CN203197923U - Rigid-flexible hybrid under-actuated strawberry picking manipulator end effector device - Google Patents
Rigid-flexible hybrid under-actuated strawberry picking manipulator end effector device Download PDFInfo
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- CN203197923U CN203197923U CN 201320105463 CN201320105463U CN203197923U CN 203197923 U CN203197923 U CN 203197923U CN 201320105463 CN201320105463 CN 201320105463 CN 201320105463 U CN201320105463 U CN 201320105463U CN 203197923 U CN203197923 U CN 203197923U
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- joint
- finger
- finger member
- rigid
- rotating rod
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- 235000016623 Fragaria vesca Nutrition 0.000 title claims abstract description 25
- 235000011363 Fragaria x ananassa Nutrition 0.000 title claims abstract description 25
- 239000012636 effector Substances 0.000 title claims abstract description 11
- 240000009088 Fragaria x ananassa Species 0.000 title 1
- 241000220223 Fragaria Species 0.000 claims abstract description 25
- 210000003205 muscle Anatomy 0.000 claims abstract description 25
- 210000000707 wrist Anatomy 0.000 claims abstract description 7
- 235000021012 strawberries Nutrition 0.000 abstract 1
- 244000309464 bull Species 0.000 description 13
- 238000003306 harvesting Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 2
- 230000004913 activation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000007773 growth pattern Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
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Abstract
一种刚柔混联欠驱动草莓采摘机械手末端执行器装置。包括结构相同的三个手指，每个手指具有两个关节，手指第一节为柔顺手指构件，第二节为刚性手指构件；每个手指均由两条气动肌腱驱动，两条气动肌腱通过第二关节处的齿形轮由齿形带连接，第二关节轴两侧装有扭转弹簧，弹簧一端与关节轴连接，另一端与转杆相连，转杆铰接在柔顺手指构件上，转杆上安装扭转弹簧，弹簧一端与转杆相连，一端与柔顺手指构件相连。柔顺手指构件表面力传感器测试到预定抓取力时，将信号反馈给气动肌腱，气动肌腱停止伸缩，再通过旋转气缸驱动转动腕盘转动，实现草莓采摘。本实用新型可用于草莓自动化采摘，配合机器人其他装置实现高效高可靠性的采摘作业。
A rigid-flexible hybrid underactuated strawberry picking manipulator end effector device. Including three fingers with the same structure, each finger has two joints, the first joint of the finger is a compliant finger member, and the second joint is a rigid finger member; each finger is driven by two pneumatic muscles, and the two pneumatic muscles pass through the first joint The toothed wheel at the second joint is connected by a toothed belt, and a torsion spring is installed on both sides of the second joint shaft. One end of the spring is connected to the joint shaft, and the other end is connected to the rotating rod. The rotating rod is hinged on the flexible finger member. A torsion spring is installed, one end of the spring is connected with the rotating rod, and the other end is connected with the compliant finger member. When the force sensor on the surface of the pliable finger component detects the predetermined grasping force, the signal is fed back to the aerodynamic muscle, and the aerodynamic muscle stops stretching, and then drives the wrist disc to rotate through the rotating cylinder to realize strawberry picking. The utility model can be used for automatic picking of strawberries, and cooperates with other devices of the robot to realize high-efficiency and high-reliability picking operations.
Description
Technical field
The utility model relates to a kind of end effector device, especially relates to a kind of hard and soft series-parallel connection and owes to drive strawberry arm end effector device.
Background technology
China's strawberry cultivating area in recent years rapidly increases, and area reaches 100,000 hm
2, occupy first place in the world.Strawberry has the irregularly growth pattern of maturation of fruit simultaneously, and the strawberry in China greenhouse is ridge planting mostly, in strawberry harvest time, hand labor intensity and workload are very large, environment is damp and hot in the greenhouse in addition, operating environment is very abominable, and developing thus a kind of ridge culture strawberry picking mechanism of manual work that can replace becomes problem demanding prompt solution.Yet owing to the appearance of strawberry is comparatively fragile, and its shape and upgrowth situation are complicated, so the top priority that project organization is simple, motion is flexible, many finger-types end effector flexible job becomes the strawberry picking robot development.
