CN207151225U - Full driving apery hand three refers to fruit and vegetable picking end effector - Google Patents
Full driving apery hand three refers to fruit and vegetable picking end effector Download PDFInfo
- Publication number
- CN207151225U CN207151225U CN201720809344.6U CN201720809344U CN207151225U CN 207151225 U CN207151225 U CN 207151225U CN 201720809344 U CN201720809344 U CN 201720809344U CN 207151225 U CN207151225 U CN 207151225U
- Authority
- CN
- China
- Prior art keywords
- digitorum manus
- articulations digitorum
- connecting rod
- centre
- fruit
- 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
It the utility model is related to a kind of full driving apery hand three and refer to fruit and vegetable picking end effector, including thumb, forefinger and middle finger, and every finger is respectively provided with remote articulations digitorum manus, nearly articulations digitorum manus and centre of the palm frame, one end of remote articulations digitorum manus and nearly articulations digitorum manus is articulated and connected, and the other end and the centre of the palm frame of nearly articulations digitorum manus are articulated and connected；And the nearly finger linkage and far finger linkage for driving nearly articulations digitorum manus and remote articulations digitorum manus to bend and open respectively are additionally provided with every finger, to realize the action of taking fruit；Thumb centre of the palm frame is fixedly connected at a certain angle with middle finger centre of the palm frame, and forefinger is connected with thumb by a palm member, so that the fruits and vegetables won are mentioned with supporting role, and the steering mechanism that control forefinger rotates is provided with the lower end of forefinger centre of the palm frame；The utility model uses the full type of drive of two joint, and structure design advantages of simple, crawl effect stability, motion are flexible, can effectively improve operation quality and operating efficiency.
Description
Technical field
A kind of fruit and vegetable picking end effector is the utility model is related to, refers to fruits and vegetables more particularly to a kind of full driving apery hand three
Picking end effector.
Background technology
With scientific and technological progress, the mechanical intelligent degree for participating in agricultural is improved constantly, and fruit and vegetable picking is substituted using robot
Hand labor has become the important trend of modern agricultural development.Fruit and vegetable picking is wasted time and energy the most in agricultural production operation, this
So that research fruit and vegetable picking robot turns into the great demand of modern agricultural production.The end effector of fruit and vegetable picking robot is made
The important component acted for last execution harvesting, it is necessary to be provided simultaneously with perception and perform Motor ability as human hand.With
Machinery substitutes not only flexible but also sensitive human hand, and be traditional agriculture equipment technology merges with modern machines people's technology, is to pass
Unite agricultural development band to modernization, intellectuality road important embodiment.Because the appearance of fruits and vegetables is more fragile, and its shape and
Upgrowth situation is complicated, therefore the design of end effector is typically considered one of core technology of agricultural robot.
For example, Authorization Notice No. is【CN102729256B】Utility model patent a kind of drive lacking picking mechanical arm is disclosed
End effector apparatus, including three fingers of structure identical, transmission mechanism, three pieces of contact plates, three connecting rods, drive rod and turn
Moving plate；Each finger has three joints, and the one end in the joint of finger first is uniformly arranged on rotating disc, and each finger is equipped with
Contact plate, drive rod move under the driving of motor, drive 3 finger move toward one anothers closed by connecting rod, when connecing on finger
When touch panel touches fruits and vegetables, fruits and vegetables can promote contact plate to slide, partial gear motion inside driving finger second joint, therewith
Meshed gears drives the joint motions of finger the 3rd, contacts the force snesor test of plate surface when arriving predetermined grasp force, will believe
Motor number is fed back to, control drive rod stops movement, and motor drives turn disc, realizes fruit and vegetable picking again.
But it uses drive lacking mode, control effect is not still good enough in terms of fruits and vegetables damage is reduced, operation quality and work
Industry efficiency needs further to be improved；It uses three joint designs modes, as the grasping configuration for weighing grasping stability important indicator
Number is the relation with the change of joint number exponentially, and grasping configuration is more more contact point disengaging more easily occurs, is less susceptible to stabilization, i.e.,
Three articulated manner grasp stabilities are poor, and are difficult to accurately catch fruit in the case where robot graphics' identification has error.
Utility model content
Technical problem to be solved in the utility model be for end effector grasp stability in the prior art it is poor,
The defects of operation quality and not good enough operating efficiency, propose that a kind of full driving apery hand three refers to fruit and vegetable picking end effector, use
The mode that two joint drives entirely, realize and refer to similar motion mode to the thumb, forefinger, middle finger three of people, operation can be effectively improved
Quality and efficiency, and move flexible, versatile, grasp stability height.
