CN204741860U - Mechanical hand is plucked to hard and soft series -parallel connection berry with but locking joint - Google Patents
Mechanical hand is plucked to hard and soft series -parallel connection berry with but locking joint Download PDFInfo
- Publication number
- CN204741860U CN204741860U CN201520276669.3U CN201520276669U CN204741860U CN 204741860 U CN204741860 U CN 204741860U CN 201520276669 U CN201520276669 U CN 201520276669U CN 204741860 U CN204741860 U CN 204741860U
- Authority
- CN
- China
- Prior art keywords
- joint
- dactylus
- hard
- parallel connection
- berry
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model provides a mechanical hand is plucked to hard and soft series -parallel connection berry with but locking joint. By frame, servo motor to and the same two or more fingers of structure are constituteed. Every finger has two cradle heads, the first joint movable joint of giving first place to, and by the servo motor drive, installation rigidity actuating arm on the first joint, but the free joint of second joint for having locking means, rigidity actuating arm and gentle and agreeable component dactylus are connected to the second joint, gentle and agreeable member dactylus adopts soft materials to make, its one end installation pouring weight, and the other end is the gentle and agreeable structure that picks. The utility model discloses the application takes locking means's free joint to connect the rigidity actuating arm and the flexibility snatchs the hard and soft series -parallel connection finger structure of structure dactylus constitution, realize that quick flexibility snatchs the object, and the detection & controling that need not adopt force transducer to snatch the parameter improves effectively and snatch efficiency, can guarantee simultaneously. The utility model discloses simple structure, the motion is nimble, can be used to the quick flexibility that berry etc. Easily decreased the object and snatchs the operation.
Description
Technical field
The utility model relates to a kind of picking mechanical arm, especially relates to that a kind of have can the hard and soft series-parallel connection berry picking mechanical arm in locking joint.
Background technology
The berry mouthfeels such as strawberry, tomato, red bayberry are sweet, nutritious, and simultaneously its exocarp is thinner, pluck and in packaging process, the mechanical damage of fruit can have a strong impact on its product phase and shelf-life.From plucking, pack be all manual work to major part berry, and labor strength is very greatly, high to the qualification requirement of workman.Therefore in recent years, develop a kind of soft fruits fruit catching robot and become study hotspot.Because berry cuticle is tender and lovely, manipulator state modulator in crawl fruit process requires very strict.For strawberry, the crawl implementation capacity that mechanical finger acts on fruit surface can not be greater than 1.5 newton, the active force duration is not more than 4 seconds, and in crawl process, fruit local elastic deformation amount more than 1mm, can not meet above-mentioned condition guarantee strawberry fruit and do not damage in crawled.Common catching robot generally adopts multi-degree-of-freemechanical mechanical arm as driving mechanism, adopts pressure sensor to feed back grasp force, then controls grasp force.Often in order to meet the control accuracy requirement of power in control procedure, crawl process is slowly carried out, from and the active force duration can be caused long.This reduces operating efficiency on the one hand, still causes the generation of mechanical damage on the other hand.Therefore the berry catching robot that project organization is simple, picking efficiency is high becomes problem demanding prompt solution.
Utility model content
The purpose of this utility model is to provide that a kind of have can the hard and soft series-parallel connection berry picking mechanical arm in locking joint, two or more mechanical finger respectively by driven by servomotor, and with the flexible rapid picking operation of berry for target designs.In order to achieve the above object, the technical solution adopted in the utility model is:
The utility model is clipping catching robot, and by frame, servomotor, and structure identical two finger or multiple finger form.Each finger wherein has two cradle heads, and the first joint is initiatively joint, and by driven by servomotor, second joint is that have can the free joint of locking system; Point the first joint to be connected with frame, be rigidity actuating arm between the first joint and second joint, second joint installed compliant member dactylus; Compliant member dactylus adopts soft material (as silica gel) to make, and be connected with second joint in the middle part of it, side, joint is with pouring weight, and opposite side is complaisant grasping structure, easily deformable with the difformity adapting to the clamping objects such as berry.
