit picking according to claim 3, wherein the gripper opening and closing mechanism comprises: the activity indicates and fixed finger, the activity indicates including: the device comprises bevel gears, an intermediate shaft, a middle gear, a first left transmission shaft, a second left gear, a second left transmission shaft, a third left gear, a first lower fixed gear, a fourth left gear, a sleeve connecting device, a left worm shaft, a fifth left gear, a left gear driving rod, a first right gear, a first right transmission shaft, a second right gear, a second lower fixed gear, a third right gear, a right worm shaft, a fourth right gear and a right gear driving rod; the bevel gears are divided into a first bevel gear and a second bevel gear; the first bevel gear is arranged on the screw shaft through a key and a shaft end retainer ring; the second bevel gear and the first bevel gear are arranged on a shaft collar of the intermediate shaft at an angle of 90 degrees, the upper end of the second bevel gear props against the platform through a sleeve, and the second bevel gear and the first bevel gear are fixed in the circumferential direction through a key; the intermediate gear is arranged on the intermediate shaft through a shaft collar, a key and a sleeve of the intermediate shaft; holes are formed in the lower fixed gear I and the lower plate, and the left transmission shaft I is installed in the holes; the left gear I is meshed with the middle gear and is arranged on the left transmission shaft I through a shaft shoulder, a shaft end retainer ring and a key on the left transmission shaft I; the lower plate is provided with an arc-shaped groove, and the left transmission shaft II is arranged in the arc-shaped groove; the left gear II is meshed with the left gear I and is arranged on the left transmission shaft II through a shaft shoulder, a shaft end retainer ring and a key on the left transmission shaft II; the left gear III is meshed with the lower fixed gear I and is arranged on the left transmission shaft II through a shaft shoulder and a key on the left transmission shaft II; the left worm shaft is arranged in the other arc-shaped groove of the lower plate; the left gear four is meshed with the left gear three-phase and is arranged on the left worm shaft through a shaft shoulder and a key on the left worm shaft; meanwhile, the left transmission shaft II is connected with the left worm shaft through a sleeve connecting device; the left gear V is meshed with the left worm shaft and is arranged on the finger connecting device through a pin shaft; the left gear driving rod is meshed with the left gear five and is arranged on the finger connecting device through a pin shaft; the lower plate is provided with an arc-shaped groove, and the right transmission shaft I is arranged in the arc-shaped groove; the right gear I is meshed with the middle gear and is arranged on the right transmission shaft I through a shaft shoulder, a shaft end retainer ring and a key on the right transmission shaft I; the lower fixed gear II is welded and fixed on the lower plate; the right gear II is meshed with the lower fixed gear II and is arranged on the right transmission shaft I through a shaft shoulder and a key on the right transmission shaft I; the right worm shaft is arranged in the other arc-shaped groove of the lower plate; the right gear III is meshed with the right gear II and is arranged on the right worm shaft through a shaft shoulder and a key on the right worm shaft; meanwhile, the first right transmission shaft and the left worm shaft are connected through a sleeve connecting device; the right gear IV is meshed with the right worm shaft and is arranged on the finger connecting device through a pin shaft; the right gear driving rod is engaged with the right gear in a four-phase manner and is arranged on the finger connecting device through a pin shaft.
5. The deformed under-actuated manipulator for fruit picking according to claim 4, wherein the fixed finger has the same structure as the movable finger, and the fixed finger is connected with the fixed part of the finger rotating mechanism.
6. The deformable under-actuated manipulator for fruit picking according to claim 5, wherein the three-joint finger mechanism comprises: a four-bar mechanism, a torsion spring and a third phalanx; the four-bar mechanism includes: the first four-bar mechanism is characterized in that one end of a gear driving rod is connected with one end of a first rack through a pin shaft, the other end of the gear driving rod is connected with one end of a first connecting rod through a pin shaft, the other end of the first connecting rod is connected with one end of a first rocker through a pin shaft, and the other end of the first rocker is connected with the other end of the first rack through a pin shaft; meanwhile, a torsional spring is arranged at the joint of the rocker I and the rack I; the second four-bar mechanism is mainly characterized in that one end of the first rocker is connected with one end of the second connecting rod through a pin shaft, the other end of the second connecting rod is connected with one end of the third finger bone through a pin shaft, the other end of the third finger bone is connected with one end of the second rack through a pin shaft, a torsional spring is arranged at the joint of the third finger bone and the second rack, and the other end of the second rack is connected with the other end of the first rocker through a pin shaft.
7. A reconfigurable under-actuated manipulator for fruit picking according to claim 6 in which the lower end of the finger attachment means has a rotation stop means comprising a spring, a sleeve, a collar and a link, the link comprising: the lower end of the finger connecting device is provided with a small hole, one end of the spring is sleeved in the small hole, the other end of the spring is sleeved in the sleeve, the sleeve ring is sleeved on the sleeve, one ends of the first connecting rod and the second connecting rod are connected with the hole in the sleeve ring through a bolt, and the other ends of the first connecting rod and the second connecting rod are connected with the first rack through a pin shaft; and the platform is provided with a hole matched with the platform.
8. The invention of claim 7 wherein the finger attachment means has a worm connecting rod at its lower end, the worm connecting rod connecting the finger attachment means to the worm shaft.
9. The deformable underactuated manipulator for fruit picking according to claim 8, wherein the outer surface of one end of the screw shaft is threaded and the outer surface of the other end of the screw shaft is not threaded.
10. A use method of a variable-configuration under-actuated manipulator for fruit picking is characterized in that a stepping motor is started to drive a screw shaft connected with a coupler to rotate, and a section of the screw shaft with threads rotates to drive a double-rack device to move linearly upwards; the rack on the double-rack device is meshed with the first gear of the double-gear connector arranged on the platform, so that the gear is driven to rotate; the second gear of the double-gear connector is meshed with the fixed gear on the platform, so that the double-gear connector rotates around the fixed gear, the left and right connected fingers are driven to rotate oppositely, and the configuration changing operation of changing one finger into three fingers is realized; after the double-rack device rotates to a designated position, a spring in the rotary limiting device presses the sleeve into a small hole in the platform, the double-rack device also moves to a section without threads on the screw shaft, and the finger stops rotating; meanwhile, the worm shaft is connected through the worm connecting rod, the worm is limited to rotate around the circle center of the lower fixed gear, and then only the closing movement of the paw is carried out; the screw shaft rotates to drive the bevel gears on the shaft to rotate, and the first bevel gear drives the second bevel gear to rotate; the second bevel gear rotates to drive the intermediate shaft to rotate, and the intermediate shaft drives the intermediate gear to rotate; the worm shaft rotates to drive the gear arranged on the finger connecting device to rotate, so that the gear driving rod is driven to rotate, the rotation of two four-bar mechanisms on the finger is realized, when three fingers close and grasp an object, and when the motor rotates reversely, the fingers open, a lantern ring in the rotation limiting device is driven to lift the sleeve by using the lever principle, and meanwhile, the worm shaft rotates around the center of a circle of the lower fixed gear to drive the fingers to rotate; the fingers and the double-gear connector are fixed together, so that the double-gear connector drives the double-rack device to push into a section with threads on the screw shaft, and the screw shaft rotates to drive the double-rack device to do linear downward movement, so that the two fingers reversely rotate around the center of the fixed gear; when the rotating platform rotates to the upper end of the arc-shaped groove on the platform, the rotation of the left finger and the right finger is limited, so that the three fingers are parallel to each other, namely, the three fingers are changed into one finger, and meanwhile, the paw is opened to restore the original state.
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