The utility model is realized using following technical scheme：Full driving apery hand three refers to fruit and vegetable picking end and performed
Device, including thumb, forefinger and middle finger, and every finger is respectively provided with remote articulations digitorum manus, nearly articulations digitorum manus and centre of the palm frame, described far refer to is closed
Saving and be articulated and connected with one end of nearly articulations digitorum manus, the other end and the centre of the palm frame of nearly articulations digitorum manus are articulated and connected, and the two of the nearly articulations digitorum manus
End is provided with U-shaped groove, and the projection with the matching grooves is provided with remote articulations digitorum manus and centre of the palm frame, coordinates joint cleverer
It is living；And be additionally provided with every finger drive respectively nearly articulations digitorum manus and remote articulations digitorum manus bend and the nearly finger linkage that opens and
Far refer to linkage, control nearly articulations digitorum manus and remote articulations digitorum manus to bend or open respectively by closely referring to linkage and far referring to linkage
Open the action for realizing taking fruit；
In addition, a palm member is also associated between forefinger and thumb, to mention supporting role to the fruits and vegetables won；Thumb
Fingers and palms heart frame is fixedly connected with middle finger centre of the palm frame by a connecting rod, and the lower end of forefinger centre of the palm frame is provided with control forefinger rotation
Steering mechanism；The gear assembly that the steering mechanism includes motor, is connected with electric machine main shaft, the gear assembly pass through a connection
Plate is fixedly connected with forefinger centre of the palm frame, and angle is adjusted around steering mechanism's rotation under the driving of motor.
Further, it is described closely refer to linkage include closely refer to drive mechanism, closely refer to first connecting rod, closely finger second connecting rod with
And closely refer to third connecting rod；The one end for closely referring to first connecting rod is connected with closely referring to the output end of drive mechanism, and the other end is with closely referring to second
Rod hinge connection connects；The one end for closely referring to second connecting rod is articulated and connected with centre of the palm frame, and the other end is cut with scissors with closely referring to one end of third connecting rod
Connect in succession, the other end for closely referring to third connecting rod is articulated and connected with nearly articulations digitorum manus, in the presence of closely drive mechanism is referred to, drives and closely refers to
First connecting rod stretches, and then drives the second connecting rod be hinged with it to be rotated around pin joint, so as to closely refer to the work of third connecting rod
With the nearly articulations digitorum manus bending of lower driving or open, realize grasping movement.
Further, it is described far refer to linkage include far refer to drive mechanism, far refer to first connecting rod, far finger second connecting rod with
And far refer to third connecting rod；The one end for far referring to first connecting rod is connected with far referring to the output end of drive mechanism, and the other end is with far referring to second
Rod hinge connection connects；The one end for far referring to second connecting rod is articulated and connected with centre of the palm frame, and the other end is cut with scissors with far referring to one end of third connecting rod
Connect in succession, the other end for far referring to third connecting rod is articulated and connected with remote articulations digitorum manus, in the presence of far drive mechanism is referred to, drives and far refers to
First connecting rod stretches, and then drives the second connecting rod be hinged with it to be rotated around pin joint, so as to far refer to the work of third connecting rod
With the remote articulations digitorum manus bending of lower driving or open, realize grasping movement.
Further, perpendicular limited block is additionally provided with below the second joint connecting rod, is closed with constraining far to refer to
Save the anglec of rotation relative to nearly articulations digitorum manus.
Further, drive mechanism and the closely finger drive mechanism of far referring to uses minitype cylinder or motor, by miniature
Cylinder or motor control first connecting rod it is flexible.
Further, the nearly articulations digitorum manus is provided with the first joint being fixedly connected with nearly articulations digitorum manus with centre of the palm frame hinged place
Connecting rod, the third connecting rod that closely refers to are hinged with the first joint link lever；Remote articulations digitorum manus is provided with far referring to nearly articulations digitorum manus hinged place
The second joint connecting rod of arthrodesis connection, the third connecting rod that far refers to are connected with second joint rod hinge connection.
Further, end effector also includes and motor and closely refers to drive mechanism and the far control that electrically connects of finger drive mechanism
Device processed, and the torque sensor being electrically connected with the controller is provided with joint.