When driven by servomotor points the first joint acceleration rotation, it is that rigidity actuating arm is with the first joint motions that corner occurs; Second joint keeps Locked state under normal conditions, removes locking when rigid arm accelerated motion; The pouring weight installed due to compliant member dactylus side has larger inertia, makes the complaisant grasping structure division accelerated motion of compliant member dactylus opposite side, realizes the fast envelope to fruit.After the first joint rotation angle reaches, each finger all can not reach the position capturing object, then the elapsed time postpones t
1, this time period t
1in, under the effect of inertia force, compliant member dactylus side pouring weight continues to drive compliant member dactylus to rotate around second joint axis, complaisant grasping component finger applies active force to berry fruit, under fruit reaction force, compliant member dactylus adapts to the shape of the clamping objects such as berry by stress deformation, thus realizes capturing the flexibility of berry fruit.Time delay t
1after end, second joint locking system implements locking action, and maintenance current state completes the crawl to berry.During release, rotated backward can be terminated seized condition by the first joint.
The beneficial effect that the utility model has is: the hard and soft series-parallel connection finger structure using locking joint, in conjunction with the compliant member dactylus with locking system, realize flexible crawl object fast, and do not need to adopt force snesor to carry out capturing the Detection & Controling of parameter, effective raising captures efficiency, avoids gripping portion and fruit Long contact time simultaneously and causes fruit losses.The utility model structure is simple, processing ease, and motion flexibly, can be used for the quick flexibility of berry fruit and plucks operation, coordinate other positioners such as robot can realize harvesting or the package handling of efficient high reliability.
Accompanying drawing explanation
Fig. 1 is the tomograph of two finger embodiments of this utility model, and Fig. 2 is the front view of two finger embodiments of this utility model, and Fig. 3 is the structure chart of the free joint in embodiment with locking system.
In figure: 1. frame, 2. servomotor, 3. rigidity actuating arm, 4. has the free joint of locking system, 5. compliant member dactylus, 6. object, 7. pouring weight, 8. screw, 9. mandrel, 10. electromagnet, 11. freely overlap, 12. friction iron pans, 13. springs, 14. sliding bars, 15. bearings.
Embodiment
As shown in Figure 1, Figure 2, Figure 3 shows, the utility model embodiment comprises two identical fingers of structure, each finger is driven by a servomotor (2), the motor output shaft of each servomotor (2) is exactly the first joint of this finger, and rigidity actuating arm (3) is arranged on the output shaft of servomotor (2); Finger second joint is the free joint (4) with locking system, and the mandrel (9) with the free joint (4) of locking system is arranged in the installing hole of rigidity actuating arm (3), fastening with screw (8); Compliant member dactylus (5) is arranged on the free cover (11) of the free joint (4) with locking system, adopts elastic conjunction, compliant member dactylus (5) with freely overlap (11) and be synchronized with the movement; The nip side of compliant member dactylus (5) adopts flexible material to make, and adopts the mode of middle many places distribution hole, realizes producing large deformation to adapt to the shape of object when compliant member dactylus (5) contacts with object (6); Pouring weight (7) is fixed in compliant member dactylus (5) upper end hole;
As shown in Figure 3, the free joint (4) with locking system is a stand-alone assembly.Wherein, adopted to coordinate between mandrel (9) with electromagnet (10) and be fixed together; Freely overlap between (11) with mandrel (9) and be connected by bearing (15), freely overlapping (11) can rotate around mandrel (9); The end face of friction iron pan (12) installs several sliding bar (14), and sliding bar (14) is arranged in the installing hole of electromagnet (10), belongs to matched in clearance, and friction iron pan (12) can be slided along the axis direction of sliding bar (14); Spring (13) is Compress Spring, and free cover (11) pushed to by the spring force iron pan (12) that will rub, friction iron pan (12) and freely overlap and have frictional force between (11) and can not relatively rotate; Electromagnetic attraction is produced when electromagnet (10) obtains electric, electromagnet (10) attracts friction iron pan (12) to overcome the elastic force of spring (13), friction iron pan (12) and freely overlap between (11) and lose frictional force, then freely overlapping (11) can rotate freely around mandrel (9).
