CN203752160U - Quick under-actuated absorbing picking manipulator - Google Patents
Quick under-actuated absorbing picking manipulator Download PDFInfo
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- CN203752160U CN203752160U CN201420136132.2U CN201420136132U CN203752160U CN 203752160 U CN203752160 U CN 203752160U CN 201420136132 U CN201420136132 U CN 201420136132U CN 203752160 U CN203752160 U CN 203752160U
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- joint
- hinged
- drive
- skin
- adsorptivity
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Abstract
The utility model discloses a quick under-actuated absorbing picking manipulator. The quick under-actuated absorbing picking manipulator comprises a supporting base, sucking disc skin, a transmission mechanism, a driving mechanism and three finger mechanisms with same structures; the three finger mechanisms are uniformly arranged on the supporting base in a hinging mode; the finger mechanisms are formed by front joints, middle joints and tail joints; the front joints, the middle joints and the tail joints are sequentially hinged; internal lateral sides of the front joints, the middle joints and the tail joints are provided with the sucking disc skin; the transmission mechanism is connected to the external lateral sides of the front joints, the middle joints and the tail joints; the transmission mechanism is connected with the driving mechanism. The quick under-actuated absorbing picking manipulator has the advantages of being quick in grabbing speed and high in grabbing ratability.
Description
Technical field
The utility model relates to manipulator technical field, especially a kind ofly owes fast to drive adsorptivity picking mechanical arm.
Background technology
China in recent years cultivated area of the industrial crops such as fruit, vegetables rapidly increases, but fruit and vegetable picking operation is a link the most time-consuming in fruits and vegetables production, that require great effort most.Develop thus a kind of low cost, the high fruit and vegetable picking machinery hand of manual work that can replace of efficiency becomes problem demanding prompt solution.At present abroad the research of picking mechanical arm is proceeded to later and owes drive-type finger, the advantage such as under-actuated finger has control, the weight reduction of simplification, reduce costs, but that existing picking mechanical arm end effector captures the used time is also longer, captures breakage rate and has much room for improvement.
Utility model content
The utility model, for the deficiencies in the prior art, proposes a kind of owing fast and drives adsorptivity picking mechanical arm, and structure is ingenious, easy to use.
In order to realize above-mentioned utility model object, the utility model provides following technical scheme: a kind ofly owe fast to drive adsorptivity picking mechanical arm, comprise bearing, sucker skin, transmission mechanism, driving mechanism and three finger mechanisms that structure is identical, three described finger mechanisms are uniformly distributed and are hinged on described bearing, described finger mechanism is by hinged successively front joint, middle joint, joint, end forms, described front joint, on the medial surface in described middle joint and described last joint, be equipped with described sucker skin, described transmission mechanism is connected to described front joint, on the lateral surface in described middle joint and described last joint, described transmission mechanism is connected with described driving mechanism.
Further, the one end in described front joint and described bearing are hinged fixing, and the one end in described middle joint and the other end in described front joint are hinged, and the one end in described last joint and the other end in described middle joint are hinged; The outside in described last joint is hinged on one end of tail end connecting rod, the other end of tail end connecting rod and one end of corner block are hinged, the hinged place in the other end of corner block and Yu Zhong joint, front joint is simultaneously hinged, the 3rd end of corner block is hinged on one end of front end link, the other end and the drive link of front end link are hinged, the hinge hole at the interlude place of drive link and the hinged place of front joint and bearing are hinged, the other end of drive link with take off post hinged; Take off post and be connected with described driving mechanism.
Further, described driving mechanism consists of electromagnet, depression bar, back-moving spring, described in back-moving spring is set in, take off post upper, described in take off post through described bearing, in the sliding tray of the sliding shaft sleeve on its termination on depression bar; Electromagnet is fixed on rest base, and the sliding shaft sleeve of its active distal end is in the sliding tray of depression bar; One end of described depression bar is hingedly fixed on rest base.
Further, be fixed with the end spring of tensile property on the lateral surface in Yu Zhong joint, last joint, the centre position of corner block and front joint lateral surface is fixed with the front springs of tensile property.
Further, described sucker skin is comprised of the skin basic unit of quality of rubber materials and the small sucker of quality of rubber materials.