Further, the palm member includes both ends connecting portion and medial arc portion；One end of palm member and the forefinger centre of the palm
Frame is articulated and connected, and the other end is connected by a palm connector with thumb centre of the palm frame, and can be surrounded palm connector and be rotated, forefinger
When being rotated under motor driving, palm member can be driven to be rotated around thumb centre of the palm frame, to change crawl direction, improve forefinger and thumb
Refer to kinematic dexterity, it is convenient to capture fruit.
Further, the palm connector includes the fixed part that is fixedly connected with thumb centre of the palm frame and vertical with fixed part
Extension, the palm member is connected with extension by a rotating shaft.
Further, in order to facilitate structure control and design, straight line parallel where electric machine main shaft and thumb centre of the palm frame, forefinger
The lower end of centre of the palm frame is provided with a U-shaped connector, and U-shaped connector is fixedly installed on connecting plate.
Further, part is in contact on the thumb, forefinger and middle finger with fruits and vegetables to be additionally provided with imitative human skin and gather
Layer is closed, the polymeric material of similar human skin, reduces the damage to fruits and vegetables during capturing.
Compared with prior art, it is the advantages of the utility model with good effect：
The utility model proposes apery hand three refer to fruit and vegetable picking end effector, using the full type of drive of two joint, make
Crawl control is more flexible, imitates the motion mode of human finger, can complete the motion mode similar with palm crawl, realize and
Thumb, forefinger, the middle finger three of people refers to similar motion mode, and is distinguished respectively by closely referring to linkage and far referring to linkage
Bending and the opening of nearly articulations digitorum manus and remote articulations digitorum manus are driven, smart structural design, control are flexible.This programme passes through analogue simulation fruit
Seized condition during real crawl, the characteristics of motion during finger grip is obtained by dynamics simulation, and simulation captured
Journey, experiment prove that program crawl effect stability, motion are flexible, can effectively improve operation quality and operating efficiency.
Brief description of the drawings
Fig. 1 is end effector structures schematic diagram described in the utility model embodiment；
Fig. 2 is middle finger structural representation in the utility model embodiment；
Fig. 3 is the utility model embodiment middle finger structural representation；
Fig. 4 is that the utility model embodiment closely refers to articulations digitorum manus auxiliary grip fruit structure schematic diagram；
Fig. 5 is the nearly articulations digitorum manus of the utility model embodiment and remote articulations digitorum manus mutual cooperation crawl fruit structure schematic diagram；
Fig. 6 is the nearly articulations digitorum manus angular speed change curve of the utility model embodiment middle finger.
Embodiment
In order to which above-mentioned purpose of the present utility model, feature and advantage are more clearly understood, below in conjunction with the accompanying drawings and
Embodiment is described further to the utility model.
Fruit and vegetable picking is carried out to accelerate intelligent robot to substitute the mankind, improves operation quality and efficiency, the present embodiment proposes
A kind of motion is flexible, versatile, and the apery hand three that can digest robot graphics' identification error refers to fruit and vegetable picking end and held
Row device, it is possible to achieve thumb, forefinger, middle finger three to people refer to similar motion mode, and the end effector closes using two
The mode driven entirely is saved, can preferably realize the control to fruits and vegetables active force, reduces fruits and vegetables damage, and whole end is performed
Device mechanism has carried out l-G simulation test, verifies the reasonability of mechanism, specific as follows：
It is complete to drive apery hand three to refer to fruit and vegetable picking end effector, including thumb 1, forefinger 2 and middle finger 3 with reference to figure 1, and
Every finger is respectively provided with remote articulations digitorum manus 4, nearly articulations digitorum manus 5 and centre of the palm frame 6, and one end of the remote articulations digitorum manus 4 and nearly articulations digitorum manus 5 is cut with scissors
Connect in succession, the other end and the centre of the palm frame 6 of nearly articulations digitorum manus 5 are articulated and connected, from figure 2 it can be seen that the both ends of the nearly articulations digitorum manus 5
Be provided with U-shaped groove 51, be provided with remote articulations digitorum manus 4 and centre of the palm frame 6 with the projection of the matching grooves (41,61), make joint
Junction coordinates more flexible；And it is additionally provided with every finger and drives nearly articulations digitorum manus 5 and remote articulations digitorum manus 4 to bend and open respectively
The nearly finger linkage 7 opened and far finger linkage 8, are closely referred to by closely referring to linkage 7 and far referring to linkage 8 to control respectively
Joint 5 and remote articulations digitorum manus 4 bend or opened the action for realizing taking fruit；In addition, it is also associated between forefinger 2 and thumb 1
One palm member 9, to mention supporting role to the fruit won；The centre of the palm frame of thumb 1 is connected with the centre of the palm frame of middle finger 3 by one
Bar 66 is fixedly connected, and the connecting rod 66 is bolt；The lower end of the centre of the palm frame 6 of forefinger 2 is provided with the steering that control forefinger 2 rotates
Mechanism；The steering mechanism includes the motor 21 being fixed on centre of the palm frame 6, the gear assembly 22 being connected with the main shaft of motor 21, institute
State gear assembly 22 to be fixedly connected with the centre of the palm frame 6 of forefinger 2 by a connecting plate 23, around steering mechanism under the driving of motor 21
Rotate to adjust the angle of forefinger 2.
