CN206658520U - Fruit picking mechanical arm - Google Patents
Fruit picking mechanical arm Download PDFInfo
- Publication number
- CN206658520U CN206658520U CN201720475960.2U CN201720475960U CN206658520U CN 206658520 U CN206658520 U CN 206658520U CN 201720475960 U CN201720475960 U CN 201720475960U CN 206658520 U CN206658520 U CN 206658520U
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- CN
- China
- Prior art keywords
- digitorum manus
- articulations digitorum
- mounting rod
- remote
- nearly
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Abstract
Fruit picking mechanical arm, it is characterised in that：Three motors on mounting rod are arranged on including mounting rod, three fingers for being fixedly mounted on mounting rod one end and three, three motors drive three finger movements respectively；The finger includes nearly articulations digitorum manus, middle articulations digitorum manus and remote articulations digitorum manus, nearly articulations digitorum manus one end is fixedly connected on mounting rod, nearly articulations digitorum manus other end is hinged with middle articulations digitorum manus and remote articulations digitorum manus successively by two hinges, torsion spring is mounted in each hinge, pulley is mounted in middle articulations digitorum manus and nearly articulations digitorum manus, after a piece pull rope is overlapped on two pulleys, pull rope upper end is connected with remote articulations digitorum manus, and pull rope lower end is connected on motor output shaft.
Description
Technical field
It the utility model is related to fruit picking mechanical arm.
Background technology
It is excessively single to some manipulators crawl fruit size shape, the more regular spherefruit of shape can only be captured,
And during crawl, every finger grip power is all identical, can not be distributed in well on each finger, easily to being crawled
Fruit causes to damage.
The content of the invention
The technical problem that the utility model solves is to provide a kind of fruit picking mechanical arm, and this manipulator can not damage
In the case of fruit, some irregular spherefruits of crawl shape.
In order to solve the above-mentioned technical problem, the technical solution of the utility model is：Fruit picking mechanical arm, including installation
Bar, three fingers for being fixedly mounted on mounting rod one end and three are arranged on three motors on mounting rod, three motor difference
Drive three finger movements；
The finger includes nearly articulations digitorum manus, middle articulations digitorum manus and remote articulations digitorum manus, and nearly articulations digitorum manus one end is fixedly connected on mounting rod
On, nearly articulations digitorum manus other end is hinged with middle articulations digitorum manus and remote articulations digitorum manus successively by two hinges, is respectively mounted in each hinge
There is torsion spring, pulley is mounted in middle articulations digitorum manus and nearly articulations digitorum manus, after a pull rope is overlapped on two pulleys, on pull rope
End is connected with remote articulations digitorum manus, and pull rope lower end is connected on motor output shaft.
Also include control system, the control system includes fuzzy controller, each middle articulations digitorum manus and each remote articulations digitorum manus with
Force snesor is mounted on the face of fruit contact, sensor feeds back to the fruit grasp force detected in fuzzy controller,
The driving force that fuzzy controller is provided according to the real-time size of grasp force come regulation motor.
Fuzzy control decision table is prestored in described fuzzy controller.
The beneficial effects of the utility model are：Three fingers are controlled respectively using three motors, and activation lacking mechanical can be achieved
Adaptation and grasp force of the hand to fruit shapes are uniformly distributed, can be by manipulator to fruit using fuzzy controller and force snesor
Real grasp force control is reasonably worth at one, fruit is not caused to damage on the premise of promptly fruit.
Brief description of the drawings
The utility model is described further below in conjunction with the accompanying drawings：
Fig. 1 is the utility model fruit picking mechanical arm structural representation.
Fig. 2 is the utility model fruit picking mechanical arm top view.
Fig. 3 is the utility model electric machine control system block diagram.
Fig. 4 is that the single finger of the utility model is driven schematic views.
In figure：Mounting rod 1, nearly articulations digitorum manus 2, middle articulations digitorum manus 3, remote articulations digitorum manus 4, hinge 5, torsion spring 6, motor 7, pulley 8, lead
Messenger 9, force snesor 10.
Embodiment
As shown in Fig. 1 to 4：Fruit picking mechanical arm, including 1, three hand for being fixedly mounted on the one end of mounting rod 1 of mounting rod
Refer to and three three motors 7 being arranged on mounting rod 1, three motors 7 drive three finger movements respectively；
The finger includes nearly articulations digitorum manus 2, middle articulations digitorum manus 3 and remote articulations digitorum manus 4, and nearly one end of articulations digitorum manus 2 is fixedly connected on peace
Fill on bar 1, the nearly other end of articulations digitorum manus 2 is be hinged with middle articulations digitorum manus 3 and remote articulations digitorum manus 4 successively by two hinges 5, in each hinge
Torsion spring 6 is mounted in 5, pulley 8 is mounted in middle articulations digitorum manus 3 and nearly articulations digitorum manus 2, a pull rope 9 overlaps two cunnings
After on wheel 8, the upper end of pull rope 9 is connected with remote articulations digitorum manus 4, and the lower end of pull rope 9 is connected on the output shaft of motor 7.
Also include control system, the control system includes fuzzy controller, in each middle articulations digitorum manus 3 and each remote articulations digitorum manus 4
Force snesor 10 is mounted on the face contacted with fruit, the fruit grasp force detected is fed back to fuzzy control by sensor 10
In device, driving force that fuzzy controller is provided according to the real-time size of grasp force come regulation motor 7.
Fuzzy control decision table is prestored in described fuzzy controller.
