CN203317431U - Flexible end effector used for picking garden stuff - Google Patents
Flexible end effector used for picking garden stuff Download PDFInfo
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- CN203317431U CN203317431U CN2012206314066U CN201220631406U CN203317431U CN 203317431 U CN203317431 U CN 203317431U CN 2012206314066 U CN2012206314066 U CN 2012206314066U CN 201220631406 U CN201220631406 U CN 201220631406U CN 203317431 U CN203317431 U CN 203317431U
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Abstract
The utility model provides a flexible end effector used for picking garden stuff, which relates to the field of picking-up robots and comprises a base, a DC servo motor, a lead screw, a parallelogram mechanism, a first finger, a second finger, a spring, a sliding block, a middle connecting rod, a nut, a finger fixing base, a positioning nut, a fixed rod, a connecting block, a pressure sensor, a spring adjusting nut, a bearing seat and a Hall sensor, wherein the DC servo motor fixed on the base is connected with the lead screw so as to drive the lead screw to do rotational motion; the nut drives the sliding block to do straight reciprocating motion; the nut is welded with the sliding block; one end of the middle connecting rod is connected with the sliding block, and the other end thereof is connected with the parallelogram mechanism; the finger fixing base is connected with the parallelogram mechanism; the first finger is connected with the finger fixing base through the fixed rod; the rotational motion of the motor is converted into the open and close movement of the fingers; the spring adjusting nut is adjusted to adjust the pretightening force of the spring; the positioning nut is used for adjusting the relative rotating angles of the fingers; the pressure sensor is used for controlling the grabbing force of the fingers while the garden stuff is picked.
Description
Technical field
The utility model relates to the picking robot field, is specially adapted to shape as the harvesting as the column fruits and vegetables of cucumber of the difference Precooling of apple and shape.
Background technology
The end effector of manipulator is for realizing grasping the parts of function, having the various structures form according to differences such as the shape that is grasped object, size, weight, materials, as clamp-type, holding type, absorbent-type etc.Both at home and abroad experts and scholars have developed many Related products, and picking robots such as apple, tomato, cucumber, strawberry, but the end effector in existing product are mainly developed for a certain particular types fruit or vegetables, lack versatility.
Summary of the invention
The purpose of this utility model is, for the problems referred to above, proposes a kind of new end effector; can realize difform fruits and vegetables are plucked; in order to protect the tender and lovely fruit of some pericarp, increased flexible crawl function in addition, and crawl rigidity can be regulated.
The principle of the flexible terminal actuator for fruit and vegetable picking that the utility model proposes and composed as follows:
Pedestal 3, DC servo motor 1, leading screw 2, parallel-crank mechanism 4, the first finger 5, second finger 6, spring 7, slide block 8, intermediate connecting rod 9, nut 10, finger fixed pedestal 11, setscrew nut 12, fixed bar 13, contiguous block 14, pressure sensor 15, spring-adjusting nut 16, bearing block 17, Hall element 18 form;
Be fixed on the DC servo motor 1 on pedestal 3, be connected with leading screw 2, drive leading screw 2 and rotate, nut 10 band movable sliders 8 are done straight reciprocating motion, and nut 10 welds together with slide block 8;
Intermediate connecting rod 9 one ends are connected with slide block 8, and the other end is connected with parallel-crank mechanism 4;
Finger fixed pedestal 11 is connected with parallel-crank mechanism 4;
The first finger 5 is connected with finger fixed pedestal 11 by fixed bar 13.
The utility model also has some other feature:
1. adjust spring-adjusting nut 16, can be used in the pretightning force of adjusting spring 7.
2. setscrew nut 12 can be used in the relative rotation of adjusting the first finger 5 and second finger 6.
The accompanying drawing explanation
Accompanying drawing is used to provide further understanding of the present utility model, and forms the part of specification, with embodiment mono-of the present utility model, is used from explanation the utility model, does not form restriction of the present utility model.In the accompanying drawings:
The perspective view that Fig. 1 is the utility model flexible terminal actuator;
The front view that Fig. 2 is the utility model flexible terminal actuator structural representation;
The top view that Fig. 3 is the utility model flexible terminal actuator structural representation;
The left view that Fig. 4 is the utility model flexible terminal actuator structural representation;
By reference to the accompanying drawings, in the utility model embodiment, Reference numeral is as follows:
The 1-DC servo motor; The 2-leading screw; The 3-pedestal; The 4-parallel-crank mechanism; 5-the first finger; The 6-second finger; The 7-spring; The 8-slide block; The 9-intermediate connecting rod; The 10-nut; 11-points fixed pedestal; The 12-setscrew nut; The 13-fixed bar; The 14-contiguous block; The 15-pressure sensor; The 16-spring-adjusting nut; The 17-bearing block; The 18-Hall element.