Finger is typically directly proportional to joint number to the shape adaptability of object；It is but important as grasping stability is weighed
The grasping configuration number of index is the relation with the change of joint number exponentially, and grasping configuration is more more contact point disengaging more easily occurs,
And then capture and be less susceptible to stabilization.Purpose of design is to capture fruit as final performs device in the present embodiment, therefore is captured steady
It is qualitative just to seem more important.With reference to state of three joints of human finger in crawl, two joint institute angulations of distalmost end
Spend very little, it is smaller to the influence that captures shape adaptability, so the present embodiment by Curve guide impeller by finger distalmost end two joint
Replaced with a joint with more preferable grasp stability, it is not only easy to control, and move flexible, versatile.
Finger structure copies the three of people to refer to (forefinger, middle finger, thumb) motion mode, and middle finger 3 and thumb 1 are designed as into two certainly
By spending, and forefinger 2 then has three degree of freedom by the control of steering mechanism, it is possible to achieve thumb, forefinger and middle finger three with people
Refer to similar motion mode, make crawl similar with human hand, increase flexibility ratio, effectively reduce and fruits and vegetables are damaged, driven by motor
It is dynamic, it can adjust the distance of forefinger and middle finger.
With reference to shown in Fig. 2 and Fig. 3, it is introduced by taking thumb and middle finger as an example, the linkage 7 that closely refers to includes closely referring to drive
Motivation structure 71, closely refer to first connecting rod 72, closely refer to second connecting rod 73 and closely refer to third connecting rod 74；Closely refer to one end of first connecting rod 72
It is connected with the output end for far referring to drive mechanism 72, the other end is articulated and connected with closely referring to second connecting rod 73, from figure 3, it can be seen that
For the pin joint with closely referring to second connecting rod 73 and closely the finger pin joint of third connecting rod 74 and misaligned, this is also the pass of scheme realization
Key；The one end for closely referring to second connecting rod 73 is articulated and connected with centre of the palm frame 6, the other end and the be hinged company in the one end for closely referring to third connecting rod 74
Connect, the other end for closely referring to third connecting rod 74 is articulated and connected with nearly articulations digitorum manus, in the presence of closely drive mechanism 71 is referred to, drives near
Refer to that first connecting rod 72 is flexible, and then drive the nearly finger second connecting rod 73 be hinged with it to be rotated around pin joint, so that in closely finger the
Drive nearly articulations digitorum manus 5 to bend or open in the presence of three connecting rods 74, realize grasping movement；It is former for far referring to linkage 8
Reason is identical with closely referring to linkage 7, and far referring to linkage 8 includes far referring to drive mechanism 81, far refer to first connecting rod 82, far refer to second
Connecting rod 83 and far finger third connecting rod 84；The one end for far referring to first connecting rod 82 is connected with far referring to the output end of drive mechanism 81, separately
One end is articulated and connected with far referring to second connecting rod 83；Far refer to second connecting rod 83 one end be articulated and connected with centre of the palm frame, the other end with far
The one end for referring to third connecting rod 84 is articulated and connected, and the other end for far referring to third connecting rod 84 is articulated and connected with remote articulations digitorum manus 4.
