CN203860064U - Rigid and flexible mixed tail end actuator for picking strawberry - Google Patents
Rigid and flexible mixed tail end actuator for picking strawberry Download PDFInfo
- Publication number
- CN203860064U CN203860064U CN201420244102.3U CN201420244102U CN203860064U CN 203860064 U CN203860064 U CN 203860064U CN 201420244102 U CN201420244102 U CN 201420244102U CN 203860064 U CN203860064 U CN 203860064U
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- fingers
- finger
- flexible
- rigid
- strawberry
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Abstract
A rigid and flexible mixed tail end actuator for picking a strawberry comprises a palm, a wrist and two pairs of fingers with the same structure, wherein each pair of fingers comprises a flexible finger and a rigid finger, the two pairs of fingers are symmetrically mounted on the palm, the joint position of each finger is connected with one side of the palm through a toothed gear, profiling curved surfaces are arranged on the fingers, force sensors are arranged on the inner sides of the flexible fingers, and profiling shears are arranged on the rigid fingers; and the wrist is mounted on the other side of the palm. When the rigid and flexible mixed tail end actuator works, the rigid fingers and the flexible fingers are closed to the palm under the drive of the toothed gears of the fingers, the rigid fingers press a strawberry stem while the flexible fingers grab the tip end of the strawberry, at the moment, the profiling shears on the rigid fingers shear the stem off, and after the flexible fingers contact the strawberry, a signal is fed back to the toothed gears of the fingers when the force sensors on the surface of the flexible fingers detect preset grabbing force, so that the toothed gears stop rotation, and the strawberry is picked.
Description
Technical field
The utility model relates to a kind of picking end actuating unit, especially relates to a kind of hard and soft mixing strawberry picking end actuating unit.
Background technology
China's strawberry cultivating area in recent years rapidly increases, and occupies first place in the world.In strawberry harvest time, hand labor intensity and workload are very large, in addition in greenhouse, environment is damp and hot, operating environment is very severe, and because the appearance of strawberry is comparatively fragile, and its shape and upgrowth situation complexity, the top priority that therefore project organization is simple, motion is flexible, many finger-types end effector flexible job becomes strawberry picking robot development.
Utility model content
The purpose of this utility model is to provide a kind of hard and soft mixing picking mechanical arm end actuating unit, is a set of mechanical paw of plucking for strawberry, and designs taking 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 palm, wrist, two pairs of fingers that structure is identical; Described every pair of finger comprises a flexible finger and a rigidity finger, two pairs of finger symmetries are arranged on palm, and each finger-joint place is all connected with palm one side by toothed wheel, on described finger, be equipped with profiling curved surface, described flexible finger inner side is provided with power sensor, and described rigidity finger is provided with profiling and cuts; Described wrist is arranged on the opposite side of palm.
The beneficial effect the utlity model has is: toothed wheel drives four fingers, finger rotates around joint under the effect of toothed wheel, and two flexible fingers close up, parcel strawberry tip, two rigidity finger profilings in the process of parcel strawberry are cut engagement and are cut off carpopodium, realize strawberry and pluck operation.The utility model is simple in structure, processing ease, and motion flexibly, can be used for the flexible harvesting of strawberry operation, coordinates other device of robot to realize the harvesting operation of efficient high reliability.
Brief description of the drawings
Fig. 1 is arm end effector device installation diagram.
Fig. 2 is manipulator rigidity finger schematic diagram.
Fig. 3 is manipulator flexible finger schematic diagram.
In figure: 1. rigidity finger; 2. flexible finger; 3. finger cradle head; 4. wrist; 5. palm; 6. bull stick; 7. toothed wheel; 8. power sensor; 9. profiling is cut.
Embodiment
As shown in Figure 1, Figure 2, Figure 3 shows, the utility model comprises palm (5), wrist (4), two pairs of fingers that structure is identical; Described every pair of finger comprises a flexible finger (2) and a rigidity finger (1), two pairs of finger symmetries are arranged on palm (5), and each finger-joint place is all connected with palm (5) one sides by toothed wheel (7), on described finger, be equipped with profiling curved surface, described flexible finger inner side is provided with power sensor (8), and described rigidity finger (1) is provided with profiling and cuts (9); Described wrist (4) is arranged on the opposite side of palm (5).
When the utility model work, under the driving of finger toothed wheel (7), make rigidity finger (1) and flexible finger (2) closed to palm (5), flexible finger (2) is embraced the most advanced and sophisticated rigidity finger (1) simultaneously of strawberry and is pushed down strawberry carpopodium, the now profiling on rigidity finger (1) is cut (9) carpopodium is cut off, after submissive finger (2) touches strawberry, in the time that its surperficial power sensor (8) detects predetermined grasp force, give finger toothed wheel (7) by signal feedback, toothed wheel (7) stops operating, realize strawberry harvesting.
Claims (2)
1. a hard and soft mixing strawberry picking end actuating unit, is characterized in that: comprise palm, wrist, two pairs of fingers that structure is identical; Described every pair of finger comprises a flexible finger and a rigidity finger, and two pairs of finger symmetries are arranged on palm, and each finger-joint place is all connected with palm one side by toothed wheel; Described wrist is arranged on the opposite side of palm.
2. the hard and soft mixing of one according to claim 1 strawberry picking end actuating unit, is characterized in that: on described finger, be equipped with profiling curved surface, described flexible finger inner side is provided with power sensor, and described rigidity finger is provided with profiling and cuts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420244102.3U CN203860064U (en) | 2014-05-14 | 2014-05-14 | Rigid and flexible mixed tail end actuator for picking strawberry |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420244102.3U CN203860064U (en) | 2014-05-14 | 2014-05-14 | Rigid and flexible mixed tail end actuator for picking strawberry |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203860064U true CN203860064U (en) | 2014-10-08 |
Family
ID=51641061
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420244102.3U Expired - Fee Related CN203860064U (en) | 2014-05-14 | 2014-05-14 | Rigid and flexible mixed tail end actuator for picking strawberry |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203860064U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104396446A (en) * | 2014-12-09 | 2015-03-11 | 广西大学 | Torsional spring type fruit picking device |
| CN107696047A (en) * | 2017-10-12 | 2018-02-16 | 谷新运 | A kind of cucumber flexibility picking mechanical arm end effector and picking method |
| CN114916317A (en) * | 2022-05-09 | 2022-08-19 | 华南理工大学 | Multi-connecting-rod fruit picking manipulator |
| US11445663B2 (en) | 2018-02-13 | 2022-09-20 | Saga Robotics As | Device for picking fruit comprising overlapping locating members |
-
2014
- 2014-05-14 CN CN201420244102.3U patent/CN203860064U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104396446A (en) * | 2014-12-09 | 2015-03-11 | 广西大学 | Torsional spring type fruit picking device |
| CN107696047A (en) * | 2017-10-12 | 2018-02-16 | 谷新运 | A kind of cucumber flexibility picking mechanical arm end effector and picking method |
| CN107696047B (en) * | 2017-10-12 | 2020-11-03 | 新昌县大菠萝农业发展有限公司 | End effector of cucumber flexible picking manipulator and picking method |
| US11445663B2 (en) | 2018-02-13 | 2022-09-20 | Saga Robotics As | Device for picking fruit comprising overlapping locating members |
| CN114916317A (en) * | 2022-05-09 | 2022-08-19 | 华南理工大学 | Multi-connecting-rod 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: 20141008 Termination date: 20150514 |
|
| EXPY | Termination of patent right or utility model |