The specific embodiment
Below in conjunction with accompanying drawing, the utility model is described, should be appreciated that preferred embodiment described herein is only for description and interpretation the utility model, and be not used in restriction the utility model.
In conjunction with Fig. 1-Fig. 4, this embodiment is by DC servo motor 1, leading screw 2, pedestal 3, parallel-crank mechanism 4, the first finger 5; Second finger 6, spring 7, slide block 8, intermediate connecting rod 9, nut 10, finger fixed pedestal 11, setscrew nut 12, fixed bar 13, contiguous block 14, pressure sensor 15, spring-adjusting nut 16, bearing block 17, Hall element 18 form.
Be fixed on the DC servo motor 1 on pedestal 3, be connected with leading screw 2, drive leading screw 2 and rotate, nut 10 band movable sliders 8 are done straight reciprocating motion, and nut 10 welds together with slide block 8.Intermediate connecting rod 9 one ends are connected with slide block 8, and the other end is connected with parallel-crank mechanism 4.Finger fixed pedestal 11 is connected with parallel-crank mechanism 4.The first finger 5 is connected with finger fixed pedestal 11 by fixed bar 13.
In the above-described embodiments, by linkage, the rectilinear motion of slide block is converted to the circular arc parallelly opening-and-closing motion of finger, intermediate connecting rod 9 (a two) end is connected with slide block 8, the other end is connected with parallel-crank mechanism 4, finger fixed pedestal 11 is connected with parallel-crank mechanism 4, finger is connected with finger fixed pedestal 11 by fixed bar 13, adjusts the pretightning force that spring-adjusting nut 16 can be adjusted spring 7.
In the above-described embodiments, setscrew nut 12 is adjusted the relative rotation of the first finger 5, second finger 6, shape difference according to the fruits and vegetables of clamping, adjusting that retainer spring 12 makes finger 5, points 6 relative rotations is 90 while spending, captured spherical body (diameter that the utility model captures spherical body is 30mm-100mm) since getting final product, relative rotation is 0 while spending, and can capture columnar object.
Here, the arm end effector body construction can be regarded as the open kinematic chain coupled together by rotary joint (or linear joint) by a series of connecting rods, DC servo motor drives screw-nut body, through the motion transmission of transmission mechanism, realizes the holding action of finger.
The general output speed of DC servo motor commonly used is very high, and the rotating speed of joint drive finger is not high, needs to select applicable decelerator to meet the requirement of rotating speed.The reciprocating motion of leading screw is to be controlled by the rotating of DC servo motor, the stroke of leading screw is to be determined by the opening and closing degree of two fingers, the opening and closing degree of finger is determined according to the article size shape of clamping, determine thus the stroke of leading screw, and then the rotating of decision DC servo motor, after finger is clamped fruits and vegetables with certain power, if this power has surpassed predefined pressure sensor threshold value, control system is controlled the DC servo motor stall.
In the above-described embodiments, in pointing closed process, the first finger 5, second finger 6 start to the spring stress deformation, after certain value, by the pressure sensor 15 be arranged on spring, to signal, to make motor stalling from touching object.In the process of opening at finger, finger opens up into to a certain degree parallel-crank mechanism and there will be dead point, so parallel-crank mechanism is before dead point occurring, by the Hall element 18 of arranging on pedestal 3, make the DC servo motor stall, this position is also the maximum angle that finger opens.The position of Hall element can be adjusted.
In sum, the utility model, to the spherical or column fruits and vegetables in a certain size scope, can be realized flexible the harvesting, and flexible rigidity can realize by the regulating spring adjusting nut.