In order that finger-joint bending and opening more flexible, control is more convenient, with reference to figure 3, the nearly articulations digitorum manus 5 with
The hinged place of centre of the palm frame 6 is provided with the first joint link lever 52 being fixedly connected with nearly articulations digitorum manus 5, and the first joint link lever 52 with it is described
The nearly place axis of articulations digitorum manus 5 is vertical, makes closely finger third connecting rod 74 and first joint link lever 52 be hinged；Likewise, remote articulations digitorum manus 4 with
The nearly hinged place of articulations digitorum manus 5 is provided with the second joint connecting rod 42 being fixedly connected with remote articulations digitorum manus 4, it is described far refer to third connecting rod 84 and
Second joint connecting rod 42 is articulated and connected.
During fruit is captured, the motion of remote articulations digitorum manus and nearly articulations digitorum manus is not independent, and nearly articulations digitorum manus occurs
During angular displacement, remote articulations digitorum manus can be pulled to be subjected to displacement, with reference to mankind's finger motion rule, in order to avoid nearly articulations digitorum manus turns
Dynamic pulling causes far finger linkage to be located at dead-centre position, as shown in figures 1 and 3, in the lower section of second joint connecting rod 42 also
Perpendicular limited block 43 is provided with, to constrain the anglec of rotation of the remote articulations digitorum manus relative to nearly articulations digitorum manus.And in the present embodiment,
It is described far to refer to drive mechanism 81 and closely refer to drive mechanism 71 use minitype cylinder or motor, preferably minitype cylinder, easy to control,
Flexibly, concrete implementation principle combination accompanying drawing and foregoing description are i.e. it can be appreciated that will not be described here.
Certainly, the end effector described in the present embodiment also include with motor 21 and closely refer to drive mechanism 71 and far finger driving
The controller (not illustrating in figure) that mechanism 81 electrically connects, and the torque sensor being electrically connected with the controller is provided with joint,
Concrete signal is detected by torque sensor and is transferred to controller, by controller controlled motor 21, closely refers to drive mechanism 71
Or far referring to the taking action that drive mechanism 81 realizes three fingers, the controller is the equipment of this area comparative maturity, is not done in detail
It is thin to illustrate.
In addition, the palm member 9 includes both ends connecting portion and medial arc portion, with reference to shown in Fig. 1, Fig. 3, palm member 9
One end is articulated and connected with forefinger centre of the palm frame, and the other end is connected by a palm connector 10 with the centre of the palm frame 6 of thumb 1, the hand
Palm connector 10 includes the fixed part 11 that is fixedly connected with thumb centre of the palm frame and the extension 12 vertical with fixed part, on extension
Through hole is provided with, the palm member 9 is connected with extension 12 by a rotating shaft, and palm member 9 can surround axis of rotation；Forefinger 2
When being rotated under the driving of motor 21, palm member 9 can be driven to surround axis of rotation, to change crawl direction, improve forefinger 2 and thumb
1 kinematic dexterity, it is convenient to capture fruit,
In order to facilitate structure control and the design and installation of scheme, the main shaft of motor 21 is put down with straight line where the centre of the palm frame of thumb 1
OK, the lower end of the centre of the palm frame of forefinger is provided with a U-shaped connector 62, and U-shaped connector 62 is fixedly installed on connecting plate 23, control
It is convenient.In addition, being in contact part with fruits and vegetables on the thumb, forefinger and middle finger is additionally provided with imitative human skin polymer layer,
Using the polymeric material of similar human skin, the damage to fruits and vegetables during capturing is reduced.
Fruit and vegetable picking end effector described in the present embodiment has two kinds of different states, state in the process actually captured
One close to the can of articulations digitorum manus 5 as shown in figure 4, only hold fruit 13, and now the grasp of nearly articulations digitorum manus 5 plays a crucial role, far
The auxiliary of articulations digitorum manus 4 firmly grasps fruit；Promptly fruit 13 as shown in figure 5, the nearly articulations digitorum manus 5 of need and remote articulations digitorum manus 4 are worked in coordination of state two.
In fact, at the time of the nearly articulations digitorum manus 5 of finger just starts to contact with fruit 13, because fruit has no fixed and pericarp in the air
Relatively sliding, fruit can be because be easy to skid off clamping range by the chucking power of nearly articulations digitorum manus 5.If the external diameter R of fruit 13 is smaller,
Outside hemisphere of the contact point of the nearly finger of articulations digitorum manus 5 and fruit in fruit, then fruit can be clamped directly by nearly articulations digitorum manus；Then may be used
By the size that grasp force is controlled installed in the torque sensor of joint and the feedback control of controller；If R is larger, contact
Point fall fruit 13 inner side hemisphere, then fruit easy glide and be not easy to be held.