It is as follows that fuzzy decision table is preset in fuzzy controller：
In table：Fuzzy reasoning table is to be inputted using remote articulations digitorum manus 4, middle articulations digitorum manus 3 and the error of fruit contact force as two,
Export as driving force, wherein EJFor the middle error of articulations digitorum manus 3, EYFor the remote error of articulations digitorum manus 4, NB is negative big, and during NM is bears, NS is negative
Small, Z zero, PB are honest, and PM is center, and PS is just small, and fuzzy control rule is " if ... and ... then ... " shape
Formula.
Embodiment：
Lossless harvesting experience of the fuzzy control device based on operating personnel and expert of underactuated manipulator, by execute-in-place
Experience is written as control algolithm, such as：When articulations digitorum manus 3 does not contact also with remote articulations digitorum manus 4 with fruit in during beginning, each force snesor
It is not detected by contact force, the middle error E of articulations digitorum manus 3JFor NB, the remote error E of articulations digitorum manus 4YAlso be NB, now the driving force of motor 7 with compared with
Significantly (PB) increases, and after the central contacting fruit of articulations digitorum manus 3, the contact force that force snesor detects can increase, and now middle finger closes
Save 3 error EsJFor NM, the remote error E of articulations digitorum manus 4YFor NB, at this moment reduce the increase amplitude of the driving force of motor 7 to PM, central articulations digitorum manus
3 contact forces further increase, to when soon reaching preset value, the middle error E of articulations digitorum manus 3JFor NS, the remote error E of articulations digitorum manus 4YFor NB,
Now in order to avoid during contact finger infringement is impacted to fruit the increase amplitude of the driving force of motor 7 will be further reduced extremely
PS, when central articulations digitorum manus 3 and remote articulations digitorum manus 4 contact force reaches desired value, the middle error E of articulations digitorum manus 3JFor Z, remote articulations digitorum manus 4 misses
Poor EYAlso it is Z, it is also Z that the driving force of motor 7, which keeps constant increasing degree, and now fruit has been grasped and fruit has not been caused to damage
Wound.
Claims (2)
1. fruit picking mechanical arm, it is characterised in that：Including mounting rod（1）, three pieces be fixedly mounted on mounting rod（1）The hand of one end
Refer to and three are arranged on mounting rod（1）On three motors（7）, three motors（7）Three finger movements are driven respectively；
The finger includes nearly articulations digitorum manus（2）, middle articulations digitorum manus（3）With remote articulations digitorum manus（4）, nearly articulations digitorum manus（2）One end is fixedly connected
In mounting rod（1）On, nearly articulations digitorum manus（2）Other end passes through two hinges（5）Successively with middle articulations digitorum manus（3）With remote articulations digitorum manus
（4）It is be hinged, in each hinge（5）Inside it is mounted on torsion spring（6）, in middle articulations digitorum manus（3）With nearly articulations digitorum manus（2）Inside it is mounted on pulley
（8）, a pull rope（9）Overlap two pulleys（8）After upper, pull rope（9）Upper end and remote articulations digitorum manus（4）Connection, pull rope（9）
Lower end is connected to motor（7）On output shaft；
Also include control system, the control system includes fuzzy controller, in each middle articulations digitorum manus（3）With each remote articulations digitorum manus（4）
Force snesor is mounted on the face contacted with fruit, the fruit grasp force detected is fed back to fuzzy controller by sensor
Interior, fuzzy controller is according to the real-time size of grasp force come regulation motor（7）The driving force provided.
2. fruit picking mechanical arm according to claim 1, it is characterised in that：Mould is prestored in described fuzzy controller
Paste control decision table.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720475960.2U CN206658520U (en) | 2017-05-02 | 2017-05-02 | Fruit picking mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720475960.2U CN206658520U (en) | 2017-05-02 | 2017-05-02 | Fruit picking mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206658520U true CN206658520U (en) | 2017-11-24 |
Family
ID=60370738
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720475960.2U Expired - Fee Related CN206658520U (en) | 2017-05-02 | 2017-05-02 | Fruit picking mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206658520U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108127666A (en) * | 2017-12-29 | 2018-06-08 | 深圳市越疆科技有限公司 | A kind of grasping means of mechanical arm, system and mechanical arm |
| CN108445794A (en) * | 2018-02-28 | 2018-08-24 | 辽宁科技大学 | A kind of induction machine pincers clamping controller system and control method |
| CN109526392A (en) * | 2019-01-09 | 2019-03-29 | 哈尔滨理工大学 | A kind of mechanical paw for fruit picking |
| CN112273054A (en) * | 2020-11-30 | 2021-01-29 | 南宁学院 | Three-finger flexible passion fruit picking manipulator |
| CN113892345A (en) * | 2021-11-04 | 2022-01-07 | 巫溪县碧落农业开发有限公司 | Device is picked to tribute hot pepper |
-
2017
- 2017-05-02 CN CN201720475960.2U patent/CN206658520U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108127666A (en) * | 2017-12-29 | 2018-06-08 | 深圳市越疆科技有限公司 | A kind of grasping means of mechanical arm, system and mechanical arm |
| CN108445794A (en) * | 2018-02-28 | 2018-08-24 | 辽宁科技大学 | A kind of induction machine pincers clamping controller system and control method |
| CN108445794B (en) * | 2018-02-28 | 2021-08-27 | 辽宁科技大学 | Induction machine clamp holding controller system and control method |
| CN109526392A (en) * | 2019-01-09 | 2019-03-29 | 哈尔滨理工大学 | A kind of mechanical paw for fruit picking |
| CN112273054A (en) * | 2020-11-30 | 2021-01-29 | 南宁学院 | Three-finger flexible passion fruit picking manipulator |
| CN113892345A (en) * | 2021-11-04 | 2022-01-07 | 巫溪县碧落农业开发有限公司 | Device is picked to tribute hot pepper |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171124 Termination date: 20180502 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |