CN113442152B - Flexible finger with lateral wrapping property for fruit picking - Google Patents
Flexible finger with lateral wrapping property for fruit picking Download PDFInfo
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- CN113442152B CN113442152B CN202110705379.6A CN202110705379A CN113442152B CN 113442152 B CN113442152 B CN 113442152B CN 202110705379 A CN202110705379 A CN 202110705379A CN 113442152 B CN113442152 B CN 113442152B
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- flexible
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- fruit
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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
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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
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention discloses a flexible finger with lateral wrapping property for picking fruits, which comprises a fin-like structure made of flexible materials, a lateral wrapping structure and a connecting frame, wherein the fin-like structure is made of flexible materials; the longitudinal section of the fin-like structure is of a V-shaped structure, and the open end of the V-shaped structure is connected to the connecting frame; the side direction parcel structure wholly is triangular pyramid structure, and its quantity has two, is bilateral symmetry and connects in the both sides of imitative fin structure, the shape size of two sides that side direction parcel structure and imitative fin structure are connected is unanimous, and the leading flank of two side direction parcel structures forms the type U-shaped parcel face that is used for the parcel to wait to pick fruit jointly with the leading flank of imitative fin structure. According to the invention, the fin-like structure and the lateral wrapping structure made of flexible materials are bent after contacting with fruits, so that the fruits to be picked are wrapped from multiple directions, the fruits are effectively prevented from falling off, and the grabbing reliability of flexible picking fingers is improved.
Description
Technical Field
The invention relates to the technical field of agricultural instruments, in particular to a flexible finger with lateral wrapping property for picking fruits.
Background
Fruit picking is a link in the fruit production chain where labor costs are high. At present, the fruit picking operation is mainly completed manually, and along with the rapid development of the fruit planting industry and the growing problems of aging of the population, the cost of manual picking is higher and higher, so that the mechanization of fruit picking is urgent.
Traditional fruit mechanized picking all directly adopts industrial manipulator, rigidity manipulator, but this type of manipulator often can only be used for specific place, picks the object only, causes the mechanical damage of fruit moreover easily, is unfavorable for fruit picking to realize mechanized, automated operation. The flexible picking manipulator can well solve the problem of mechanical damage because the manipulator has the advantages of flexibility, adaptability and the like.
However, the flexible manipulator at the present stage also has some problems to be solved, wherein one key problem is that the lateral wrapping and grabbing force is insufficient, the fruit is easy to fall off from the middle or the side of the finger, and the picking failure is caused, which is also an important factor restricting the development of the flexible picking manipulator.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a flexible finger which is used for picking fruits and has lateral wrapping property.
In order to achieve the purpose, the technical scheme provided by the invention is as follows: a flexible finger with lateral packing for picking fruit comprises a fin-like structure made of flexible material, a lateral packing structure and a connecting frame; the longitudinal section of the fin-like structure is of a V-shaped structure, and the open end of the V-shaped structure is connected to the connecting frame; the lateral wrapping structures are integrally triangular pyramid structures, the number of the lateral wrapping structures is two, the lateral wrapping structures are connected to two sides of the fin-like structure in a bilateral symmetry mode, the shapes and the sizes of two side surfaces of the lateral wrapping structures, which are connected with the fin-like structure, are consistent, the front side surfaces of the two lateral wrapping structures and the front side surface of the fin-like structure form a U-shaped wrapping surface used for wrapping fruits to be picked together, and an included angle between the side surface and the bottom surface of the U-shaped wrapping surface is an obtuse angle; when picking fruit, the imitative fin structure that is located in the middle produces the bending after contacting fruit to carry out vertical parcel to fruit, the side direction parcel structure that is located the left and right sides simultaneously also can take place bending deformation under the combined action of imitative fin structure deformation and fruit pressure, and then lives fruit from both sides parcel, avoids fruit to drop or from the side direction roll-off.