Further, the inboard of described skin basic unit is sticking veneer, sticks on finger mechanism, and the outside of skin basic unit is evenly distributed with a plurality of described small suckers that are bowl-shape projection.
Compared with prior art, the utlity model has following advantage:
(1) the utility model relates to thisly owes to drive adsorptivity picking mechanical arm fast, simple with existing picking mechanical arm structure compared, and the activation lacking mechanical structure of a driving of take is main body; Its grasp speed is fast, and with a sliding electromagnet, as power source, the response time is short.
(2) the utility model is that owing fast of relating to drives adsorptivity picking mechanical arm, is closure state while not working, and at manipulator, is grabbing in the moving process after fruit, and its electromagnet does not need to continue power supply, has saved certain energy.
(3) the utility model be relate to owe fast to drive adsorptivity picking mechanical arm, in crawl process, sucker skin contacts with fruit, it is more reliable that projection sucker on skin can make fruit capture, and can also cushion the active force that finger is closed simultaneously, makes to capture better effects if.
Accompanying drawing explanation
Fig. 1 is the main TV structure schematic diagram of the utility model.
Fig. 2 is the utility model plan structure schematic diagram.
Fig. 3 is the right TV structure schematic diagram of the utility model.
Fig. 4 is that the utility model is looked up structural representation.
In accompanying drawing: 1 last joint, 2 tail end connecting rod, 3 end springs, 4 corner blocks, in 5 joint, 6 front springs, 7 front end links, 8 front joints, 9 sucker skins, 10 drive links, 11 depression bars, 12 take off post, 13 electromagnet, 14 bearings, 15 back-moving springs, 16 fixed legs.
The specific embodiment
Below in conjunction with accompanying drawing, the utility model is described in detail, the description of this part is only exemplary and explanatory, should not have any restriction to protection domain of the present utility model.
A kind of owing fast as shown in Fig. 1,2,3 and 4 drives adsorptivity picking mechanical arm, comprises three finger mechanism, sucker skin, transmission mechanism, bearing, drive parts that structure is identical; Each finger mechanism has three joints, is respectively front joint 8, middle joint 5, last joint 1; Three finger mechanisms are hinged on bearing 14, and at an angle to each other is 120 degree, on each finger mechanism, paste sucker skin 9, can guarantee in the situation that grasping force is less like this, also can play good crawl effect, equally the crawl of fruit is played to certain cushioning effect, reduce fruit loss percentage.
Being constructed as follows of described single finger mechanism: front joint 8 bottom righthand sides and bearing 14 are hinged fixing, in turn middle joint 5 bottom righthand sides and front joint 8 upper right sides are hinged, and last joint 1 right-hand member and middle joint 5 upper right sides are hinged.Tail end connecting rod 2 is hinged with the left end in the last joint 1 of finger, and the other end of tail end connecting rod 2 and corner block 4 left ends are hinged, and the right-hand member of corner block 4 is simultaneously hinged with the hinged place in middle joint 5 with front joint 8 again, and the lower end of corner block 4 and front end link 7 are hinged.The other end of front end link 7 and drive link 10 are hinged, and the hinge hole at the interlude place of drive link 10 and finger front joint 8 are hinged with the hinged place of bearing 14, the other end of drive link 10 with take off post 12 hinged.Wherein in last joint 1 left end and 5 centre positions, middle joint, be fixed with the end spring 3 of tensile property, the centre position in the Yu Qian joint, lower end 8 of corner block 4 is fixed with the front springs 6 of tensile property, can regulate the size of grasp force by front springs 6 and end spring 3.
As shown in Figure 1, at the cover on 12 that takes off post, there is back-moving spring 15, electromagnet 13 is fixed on the lower end of bearing 14, depression bar 11 one end and fixed leg 16 are hinged, take off post in the sliding shaft sleeve of the 12 lower ends sliding tray on depression bar 11, the sliding shaft sleeve of electromagnet 13 push-and-pull post ends is in the sliding tray of depression bar 11.
Owe fast to drive adsorptivity picking mechanical arm, under working condition not in closure state, when robot movement is near object time, electromagnet 13 obtains electric adhesive, pull depression bar 11 motions, take off post and 12 by depression bar 11, depressed, now drive drive link 10 to be rotated counterclockwise, drive link 10 drives each fingers to open.Now, manipulator continues near object, electromagnet 13 dead electricity then, and back-moving spring 15 resets, and 12 resets that take off post drive drive link 10 to turn clockwise simultaneously, and drive link 10 driving mechanical hands are closed, complete once and capture.