Claims (3)
1. the flexible terminal actuator for fruit and vegetable picking is characterized in that:
By pedestal (3), DC servo motor (1), leading screw (2), parallel-crank mechanism (4), the first finger (5), second finger (6), spring (7), slide block (8), intermediate connecting rod (9), nut (10), finger fixed pedestal (11), setscrew nut (12), fixed bar (13), contiguous block (14), pressure sensor (15), spring-adjusting nut (16), bearing block (17), Hall element (18), formed;
Be fixed on the DC servo motor (1) on pedestal (3), with leading screw (2), be connected, drive leading screw (2) and rotate, nut (10) band movable slider (8) is done straight reciprocating motion, and nut (10) welds together with slide block (8);
Intermediate connecting rod (9) one ends are connected with slide block (8), and the other end is connected with parallel-crank mechanism (4);
Finger fixed pedestal (11) is connected with parallel-crank mechanism (4);
The first finger (5) is connected with finger fixed pedestal (11) by fixed bar (13).
2. the flexible terminal actuator for fruit and vegetable picking according to claim 1, is characterized in that adjusting spring-adjusting nut (16), can be used in the pretightning force of adjusting spring (7).
3. the flexible terminal actuator for fruit and vegetable picking according to claim 1, is characterized in that setscrew nut (12) can be used in the relative rotation of adjusting the first finger (5) and second finger (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012206314066U CN203317431U (en) | 2012-11-27 | 2012-11-27 | Flexible end effector used for picking garden stuff |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012206314066U CN203317431U (en) | 2012-11-27 | 2012-11-27 | Flexible end effector used for picking garden stuff |
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| CN203317431U true CN203317431U (en) | 2013-12-04 |
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| CN2012206314066U Expired - Fee Related CN203317431U (en) | 2012-11-27 | 2012-11-27 | Flexible end effector used for picking garden stuff |
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103039197A (en) * | 2012-12-25 | 2013-04-17 | 中国科学院深圳先进技术研究院 | Fruit and vegetable picking equipment and fruit and vegetable picking method |
| CN104338864A (en) * | 2014-10-29 | 2015-02-11 | 宁波新甬城数控自动化设备有限公司 | Turning device of stamping mechanical arm |
| CN104626132A (en) * | 2015-01-23 | 2015-05-20 | 温州职业技术学院 | Gripping manipulator |
| CN104760045A (en) * | 2014-12-15 | 2015-07-08 | 东莞龙昌数码科技有限公司 | Magnetism isolating structure of assembling manipulator of automatic magnet assembling machine |
| CN105291124A (en) * | 2015-10-16 | 2016-02-03 | 天津远卓科技发展有限公司 | Grabbing mechanism of bicycle conveying platform |
| CN105690414A (en) * | 2016-03-08 | 2016-06-22 | 四川大学 | Terminal clamping device for iron tower automatic overhauling climb robot |
| CN106272518A (en) * | 2015-05-13 | 2017-01-04 | 深圳市创客工场科技有限公司 | A kind of robot device |
| 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 |
| CN107743765A (en) * | 2017-11-30 | 2018-03-02 | 广州大学 | A kind of pineapple picker |
| CN107810706A (en) * | 2017-11-30 | 2018-03-20 | 广州大学 | A kind of device realized pineapple and won |
| CN108202317A (en) * | 2017-01-23 | 2018-06-26 | 英特科学公司 | The grip device of Linear Driving |
| CN108307782A (en) * | 2018-03-26 | 2018-07-24 | 武汉理工大学 | Cart type semi-automation pineapple picking machine |
| CN108745933A (en) * | 2018-05-30 | 2018-11-06 | 常州大学 | A kind of fruit size automatic sorting device and flow for parallel gripping finger picking robot |
| CN108855969A (en) * | 2018-06-04 | 2018-11-23 | 常州大学 | A kind of fruit size automatic sorting device and process for Y shape gripping finger picking robot |
| CN109605410A (en) * | 2019-01-30 | 2019-04-12 | 江苏建筑职业技术学院 | A kind of horizontal driver fixture of flexible automatic production line |
| CN110258401A (en) * | 2019-07-18 | 2019-09-20 | 重庆名邦科技有限公司 | Crank arm type tunnel high-pressure cleaning device |
| CN110524570A (en) * | 2019-09-09 | 2019-12-03 | 珠海格力智能装备有限公司 | Clamp apparatus |
| CN111924513A (en) * | 2020-08-05 | 2020-11-13 | 佛山协航智能装备制造有限公司 | Automatic feeding and discharging production line of valve spring robot |
| JP7349189B1 (en) | 2022-09-29 | 2023-09-22 | ナショナル チェン クン ユニバーシティー | Smart sensor gripper |
| WO2024100429A1 (en) | 2022-11-08 | 2024-05-16 | PeK Automotive d.o.o. | Fruit picking manipulator |
-
2012
- 2012-11-27 CN CN2012206314066U patent/CN203317431U/en not_active Expired - Fee Related
Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103039197A (en) * | 2012-12-25 | 2013-04-17 | 中国科学院深圳先进技术研究院 | Fruit and vegetable picking equipment and fruit and vegetable picking method |
| CN103039197B (en) * | 2012-12-25 | 2015-12-09 | 中国科学院深圳先进技术研究院 | Fruit and vegetable picking equipment and fruit and vegetable picking method |
| CN104338864A (en) * | 2014-10-29 | 2015-02-11 | 宁波新甬城数控自动化设备有限公司 | Turning device of stamping mechanical arm |
| CN104760045A (en) * | 2014-12-15 | 2015-07-08 | 东莞龙昌数码科技有限公司 | Magnetism isolating structure of assembling manipulator of automatic magnet assembling machine |
| CN104626132A (en) * | 2015-01-23 | 2015-05-20 | 温州职业技术学院 | Gripping manipulator |
| CN106272518B (en) * | 2015-05-13 | 2019-12-13 | 深圳市创客工场科技有限公司 | Manipulator device |
| CN106272518A (en) * | 2015-05-13 | 2017-01-04 | 深圳市创客工场科技有限公司 | A kind of robot device |
| CN105291124A (en) * | 2015-10-16 | 2016-02-03 | 天津远卓科技发展有限公司 | Grabbing mechanism of bicycle conveying platform |
| CN105690414A (en) * | 2016-03-08 | 2016-06-22 | 四川大学 | Terminal clamping device for iron tower automatic overhauling climb robot |
| 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 |
| CN108202317A (en) * | 2017-01-23 | 2018-06-26 | 英特科学公司 | The grip device of Linear Driving |
| CN108202317B (en) * | 2017-01-23 | 2021-11-05 | 英特科学公司 | Linearly driven gripping device |
| CN107810706A (en) * | 2017-11-30 | 2018-03-20 | 广州大学 | A kind of device realized pineapple and won |
| CN107743765A (en) * | 2017-11-30 | 2018-03-02 | 广州大学 | A kind of pineapple picker |
| CN107810706B (en) * | 2017-11-30 | 2023-08-15 | 广州大学 | Device for realizing pineapple picking |
| CN108307782A (en) * | 2018-03-26 | 2018-07-24 | 武汉理工大学 | Cart type semi-automation pineapple picking machine |
| CN108745933A (en) * | 2018-05-30 | 2018-11-06 | 常州大学 | A kind of fruit size automatic sorting device and flow for parallel gripping finger picking robot |
| CN108855969A (en) * | 2018-06-04 | 2018-11-23 | 常州大学 | A kind of fruit size automatic sorting device and process for Y shape gripping finger picking robot |
| CN109605410A (en) * | 2019-01-30 | 2019-04-12 | 江苏建筑职业技术学院 | A kind of horizontal driver fixture of flexible automatic production line |
| CN110258401A (en) * | 2019-07-18 | 2019-09-20 | 重庆名邦科技有限公司 | Crank arm type tunnel high-pressure cleaning device |
| CN110258401B (en) * | 2019-07-18 | 2024-05-17 | 重庆名邦科技有限公司 | Crank arm type tunnel high-pressure cleaning equipment |
| CN110524570A (en) * | 2019-09-09 | 2019-12-03 | 珠海格力智能装备有限公司 | Clamp apparatus |
| CN111924513A (en) * | 2020-08-05 | 2020-11-13 | 佛山协航智能装备制造有限公司 | Automatic feeding and discharging production line of valve spring robot |
| JP7349189B1 (en) | 2022-09-29 | 2023-09-22 | ナショナル チェン クン ユニバーシティー | Smart sensor gripper |
| JP2024049485A (en) * | 2022-09-29 | 2024-04-10 | ナショナル チェン クン ユニバーシティー | Smart-sensorized gripper |
| WO2024100429A1 (en) | 2022-11-08 | 2024-05-16 | PeK Automotive d.o.o. | Fruit picking manipulator |
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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: 20131204 Termination date: 20141127 |
|
| EXPY | Termination of patent right or utility model |