Furthermore, the fin-like structure comprises two sections of flexible beams, flexible supporting beams and flexible hinges, wherein one ends of the two sections of flexible beams are connected to form a V-shaped structure, the open end of the V-shaped structure is connected to the connecting frame, the flexible supporting beams with multiple sections of increasing lengths are distributed between the sharp angle end and the open end of the V-shaped structure at equal intervals, and the two ends of each section of flexible supporting beam are respectively connected with the two inner side surfaces of the two sections of flexible beams through the flexible hinges.
Further, side direction parcel structure includes a plurality of flank structures, and these a plurality of flank structures set gradually and constitute triangular pyramid structure from top to bottom, and wherein the flank structure that is located the top is triangular pyramid structure, and all the other flank structures all are triangular platform structure, and a plurality of flank structures by supreme scaling in proper order down.
Furthermore, the side wing structure comprises two sections of flexible side beams, one ends of the two sections of flexible side beams are connected, and the other ends of the two sections of flexible side beams are respectively connected to the two sections of flexible beams of the fin-like structure.
Furthermore, the side wing structure comprises a flexible supporting inner beam and two sections of flexible side beams, one end of each of the two sections of flexible side beams is connected, the other end of each of the two sections of flexible side beams is connected to the two sections of flexible beams of the fin-like structure, a plurality of sections of flexible supporting inner beams with gradually increased lengths are distributed between the two sections of flexible side beams at equal intervals, and two ends of each of the flexible supporting inner beams are connected to two inner side surfaces of the two sections of flexible side beams respectively.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the fin-like structure made of the flexible material can be bent and deformed under the action of fruit pressure and longitudinally wraps fruits, and the fin-like structure can be adaptive to fruits with different shapes and sizes, so that the application range of flexible fingers is expanded.
2. According to the invention, the lateral wrapping structure made of the flexible material is added on the basis of the fin-like structure, and the lateral wrapping structure can bend and deform towards the fruit side under the combined action of the fin-like structure deformation and the fruit pressure, so that the fruit is wrapped from the side surface, the flexible wrapping of the fruit in multiple directions is realized, the fruit is effectively prevented from falling off, and the grabbing reliability of the flexible fingers is improved.
Drawings
Fig. 1 is a schematic three-dimensional structure of the flexible finger of the present invention.
Fig. 2 is a front view of the flexible finger of the present invention.
Fig. 3 is a top view of the flexible finger of the present invention.
Fig. 4 is an exploded view of the flexible finger of the present invention.
FIG. 5 is a first schematic structural diagram of a wing structure according to the present invention.
FIG. 6 is a second schematic structural diagram of a wing structure according to the present invention.
Fig. 7 is a first schematic view of the connection between the flexible finger and the mechanical arm of the picking robot according to the present invention.
Fig. 8 is a schematic diagram of the deformation of the flexible finger of the present invention after gripping an object.
Fig. 9 is a schematic diagram of the flexible finger gripping an object with a lateral deformation according to the present invention.
Fig. 10 is a second schematic view of the connection between the flexible finger and the robot arm of the picking robot according to the present invention.
Detailed Description
The present invention is further illustrated with reference to the following specific examples, but the mode of use of the present invention is not limited thereto.
As shown in fig. 1 to 6, the flexible finger for fruit picking and having lateral packing property in the present embodiment includes a connecting frame 1 made of flexible material, a fin-like structure 2 and a lateral packing structure 3; the longitudinal section of the fin-like structure 2 is of a V-shaped structure, and the open end of the V-shaped structure is connected to the connecting frame 1; side direction parcel structure 3 wholly is triangular pyramid structure, and its quantity has two, is bilateral symmetry and connects in the both sides of imitative fin structure 2, the shape size of two sides that side direction parcel structure 3 and imitative fin structure 2 are connected is unanimous, and the leading flank of two side direction parcel structures 3 and the leading flank of imitative fin structure 2 form jointly and are used for the parcel to wait to pick the class U-shaped parcel face 5 of fruit, and the contained angle of the side of this type U-shaped parcel face 5 and bottom surface is the obtuse angle.
The fin-like structure 2 comprises a flexible beam 201, a flexible supporting beam 202 and a flexible hinge 203, the flexible beam 201 has two sections, one end of the two sections of flexible beams 201 is connected to form a V-shaped structure, the open end of the V-shaped structure is connected to the connecting frame 1, the flexible supporting beams 202 with multiple sections of increasing lengths are distributed at equal intervals from the pointed end to the open end of the V-shaped structure, and two ends of each section of flexible supporting beam 202 are respectively connected with two inner side faces of the two sections of flexible beams 201 through the flexible hinge 203. Lateral wrapping structure 3 includes a plurality of flank structures 301, and this a plurality of flank structures 301 from top to bottom set gradually and constitute triangular pyramid structure, and wherein the flank structure 301 that is located the top is triangular pyramid structure, and all the other flank structures 301 all are triangular terrace structure, and a plurality of flank structures 301 are by supreme scaling in proper order down.
The wing structure 301 of the present embodiment has two implementation structures. As shown in fig. 5, in the first type, the wing structure 301 is composed of two flexible side beams 3011, one end of each of the two flexible side beams 3011 is connected, and the other end is connected to the two flexible beams 201 of the fin-like structure 2. As shown in fig. 6, for the second kind, the wing structure 301 is composed of a flexible supporting inner beam 3012 and two flexible side beams 3011, one end of the two flexible side beams 3011 is connected, the other end is connected to the two flexible beams 201 of the fin-like structure 2, and multiple sections of flexible supporting inner beams 3012 with gradually increased lengths are distributed between the two flexible side beams 3011 at equal intervals, two ends of the flexible supporting inner beam 3012 are connected to two inner side surfaces of the two flexible side beams 3011, and the wrapping strength of the lateral wrapping structure 3 is enhanced by the flexible supporting inner beams 3012.
The flexible fingers can be used in cooperation with a mechanical arm 6 of the picking robot, and a plurality of flexible fingers are arranged at the tail end of the mechanical arm 6, in this embodiment, two flexible fingers are taken as an example, that is, the two flexible fingers are hinged on two sides of the tail end of the mechanical arm 6 through respective connecting frames 1, as shown in fig. 7, the flexible fingers serve as an end effector of the picking robot and cooperate with the picking robot to perform picking operation. When picking the operation, two flexible fingers can be around respective articulated axial direction center department rotation, the imitative fin structure 2 that is located in the middle of the flexible finger can produce the bending after contacting fruit 4, and vertically parcel to fruit 4, the side direction parcel structure 3 that is located the left and right sides simultaneously also can take place bending deformation under imitative fin structure 2's the combined action of pulling and fruit 4 pressure, and then fruit 4 is lived in the edgewise parcel, as shown in figure 8, fig. 9, live fruit 4 from a plurality of directions parcel through two flexible fingers, and then firmly snatch fruit 4, deviate from with the in-process fruit 4 of avoiding picking.
In addition, as shown in fig. 10, the flexible fingers can be arranged at the tail end of the mechanical arm in a sliding mode through the sliding block, when picking operation is carried out, the two flexible fingers are translated towards the center, and the two flexible fingers wrap the fruit located in the middle from multiple directions, so that the fruit can be firmly grabbed.
The above-mentioned embodiments are merely preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, so that variations based on the shape and principle of the present invention should be covered within the scope of the present invention.
Claims (4)
1. A flexible finger for fruit picking and having lateral wrappability, characterized in that: comprises a fin-like structure made of flexible material, a lateral wrapping structure and a connecting frame; the longitudinal section of the fin-like structure is of a V-shaped structure, and the open end of the V-shaped structure is connected to the connecting frame; the lateral wrapping structures are integrally triangular pyramid structures, the number of the lateral wrapping structures is two, the lateral wrapping structures are connected to two sides of the fish fin simulating structures in a bilateral symmetry mode, the lateral wrapping structures and two side faces connected with the fish fin simulating structures are identical in shape and size, front side faces of the two lateral wrapping structures and the front side faces of the fish fin simulating structures form a U-shaped wrapping face used for wrapping fruits to be picked together, and an included angle between the side face and the bottom face of the U-shaped wrapping face is an obtuse angle; when picking fruit, the imitative fin structure that is located in the middle of produces the bending after contacting fruit to vertically wrap up fruit, the side direction parcel structure that is located the left and right sides simultaneously also can take place bending deformation under the combined action of imitative fin structure deformation and fruit pressure, and then wraps up fruit from both sides, avoids fruit to drop or from the side direction roll-off.
2. A flexible finger for fruit picking with lateral wrappability according to claim 1, characterized in that: the fin-like structure comprises two sections of flexible beams, flexible supporting beams and flexible hinges, wherein one ends of the two sections of flexible beams are connected to form a V-shaped structure, the open end of the V-shaped structure is connected to the connecting frame, the flexible supporting beams with multiple sections of increasing lengths are distributed between the sharp angle end and the open end of the V-shaped structure at equal intervals, and the two ends of each section of flexible supporting beam are connected with the two inner side surfaces of the two sections of flexible beams through the flexible hinges respectively.
3. A flexible finger for fruit picking with lateral wrappability according to claim 1, characterized in that: the side wing structure comprises two sections of flexible side beams, one ends of the two sections of flexible side beams are connected, and the other ends of the two sections of flexible side beams are connected to the two sections of flexible beams of the fish fin simulating structure respectively.
4. A flexible finger for fruit picking with lateral wrappability according to claim 1, characterized in that: the side wing structure comprises a flexible support inner beam and two sections of flexible side beams, one end of each of the two sections of flexible side beams is connected, the other end of each of the two sections of flexible side beams is connected to the two sections of flexible beams of the fin-like structure, the flexible support inner beams with multiple sections of increasing lengths are distributed between the two sections of flexible side beams at equal intervals, and two ends of each of the flexible support inner beams are connected to two inner side faces of the two sections of flexible side beams respectively.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110705379.6A CN113442152B (en) | 2021-06-24 | 2021-06-24 | Flexible finger with lateral wrapping property for fruit picking |
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| CN202110705379.6A CN113442152B (en) | 2021-06-24 | 2021-06-24 | Flexible finger with lateral wrapping property for fruit picking |
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| CN113442152A CN113442152A (en) | 2021-09-28 |
| CN113442152B true CN113442152B (en) | 2022-07-05 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114161469B (en) * | 2021-10-20 | 2024-03-26 | 华中农业大学 | Nondestructive fruit claw based on grabbing sense integration |
| CN113853946B (en) * | 2021-10-27 | 2022-10-25 | 中苏科技股份有限公司 | Fruit picking and collecting mechanism, collecting method and picking robot |
| CN114851230B (en) * | 2022-04-19 | 2024-03-29 | 浙江大学 | Flexible manipulator of fin structure |
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| DE102009017591A1 (en) * | 2009-04-19 | 2010-10-21 | Rudolf Dr. Bannasch | Manipulator tool and holding and / or spreading tool with wengistens a manipulator tool |
| CN205799553U (en) * | 2016-05-19 | 2016-12-14 | 清华大学 | Rope drives magnetic current self adaptation gripping device |
| ITUA20163955A1 (en) * | 2016-05-31 | 2017-12-01 | Sacmi Imola Sc | MACHINE FOR FOLDING AND PALLETIZING GROUPS OF OBJECTS AND PROCEDURE FOR FELLING AND PALLETIZING GROUPS OF OBJECTS. |
| CN107671878B (en) * | 2017-11-16 | 2020-11-03 | 重庆大学 | Electrostatic adsorption type soft gripper with fin-like structure |
| CN208754730U (en) * | 2018-07-18 | 2019-04-19 | 内蒙古机电职业技术学院 | The one automatic picking machine of type ball fruit |
| CN109105001B (en) * | 2018-10-18 | 2024-01-30 | 石河子大学 | End effector of bergamot pear picking robot and picking method |
| CN110480670A (en) * | 2019-08-29 | 2019-11-22 | 中国人民解放军国防科技大学 | A kind of Bionic flexible jaw arrangement that dragon and phoenix fancy carp tail fin biology inspires |
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| 基于鳍形效应的一种自适应机械手爪设计;杨涛等;《江苏科技信息》;20200930(第26期);全文 * |
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