In order to prevent fruit to be extruded crawl scope driving finger-joint to bend because continuing, by installed in joint
Torque sensor, the information that thumb and other any one fingers touch fruit simultaneously is fed back into the micro- of controller by electric signal
Processor, microprocessor send instruction and leave the motor off driving, and the spinning movement of nearly articulations digitorum manus stops, while drives remote articulations digitorum manus
Rotation, carry out next step grasping movement.At the same time, the imitative human skin polymerization layer material for being wrapped in maniphalanx frame peripheral will be logical
The frictional force crossed between increase fruit and mechanical paw prevents fruit from being extruded.
The present embodiment carries out analogue simulation with the Motion analysis modules in SolidWorks to the nearly articulations digitorum manus of middle finger in addition,
Obtain the process of Fig. 6 observation actuator crawls：From 0.08 second or so middle finger it can be seen from the nearly articulations digitorum manus angular speed diagram of middle finger
Finger is in contact with fruit, and angular speed fluctuates, and the real position of cause and effect is moved, and to finger active force much smaller than electricity
The driving force of machine is therefore negligible, and finger still continues to rotate with linkage, until 0.13 second or so the nearly articulations digitorum manus of thumb
Also fruit is touched, motor receives the stopping driving instruction that controller is sent, and the nearly articulations digitorum manus of middle finger stops operating immediately, angular speed
It is changed into 0, now continues to drive remote articulations digitorum manus to rotate, fruit parcel is firmly grasped.
Conversion between state one and state two, realized by controller feedback control system, when middle finger and thumb are turned round
When square sensor all detects the voltage signal of power, two nearly articulations digitorum manus are all contacted with fruit.Torque sensor will
Voltage signal is transmitted to microprocessor, and microprocessor sends sequential, the system detectio pulse number that now motor is sent, and with setting
Scope compare, if exceeding the scope, system judges that fruit external diameter R is smaller, the pattern of adoption status one carry out grasping movement, instead
It, then carry out state two modes crawl fruit, and so, this end effector mechanism can not only realize stable crawl, and
It can be good at digesting the error of fruit and vegetable picking robot image recognition.
It is described above, only it is preferred embodiment of the present utility model, is not that other forms are made to the utility model
Limitation, any person skilled in the art is changed or is modified as possibly also with the technology contents of the disclosure above equivalent
The equivalent embodiment of change is applied to other fields, but every without departing from the content of the technical scheme of the utility model, according to this reality
Any simple modification, equivalent variations and the remodeling made with new technical spirit to above example, it is new to still fall within this practicality
The protection domain of type technical scheme.
Claims (10)
1. driving apery hand three refers to fruit and vegetable picking end effector entirely, it is characterised in that including thumb, forefinger and middle finger, and often
Root finger is respectively provided with remote articulations digitorum manus, nearly articulations digitorum manus and centre of the palm frame, and one end of the remote articulations digitorum manus and nearly articulations digitorum manus is articulated and connected,
The other end of nearly articulations digitorum manus is articulated and connected with centre of the palm frame；And it is additionally provided with every finger and drives nearly articulations digitorum manus respectively and far refer to
Arthrogryposis and the nearly finger linkage opened and far finger linkage；A support fruit is also associated between the forefinger and thumb
The palm member of vegetable；
Thumb centre of the palm frame is fixedly connected with middle finger centre of the palm frame by a connecting rod, and the lower end of forefinger centre of the palm frame is provided with control forefinger
The steering mechanism of rotation, the gear assembly that the steering mechanism includes motor, is connected with electric machine main shaft, the gear assembly pass through
One connecting plate is fixedly connected with forefinger centre of the palm frame.
2. full driving apery hand three according to claim 1 refers to fruit and vegetable picking end effector, it is characterised in that：It is described near
Referring to linkage includes closely referring to drive mechanism, closely refers to first connecting rod, closely refers to second connecting rod and closely refer to third connecting rod；Closely refer to first
One end of connecting rod is connected with closely referring to the output end of drive mechanism, and the other end is articulated and connected with closely referring to second connecting rod；Closely refer to second to connect
One end of bar is hinged with centre of the palm frame, and the other end is then articulated and connected with closely referring to one end of third connecting rod, and closely refers to the another of third connecting rod
One end is articulated and connected with nearly articulations digitorum manus.