The utility model content
The purpose of this utility model is to provide a kind of hard and soft series-parallel connection to owe to drive picking mechanical arm end effector device, that a cover is used for the activation lacking mechanical paw that strawberry is plucked, whole end effector drives with pneumatic muscle, and designs take the flexible harvesting of strawberry operation as target.In order to achieve the above object, the technical solution adopted in the utility model is:
The utility model comprises three fingers that structure is identical, and palm rotates the wrist dish, pneumatic muscle, and each finger has two joints; Point the first joint be mutually 120 the degree evenly be installed on the palm; Be connected submissive finger member between the first joint and the second joint, the second joint other end connects the rigidity finger member; Each finger drives by two pneumatic muscle, and two pneumatic muscle are connected by the toothed wheel of cog belt by the second joint place, and two pneumatic muscle are installed in the palm groove; Toothed wheel is connected with the interference of second joint axle, and cog belt is installed in the chute of submissive finger member; Torsionspring is equipped with in the first joint shaft both sides, and spring one end is connected with joint shaft, and the other end is connected with palm; Torsionspring is equipped with in second joint axle both sides, and spring one end is connected with joint shaft, and the other end links to each other with bull stick, and bull stick is hinged on the submissive finger member, and torsionspring is installed on the bull stick, and spring one end links to each other with bull stick, and an end links to each other with submissive finger member; Submissive finger member is inboard to be provided with the power sensor with the strawberry contact-making surface.
When each is pointed two pneumatic muscle and produces stretching motion respectively, cog belt drives toothed wheel makes the rigidity finger member closed to palm, the distortion moment of the torsionspring generation in the second joint rotating shaft can drive bull stick and produce the rotation reverse with joint shaft simultaneously, the torsion spring that thereupon connects with submissive finger member on the bull stick can produce the torque identical with the second joint rotor shaft direction, and to drive submissive finger member closed to palm, under this effect, point the first joint and also produce rotation to volar direction, 3 finger move toward one another are closed, submissive finger member touches after the strawberry, its surperficial power sensor test is during to predetermined grasp force, with signal feedback to pneumatic muscle, pneumatic muscle stops to stretch, drive by rotary cylinder again and rotate the rotation of wrist dish, realize the strawberry harvesting.
The beneficial effect that the utlity model has is: use pneumatic muscle to drive three fingers, finger adopts with the main contact-making surface of strawberry has flexible submissive finger member, the motion of pneumatic muscle telescopic drive second joint, drive simultaneously the distortion of submissive finger member and rotate around the first joint, three fingers close up, and realize the flexible harvesting of strawberry operation.The utility model is simple in structure, processing ease, and motion can be used for the flexible harvesting of strawberry operation flexibly, cooperates other device of robot to realize the harvesting operation of efficient high reliability.
Description of drawings
Fig. 1 is arm end effector device installation diagram.
Fig. 2 is manipulator finger side direction view.
Fig. 3 is manipulator finger side direction A-A cross section view.
Fig. 4 is manipulator finger second joint zoomed-in view.
Fig. 5 is manipulator finger forward view.
Fig. 6 is manipulator finger forward B-B cross section view.
Fig. 7 is manipulator finger the first joint zoomed-in view.
Among the figure: 1. rigidity finger member, 2. finger second joint, 3. submissive finger member, 4. point the first joint, 5. rotate wrist dish, 6. rotary cylinder, 7. palm, 8. cog belt, 9. toothed wheel, 10. power sensor, 11. pneumatic muscle, 12. second joint axles, 13. bull stick, 14. torsionsprings, 15. torsionsprings, 16. the first joint shaft, 17. torsionsprings.
The specific embodiment
Such as Fig. 1, Fig. 2, Fig. 3, Fig. 4, shown in Figure 7, the utility model comprises three fingers that structure is identical, and palm (7) rotates wrist dish (5), pneumatic muscle (11); Each finger has two joints, is respectively finger the first joint (4), and finger second joint (2) is pointed the first joint and evenly is installed on the palm (7); The finger first segment is submissive finger member (3), second section is rigidity finger member (1), submissive finger member (3) one ends link to each other with palm (7) by the first joint (4), and the other end links to each other with rigidity finger member (1) by second joint (2); Each finger drives by two pneumatic muscle (11), and two pneumatic muscle (11) are connected by the toothed wheel (9) of cog belt (8) by the second joint place, and two pneumatic muscle (11) are installed in palm (7) groove; Toothed wheel (9) is connected with second joint axle (12) interference, and cog belt (8) is installed in the chute of submissive finger member (3); Torsionspring (17) is equipped with in the first joint shaft (16) both sides, and spring (17) one ends are connected with joint shaft (16), and the other end is connected with palm (7); Torsionspring (14) is equipped with in second joint axle (12) both sides, spring (14) one ends are connected with joint shaft (12), the other end links to each other with bull stick (13), bull stick (13) is hinged on the submissive finger member (3), the upper torsionspring (15) of installing of bull stick (13), spring (15) one ends link to each other with bull stick (13), and an end links to each other with submissive finger member (3); Submissive finger member is inboard to be provided with power sensor (10) with the strawberry contact-making surface.
Such as Fig. 4, Fig. 5, shown in Figure 6, during work, each points two pneumatic muscle (11) when producing stretching motion respectively, cog belt (8) drives toothed wheel (9) makes rigidity finger member (1) closed to palm (7), the distortion moment that torsionspring (14) in the simultaneously second joint rotating shaft (12) produces can drive bull stick (13) and produce the rotation reverse with joint shaft (12), it is closed to palm (7) that torsionspring (15) the meeting generation torque identical with second joint rotating shaft (12) direction that bull stick (13) is upper and submissive finger member (3) connects thereupon drives submissive finger member (3), under this effect, pointing the first joint (4) also produces to the rotation of palm (7) direction, 3 finger move toward one another are closed, submissive finger member (3) touches after the strawberry, when its surperficial power sensor (10) is tested predetermined grasp force, with signal feedback to pneumatic muscle (11), pneumatic muscle stops to stretch, drive by rotary cylinder (6) and rotate wrist dish (5) rotation, strawberry is plucked in realization.
Claims (2)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320105463 CN203197923U (en) | 2013-03-08 | 2013-03-08 | Rigid-flexible hybrid under-actuated strawberry picking manipulator end effector device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320105463 CN203197923U (en) | 2013-03-08 | 2013-03-08 | Rigid-flexible hybrid under-actuated strawberry picking manipulator end effector device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203197923U true CN203197923U (en) | 2013-09-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320105463 Expired - Fee Related CN203197923U (en) | 2013-03-08 | 2013-03-08 | Rigid-flexible hybrid under-actuated strawberry picking manipulator end effector device |
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| CN (1) | CN203197923U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104029208A (en) * | 2013-03-08 | 2014-09-10 | 河北农业大学 | Rigid-flexible hybrid under-actuated strawberry picking manipulator end effector device |
| CN104871731A (en) * | 2015-06-02 | 2015-09-02 | 南京农业大学 | Handheld automatic cotton picker |
| CN106717534A (en) * | 2016-12-27 | 2017-05-31 | 西安交通大学 | A kind of drive lacking fruit and vegetable picking end effector apparatus and picking method |
| CN108811721A (en) * | 2018-07-02 | 2018-11-16 | 浙江工业大学 | Wrist feeler mechanism based on semi-automatic strawberry flexibility picking mechanism |
| CN108925225A (en) * | 2018-08-28 | 2018-12-04 | 浙江理工大学 | A kind of agricultural product picking mechanical arm of rigidity and flexibility joint driving |
| CN113977632A (en) * | 2021-09-14 | 2022-01-28 | 北京航空航天大学 | Robotic Claw Adaptive Fixture |
| US11445663B2 (en) | 2018-02-13 | 2022-09-20 | Saga Robotics As | Device for picking fruit comprising overlapping locating members |
-
2013
- 2013-03-08 CN CN 201320105463 patent/CN203197923U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104029208A (en) * | 2013-03-08 | 2014-09-10 | 河北农业大学 | Rigid-flexible hybrid under-actuated strawberry picking manipulator end effector device |
| CN104871731A (en) * | 2015-06-02 | 2015-09-02 | 南京农业大学 | Handheld automatic cotton picker |
| CN104871731B (en) * | 2015-06-02 | 2016-11-16 | 南京农业大学 | A hand-held automatic cotton picker |
| CN106717534A (en) * | 2016-12-27 | 2017-05-31 | 西安交通大学 | A kind of drive lacking fruit and vegetable picking end effector apparatus and picking method |
| CN106717534B (en) * | 2016-12-27 | 2018-11-09 | 西安交通大学 | A kind of drive lacking fruit and vegetable picking end effector apparatus and picking method |
| US11445663B2 (en) | 2018-02-13 | 2022-09-20 | Saga Robotics As | Device for picking fruit comprising overlapping locating members |
| CN108811721A (en) * | 2018-07-02 | 2018-11-16 | 浙江工业大学 | Wrist feeler mechanism based on semi-automatic strawberry flexibility picking mechanism |
| CN108811721B (en) * | 2018-07-02 | 2023-09-08 | 浙江工业大学 | Wrist profiling mechanism based on semi-automatic strawberry flexible picking mechanism |
| CN108925225A (en) * | 2018-08-28 | 2018-12-04 | 浙江理工大学 | A kind of agricultural product picking mechanical arm of rigidity and flexibility joint driving |
| CN108925225B (en) * | 2018-08-28 | 2023-08-18 | 浙江理工大学 | An agricultural product picking manipulator driven by combined rigidity and flexibility |
| CN113977632A (en) * | 2021-09-14 | 2022-01-28 | 北京航空航天大学 | Robotic Claw Adaptive Fixture |
| CN113977632B (en) * | 2021-09-14 | 2022-12-30 | 北京航空航天大学 | Robot claw type self-adaptive fixing device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130918 Termination date: 20150308 |
|
| EXPY | Termination of patent right or utility model |