In use procedure, the action of two fingers is synchronously carried out.Object (6) to be held is between two fingers, and frame (1) is not high relative to the position accuracy demand of object (6), and usual fluctuation range is in 10 millimeter.Servomotor (2) starts to accelerate rotary actuation two and points while head for target thing (6) produces clamping movement, the electromagnet (10) with the free joint (4) of locking system obtains electric, friction iron pan (12) and freely overlap between (11) and lose frictional force, under the inertia effect of pouring weight (7), freely overlap (11) and produce rotary motion around mandrel (9), quick head for target thing (6) motion of compliance portion of compliant member dactylus (5), realizes the fast envelope to object (6).After the corner of servomotor (2) reaches, pouring weight (7) also can have certain speed, and now the elapsed time postpones t
1at this moment in section, under the effect of inertia force, compliant member dactylus (5) continues to rotate around mandrel (9) axis under the inertia effect of pouring weight (7), compliant member dactylus (5) applies active force to object (6), under reaction force acts, the compliance portion of compliant member dactylus (5) reaches the clamping to object (6) by stress deformation; Now, time delay t
1terminate, electromagnet (10) dead electricity, iron pan (12) and freely overlap between (11) and produce frictional force, the free joint (4) with locking system is in lockup state, then the submissive portion of compliant member dactylus (5) keeps elastic deformation, completes the clamping to object (6).
Claims (3)
1. having can the hard and soft series-parallel connection berry picking mechanical arm in locking joint, it is characterized in that: comprise frame (7), servomotor (5), and two or more fingers that structure is identical; Each finger has two cradle heads, and the first joint is active joint, by driven by servomotor, the first joint is installed rigidity actuating arm; Second joint is that have can the free joint of locking system, and second joint connects rigidity actuating arm and compliant member dactylus.
2. according to claim 1 a kind of have can the hard and soft series-parallel connection berry picking mechanical arm in locking joint, it is characterized in that: compliant member dactylus adopts soft material to make, and pouring weight is installed in its one end, and the other end is many complaisant grasping structure.
It is 3. according to claim 1 that a kind of have can the hard and soft series-parallel connection berry picking mechanical arm in locking joint, it is characterized in that: second joint is that have can the free joint of locking system, adopt electromagnet as driving element, spring (13) is Compress Spring, free cover (11) pushed to by the spring force iron pan (12) that will rub, friction iron pan (12) and freely overlap and have frictional force between (11) and can not relatively rotate; Electromagnetic attraction is produced when electromagnet (10) obtains electric, electromagnet (10) attracts friction iron pan (12) to overcome the elastic force of spring (13), friction iron pan (12) and freely overlap between (11) and lose frictional force, then freely overlapping (11) can rotate freely around mandrel (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520276669.3U CN204741860U (en) | 2015-05-04 | 2015-05-04 | Mechanical hand is plucked to hard and soft series -parallel connection berry with but locking joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520276669.3U CN204741860U (en) | 2015-05-04 | 2015-05-04 | Mechanical hand is plucked to hard and soft series -parallel connection berry with but locking joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204741860U true CN204741860U (en) | 2015-11-11 |
Family
ID=54456638
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520276669.3U Expired - Fee Related CN204741860U (en) | 2015-05-04 | 2015-05-04 | Mechanical hand is plucked to hard and soft series -parallel connection berry with but locking joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204741860U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106182064A (en) * | 2015-05-04 | 2016-12-07 | 河北农业大学 | It is a kind of that have can the hard and soft series-parallel connection berry picking mechanical arm in locking joint |
| CN107820849A (en) * | 2017-12-04 | 2018-03-23 | 山东科技大学 | A kind of blueberry harvesting and sorting equipment and method of work |
| CN109429695A (en) * | 2018-11-27 | 2019-03-08 | 陈泽彬 | A kind of tomato automation production recovery arrangement of limit shearing rhizome |
| CN114375689A (en) * | 2022-02-08 | 2022-04-22 | 辽宁科技大学 | Target maturity judging and classified storage method for agricultural picking robot |
-
2015
- 2015-05-04 CN CN201520276669.3U patent/CN204741860U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106182064A (en) * | 2015-05-04 | 2016-12-07 | 河北农业大学 | It is a kind of that have can the hard and soft series-parallel connection berry picking mechanical arm in locking joint |
| CN106182064B (en) * | 2015-05-04 | 2018-07-03 | 河北农业大学 | It is a kind of have can locking joint hard and soft series-parallel connection berry picking mechanical arm |
| CN107820849A (en) * | 2017-12-04 | 2018-03-23 | 山东科技大学 | A kind of blueberry harvesting and sorting equipment and method of work |
| CN109429695A (en) * | 2018-11-27 | 2019-03-08 | 陈泽彬 | A kind of tomato automation production recovery arrangement of limit shearing rhizome |
| CN109429695B (en) * | 2018-11-27 | 2021-11-05 | 湖南过龙岭生态农业科技股份有限公司 | Automatic tomato harvesting equipment capable of achieving limiting rhizome shearing |
| CN114375689A (en) * | 2022-02-08 | 2022-04-22 | 辽宁科技大学 | Target maturity judging and classified storage method for agricultural picking robot |
| CN114375689B (en) * | 2022-02-08 | 2023-09-08 | 辽宁科技大学 | Target maturity judging and classifying storage method for agricultural picking robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204741860U (en) | Mechanical hand is plucked to hard and soft series -parallel connection berry with but locking joint | |
| JP4026773B2 (en) | Method and apparatus for gripping and moving food | |
| CN204604344U (en) | A kind of spring mechanical paw | |
| CN105291096B (en) | Heavy-load horizontal-movement transfer robot mechanism with three degrees of freedom | |
| CN106717534A (en) | A kind of drive lacking fruit and vegetable picking end effector apparatus and picking method | |
| CN104029208A (en) | Rigid and flexible parallel connected under-driving strawberry picking manipulator tail end actuator device | |
| CN111226600A (en) | Under-actuated fruit and vegetable picking manipulator and picking method | |
| CN108934439A (en) | A kind of drive lacking flexible retainer | |
| Wang et al. | Design of test platform for robot flexible grasping and grasping force tracking impedance control | |
| CN102550217A (en) | End effector of novel harvesting robot and flexibility control method thereof | |
| CN204741861U (en) | Machine people end effector structure is plucked to fruit vegetables | |
| Liang et al. | PASA finger: A novel parallel and self-adaptive underactuated finger with pinching and enveloping grasp | |
| CN205266301U (en) | Strawberry picking manipulator device | |
| CN205799474U (en) | Piston drives magnetic current flexible machine hand apparatus | |
| CN106182064A (en) | It is a kind of that have can the hard and soft series-parallel connection berry picking mechanical arm in locking joint | |
| CN108127654B (en) | A hand and foot universal mechanism for polypod robot | |
| Chen et al. | Stiffening of soft robotic actuators—Jamming approaches | |
| JP2012024882A (en) | Device and method for driving robot, and robot | |
| Azami et al. | Development of hydraulically-driven soft hand for handling heavy vegetables and its experimental evaluation | |
| CN112720558A (en) | Flexible finger-tip robot hand directly driven by motor | |
| Bao et al. | Flexible pneumatic end-effector for agricultural robot: Design & experiment | |
| RU147155U1 (en) | CAPTURE CORRECTIVE MODULE | |
| CN203622434U (en) | Tail end executing device of scallop flexible mechanical arm | |
| CN104816302B (en) | A kind of snakelike Web robot of climbing and climb network method | |
| Tamamoto et al. | Multi-joint gripper with stiffness adjuster |
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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151111 Termination date: 20160504 |