This owes to drive adsorptivity picking mechanical arm fast, is a set of for to underactuated manipulator spherical, strip fruit and vegetable picking, it is driving that whole manipulator be take an electromagnet, and fast with grasp speed, captures that reliability is high to be designed for object.
Wherein, sucker skin 9 is comprised of the skin basic unit of quality of rubber materials and the small sucker of quality of rubber materials.The inboard of skin basic unit is sticking veneer, sticks on mechanical finger, and the outside of skin basic unit is evenly distributed with a plurality of small suckers that are bowl-shape projection.Manipulator captures in fruit process, and the small sucker of absorption skin 9 plays certain buffer protection function to object, has reduced the breakage rate of fruit, can strengthen the Grasping skill of manipulator simultaneously.
Claims (6)
1. owe fast to drive adsorptivity picking mechanical arm for one kind, it is characterized in that: comprise bearing, sucker skin, transmission mechanism, driving mechanism and three finger mechanisms that structure is identical, three described finger mechanisms are uniformly distributed and are hinged on described bearing, described finger mechanism is by hinged successively front joint, middle joint, joint, end forms, described front joint, on the medial surface in described middle joint and described last joint, be equipped with described sucker skin, described transmission mechanism is connected to described front joint, on the lateral surface in described middle joint and described last joint, described transmission mechanism is connected with described driving mechanism.
2. owe fast as claimed in claim 1 to drive adsorptivity picking mechanical arm, it is characterized in that: the one end in described front joint and described bearing are hinged fixing, the one end in described middle joint and the other end in described front joint are hinged, and the one end in described last joint and the other end in described middle joint are hinged; The outside in described last joint is hinged on one end of tail end connecting rod, the other end of tail end connecting rod and one end of corner block are hinged, the hinged place in the other end of corner block and Yu Zhong joint, front joint is simultaneously hinged, the 3rd end of corner block is hinged on one end of front end link, the other end and the drive link of front end link are hinged, the hinge hole at the interlude place of drive link and the hinged place of front joint and bearing are hinged, the other end of drive link with take off post hinged; Take off post and be connected with described driving mechanism.
3. owe fast as claimed in claim 2 to drive adsorptivity picking mechanical arm, it is characterized in that: described driving mechanism consists of electromagnet, depression bar, back-moving spring, on taking off post described in back-moving spring is set in, described taking off post through described bearing, in the sliding tray of the sliding shaft sleeve on its termination on depression bar; Electromagnet is fixed on rest base, and the sliding shaft sleeve of its active distal end is in the sliding tray of depression bar; One end of described depression bar is hingedly fixed on rest base.
4. owe fast as claimed in claim 1 to drive adsorptivity picking mechanical arm, it is characterized in that: on the lateral surface in Yu Zhong joint, last joint, be fixed with the end spring of tensile property, the centre position of corner block and front joint lateral surface is fixed with the front springs of tensile property.
5. owe fast as claimed in claim 1 to drive adsorptivity picking mechanical arm, it is characterized in that: described sucker skin is comprised of the skin basic unit of quality of rubber materials and the small sucker of quality of rubber materials.
6. owe fast as claimed in claim 5 to drive adsorptivity picking mechanical arm, it is characterized in that: the inboard of described skin basic unit is sticking veneer, sticks on finger mechanism, and the outside of skin basic unit is evenly distributed with a plurality of described small suckers that are bowl-shape projection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420136132.2U CN203752160U (en) | 2014-03-25 | 2014-03-25 | Quick under-actuated absorbing picking manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420136132.2U CN203752160U (en) | 2014-03-25 | 2014-03-25 | Quick under-actuated absorbing picking manipulator |
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| CN203752160U true CN203752160U (en) | 2014-08-06 |
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| CN201420136132.2U Expired - Fee Related CN203752160U (en) | 2014-03-25 | 2014-03-25 | Quick under-actuated absorbing picking manipulator |
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| CN110539318A (en) * | 2019-09-10 | 2019-12-06 | 佛山科学技术学院 | Self-adaptive under-actuated gripper driven by master-slave power |
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