3. full driving apery hand three according to claim 2 refers to fruit and vegetable picking end effector, it is characterised in that：It is described remote
Referring to linkage includes far referring to drive mechanism, far refers to first connecting rod, far refers to second connecting rod and far refer to third connecting rod；Far refer to first
One end of connecting rod is connected with far referring to the output end of drive mechanism, and the other end is articulated and connected with far referring to second connecting rod；Far refer to second to connect
One end of bar is articulated and connected with centre of the palm frame, and the other end is then articulated and connected with far referring to one end of third connecting rod, and far refers to third connecting rod
The other end be articulated and connected with remote articulations digitorum manus.
4. full driving apery hand three according to claim 3 refers to fruit and vegetable picking end effector, it is characterised in that：It is described remote
Refer to drive mechanism and closely refer to drive mechanism and use minitype cylinder or motor.
5. full driving apery hand three according to claim 4 refers to fruit and vegetable picking end effector, it is characterised in that：It is described near
Articulations digitorum manus and centre of the palm frame hinged place are provided with the first joint link lever being fixedly connected with nearly articulations digitorum manus, it is described closely refer to third connecting rod with
First joint link lever is hinged；Remote articulations digitorum manus is provided with the second joint being fixedly connected with remote articulations digitorum manus with nearly articulations digitorum manus hinged place and connected
Bar, the third connecting rod that far refers to are connected with second joint rod hinge connection.
6. full driving apery hand three according to claim 5 refers to fruit and vegetable picking end effector, it is characterised in that：Described
Perpendicular limited block is additionally provided with below two joint link levers.
7. full driving apery hand three according to claim 6 refers to fruit and vegetable picking end effector, it is characterised in that：End
Actuator also includes and motor and closely finger drive mechanism and the controller that far finger drive mechanism electrically connects, and in closely finger shutdown and far
The joint junction of articulations digitorum manus is provided with the torque sensor being electrically connected with the controller.
8. full driving apery hand three according to claim 7 refers to fruit and vegetable picking end effector, it is characterised in that：The hand
Palm part includes both ends connecting portion and medial arc portion；One end of palm member is articulated and connected with forefinger centre of the palm frame, and the other end passes through one
Palm connector is connected with thumb centre of the palm frame, and can surround palm connector and rotate.
9. full driving apery hand three according to claim 8 refers to fruit and vegetable picking end effector, it is characterised in that：The hand
Palm connector includes the fixed part that is fixedly connected with thumb centre of the palm frame and the extension vertical with fixed part, the palm member with
Extension is connected by a rotating shaft.
10. full driving apery hand three according to claim 9 refers to fruit and vegetable picking end effector, it is characterised in that：It is described
Imitative human skin polymer layer is additionally provided with thumb, forefinger and middle finger.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720809344.6U CN207151225U (en) | 2017-07-05 | 2017-07-05 | Full driving apery hand three refers to fruit and vegetable picking end effector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720809344.6U CN207151225U (en) | 2017-07-05 | 2017-07-05 | Full driving apery hand three refers to fruit and vegetable picking end effector |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207151225U true CN207151225U (en) | 2018-03-30 |
Family
ID=61712280
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720809344.6U Expired - Fee Related CN207151225U (en) | 2017-07-05 | 2017-07-05 | Full driving apery hand three refers to fruit and vegetable picking end effector |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207151225U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107182443A (en) * | 2017-07-05 | 2017-09-22 | 青岛大学 | Full driving apery hand three refers to fruit and vegetable picking end effector |
| CN108551872A (en) * | 2018-06-26 | 2018-09-21 | 武汉轻工大学 | Picker and fruit picking apparatus |
| CN108566831A (en) * | 2018-06-26 | 2018-09-25 | 武汉轻工大学 | Fruit picking apparatus and seed harvester |
| CN108668631A (en) * | 2018-06-26 | 2018-10-19 | 武汉轻工大学 | Positioning device and fruit picking apparatus |
| CN111656943A (en) * | 2020-07-10 | 2020-09-15 | 重庆智田科技有限公司 | Arm type pulling actuator for radish harvesting robot |
| CN111955289A (en) * | 2020-08-27 | 2020-11-20 | 河南科技大学 | End effector of agaricus bisporus picking robot |
| CN113799164A (en) * | 2021-10-09 | 2021-12-17 | 郑州大学 | Bionic robot's clamping jaw |
-
2017
- 2017-07-05 CN CN201720809344.6U patent/CN207151225U/en not_active Expired - Fee Related
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107182443A (en) * | 2017-07-05 | 2017-09-22 | 青岛大学 | Full driving apery hand three refers to fruit and vegetable picking end effector |
| CN107182443B (en) * | 2017-07-05 | 2023-03-31 | 青岛大学 | Full-drive human-hand-simulated three-finger fruit and vegetable picking end effector |
| CN108668631A (en) * | 2018-06-26 | 2018-10-19 | 武汉轻工大学 | Positioning device and fruit picking apparatus |
| CN108566831A (en) * | 2018-06-26 | 2018-09-25 | 武汉轻工大学 | Fruit picking apparatus and seed harvester |
| CN108551872A (en) * | 2018-06-26 | 2018-09-21 | 武汉轻工大学 | Picker and fruit picking apparatus |
| CN108566831B (en) * | 2018-06-26 | 2023-06-06 | 武汉轻工大学 | Fruit picker and picking equipment |
| CN108551872B (en) * | 2018-06-26 | 2023-06-20 | 武汉轻工大学 | Picking device and fruit picking device |
| CN108668631B (en) * | 2018-06-26 | 2023-09-19 | 武汉轻工大学 | Positioning device and fruit picking device |
| CN111656943A (en) * | 2020-07-10 | 2020-09-15 | 重庆智田科技有限公司 | Arm type pulling actuator for radish harvesting robot |
| CN111656943B (en) * | 2020-07-10 | 2022-05-13 | 重庆智田科技有限公司 | Arm type pulling actuator for radish harvesting robot |
| CN111955289A (en) * | 2020-08-27 | 2020-11-20 | 河南科技大学 | End effector of agaricus bisporus picking robot |
| CN111955289B (en) * | 2020-08-27 | 2022-05-17 | 河南科技大学 | End effector of agaricus bisporus picking robot |
| CN113799164A (en) * | 2021-10-09 | 2021-12-17 | 郑州大学 | Bionic robot's clamping jaw |
| CN113799164B (en) * | 2021-10-09 | 2024-02-06 | 郑州大学 | Clamping jaw of bionic robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207151225U (en) | Full driving apery hand three refers to fruit and vegetable picking end effector | |
| CN107182443A (en) | Full driving apery hand three refers to fruit and vegetable picking end effector | |
| CN104908056B (en) | A kind of three finger mechanical paws of variable configuration | |
| JP5388966B2 (en) | Wrist joint assembly and humanoid robot | |
| CN106717534B (en) | A kind of drive lacking fruit and vegetable picking end effector apparatus and picking method | |
| CN202572399U (en) | Synchronous smart mechanical arm of robot | |
| CN104942791B (en) | Rope pulled and pneumatic muscle driven multi-degree-of-freedom bionic manipulator | |
| CN206445813U (en) | A kind of drive lacking humanoid dexterous arm device | |
| CN203197923U (en) | Rigid-flexible hybrid under-actuated strawberry picking manipulator end effector device | |
| CN104029208A (en) | Rigid-flexible hybrid under-actuated strawberry picking manipulator end effector device | |
| CN209755248U (en) | End effector of picking manipulator | |
| CN206690125U (en) | One kind crawl force adaptive paw | |
| CN206658520U (en) | Fruit picking mechanical arm | |
| CN111226600A (en) | Under-actuated fruit and vegetable picking manipulator and picking method | |
| CN108340374A (en) | A kind of control system and control method of picking mechanical arm | |
| CN107717978A (en) | A kind of industrial robot | |
| CN112717366A (en) | Teaching equipment for intelligent operation of gobang | |
| CN108247627A (en) | A kind of miniature clutch structure and the manipulator with the clutch structure | |
| CN114815693A (en) | Fruit picking robot based on bionic design and picking control method thereof | |
| CN109927062A (en) | A kind of personification the five fingers manipulator | |
| CN204725487U (en) | The multiple degrees of freedom bionic mechanical hand that a kind of wire saws and pneumatic muscles drive | |
| JP2003245883A (en) | Robot hand and method for controlling grip of robot hand, and robot and method for controlling the same | |
| CN202985563U (en) | Manipulator | |
| CN209207499U (en) | Hand mechanical exoskeleton device and ectoskeleton equipment | |
| CN207071940U (en) | A kind of flat folder coupling conversion handyman finger apparatus of rack |
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: 20180330 Termination date: 20180705 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |