CN210704824U - Multi-adaptability flexible picking manipulator - Google Patents
Multi-adaptability flexible picking manipulator Download PDFInfo
- Publication number
- CN210704824U CN210704824U CN201921750258.8U CN201921750258U CN210704824U CN 210704824 U CN210704824 U CN 210704824U CN 201921750258 U CN201921750258 U CN 201921750258U CN 210704824 U CN210704824 U CN 210704824U
- Authority
- CN
- China
- Prior art keywords
- supporting plate
- support
- winding
- gear
- clamping unit
- 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.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The flexible picking manipulator comprises three hoses which are positioned in the same circumferential direction and are mutually connected, wherein one end of each hose is connected to the lower supporting plate, and the other end of each hose is provided with an air pipe joint; the upper supporting plate is fixedly connected with the lower supporting plate; three supports are arranged on the side surface of the upper support plate far away from the lower support plate, and each support is provided with a clamping unit; the clamping units comprise a plurality of knuckles, the adjacent knuckles, the support and the knuckle at one end of each clamping unit are hinged, and a pressure spring is arranged; when the pressure spring is in a normal state, the clamping unit is in a gathered state; the three winding ropes respectively penetrate through the upper supporting plate and each knuckle and are fixedly connected with the knuckle at the other end of the clamping unit far away from the support, and the other ends of the three winding ropes are fixed on an output shaft of the rotating winding rope mechanism; when the rope winding mechanism rotates, the rope winding is wound on the output shaft, and the clamping units are opened.
Description
Technical Field
This patent belongs to agriculture and forestry instrument field, specifically speaking is a flexible fruit picking tool of many adaptability.
Background
The manipulator mainly comprises an actuating mechanism, a driving mechanism and a control system. The hand is a member for holding an object, and has various configurations such as a holding type, and an adsorption type according to the shape, size, weight, material, and operation requirement of the object to be held.
The manipulator is divided into a rigid manipulator and a flexible manipulator, along with the improvement of the precision and the load capacity of the manipulator, the parts of the robot are developed towards light weight, the elastic deformation of the manipulator is increased inevitably, the stability and the control difficulty of the picking manipulator are directly influenced, the mechanical vibration between the joints of the traditional rigid manipulator can also influence the precision of the end part, and the flexible manipulator and the actuator can not have the problems.
At present, most of fruit picking tools are rigid mechanical arms with less freedom degree, are difficult to adapt to picking of fruits with different shapes, and are easy to cause fruit damage.
Disclosure of Invention
The purpose of this patent is to provide a control is simple and can realize unlimited degree of freedom, can adapt to the harvesting of multiple shape type fruit, and structure and control are simple, convenient and practical, the lower flexible picking manipulator of many adaptability of cost.
The multi-adaptability flexible picking manipulator comprises three hoses which are positioned in the same circumferential direction and are mutually connected, wherein one ends of the three hoses are commonly connected to a lower supporting plate, and the other ends of the three hoses are provided with air pipe joints for filling air into the hoses; the upper supporting plate is fixedly connected with the lower supporting plate; the side surface of the upper supporting plate, which is far away from the lower supporting plate, is provided with three supports, namely a first support, a second support and a third support, and the first support, the second support and the third support are respectively provided with three clamping units, namely a first clamping unit, a second clamping unit and a third clamping unit, which surround the same central axis; each clamping unit comprises a plurality of knuckles, adjacent knuckles of each clamping unit and each support are hinged with the knuckle at one end of each clamping unit close to the support, and a pressure spring is arranged; when the pressure spring is in a normal state, all the clamping units are bent towards the central axis and are in a gathered state; the three winding ropes respectively penetrate through the upper supporting plate and each knuckle and are fixedly connected with the knuckle at the other end of the clamping unit far away from the support, and the other ends of the three winding ropes are fixed on an output shaft of the rotating winding rope mechanism; when the rope winding mechanism rotates, the rope winding is wound on the output shaft, and each clamping unit is opened; the base of the rope winding mechanism is fixed on the lower supporting plate.
The multi-adaptability flexible picking manipulator further comprises a gear transmission mechanism for driving the second support and the third support to synchronously and reversely rotate, and the gear transmission mechanism is arranged between the upper supporting plate and the lower supporting plate.
In the multi-adaptive flexible picking manipulator, the gear transmission mechanism comprises a first gear, a second gear, a third gear and a fourth gear which are sequentially meshed; the first gear is connected with a second steering engine which drives the first gear to rotate and is arranged on the lower supporting plate, the second support is connected with the first gear through a pivot which penetrates through the upper supporting plate, and the third support is connected with the fourth gear through a connecting shaft which penetrates through the upper supporting plate.
The multi-adaptability flexible picking manipulator further comprises a vacuum chuck which is arranged in the middle of the three clamping units and can axially move along the central axis.
According to the multi-adaptability flexible picking manipulator, the telescopic cylinder is fixed on the lower supporting plate, and the piston rod of the telescopic cylinder penetrates through the upper supporting plate to be connected with the vacuum chuck.
According to the multi-adaptability flexible picking manipulator, the rope winding mechanism comprises a first steering engine and three winding rods which are connected with an output shaft of the first steering engine and uniformly distributed in the circumferential direction of the output shaft of the first steering engine; the other ends of the three winding ropes are fixed on the same winding rod or different winding rods; when the first steering engine rotates, the three winding ropes are wound around the periphery of a triangle formed by the three winding rods.
In the multi-adaptability flexible picking manipulator, the surface of each knuckle, which faces to the central axis, is provided with a layer of flexible material.
The beneficial effect of this patent: the three hoses are filled with different amounts of gas through the air pipe joints, the axial elongation amount of the filled gas is large, the axial elongation amount of the filled gas is small, the elongation amounts of the hoses are different, the three hoses (equivalent to the mechanical arm) which are connected into a whole are bent towards the direction with small elongation amount, and the change of any degree of freedom of the mechanical arm can be realized, so that the actuator (including a grabbing part, a telescopic cylinder, a vacuum chuck and the like which are formed by the clamping units) can be driven to be in any position within a certain range.
The telescopic cylinder acts to drive the vacuum chuck to extend forwards or retract, and the vacuum chuck works to adsorb fruits, especially round fruits.
The knuckles in the clamping units are separated from each other under the action of the pressure spring, so that the three clamping units are in a relatively gathered state, and can clamp fruits positioned among the three clamping units. When the rope winding mechanism rotates, the rope winding is wound on the output shaft, the rope winding is pulled to the hinging position of each knuckle to swing, so that each pressure spring, especially the pressure springs between adjacent knuckles, is compressed, and the three clamping units are driven to separate (the other end of each clamping unit far away from each support moves to the radial direction far away from the central shaft); in a similar way, when the rope winding mechanism rotates reversely, the rope winding mechanism discharges the rope winding, and the three clamping units can gather together to clamp the fruits due to the action of the pressure spring.
And the gear transmission mechanism drives the second support and the third support to synchronously and reversely rotate, and the second clamping unit and the third clamping unit synchronously and reversely rotate. When the second clamping unit and the third clamping unit are rotated to a certain angle, the second clamping unit and the third clamping unit are opposite to the first clamping unit, and planes of all knuckles in the three clamping units are basically parallel to adapt to long fruits such as cucumbers, luffa and the like. At the moment, the axis of the long fruit is basically vertical to the central axis and is also basically vertical to the plane where each knuckle in each clamping unit is located, the vacuum chuck does not need to adsorb the fruit and only plays a supporting role for the long fruit, so that the fruit is reliably clamped under the combined action of the vacuum chuck and the three clamping units.
This patent characteristics:
(1) the position and the posture of the mechanical arm are controlled by pure air, the structure and the control are simple, the operation is convenient and practical, and the cost is lower.
(2) The four gears with the same size control the grabbing unit to rotate in the same reverse direction and angle, so that the picking machine is suitable for picking various spherical or long fruits.
(3) The opening and closing of the clamping unit are controlled through the matching of the rope winding and the pressure spring, the control is simple, and the weight of the actuator is reduced.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a multi-adaptive flexible picking manipulator;
FIG. 2 is a schematic diagram of a multi-adaptable flexible picking robot configuration;
FIG. 3 is a schematic view of an actuator configuration;
FIG. 4 is a diagram of the attitude of the adaptive spherical fruit gripping unit;
FIG. 5 is a diagram of the posture of the adaptive elongated fruit grasping unit;
FIG. 6 is a schematic view of three support arrangements;
FIG. 7 is a schematic view of a gear transmission configuration;
FIG. 8 is a detail view of a knuckle section;
figure 9 is a schematic view of the roping in connection with a three-jaw winding disc etc;
FIG. 10 is a schematic view of a three-jaw reel or the like;
fig. 11 is a schematic view of a gear transmission mechanism or the like;
FIG. 12 is a schematic view of a three-jaw reel or the like;
FIG. 13 is a schematic view of a vacuum chuck, three-jaw reel, etc.;
fig. 14 is a schematic view of the second or third gripping unit;
fig. 15 is a schematic view of the rope winding and gripping unit.
In the figure, the position of the upper end of the main shaft,
the device comprises a gas pipe joint 1, a gas pipe joint 2, a gas pipe joint 3, a rubber hose 4, a rubber hose 5 and a rubber hose 6;
the device comprises a lower supporting plate 10, a telescopic cylinder 11, a piston rod 11-1, a first steering engine 12, a second steering engine 13, a first gear 14, a second gear 15, a third gear 16, a fourth gear 17, a three-jaw winding disc 18, a winding rod 18-1, an upper supporting plate 19, a vacuum sucker rod 20, a vacuum sucker 21, a first support 22, a second support 23, a third support 24, a first knuckle 25, a second knuckle 26, a third knuckle 27, a fourth knuckle 28, a pressure spring 29, a pin shaft 30, a winding rope 31 and a flexible nylon material 32;
a first gripping unit 100, a second gripping unit 101, and a third gripping unit 102.
Detailed Description
This patent mainly comprises flexible arm and flexible executor.
The flexible mechanical arm is composed of a rubber hose 3, a rubber hose 4 and a rubber hose 5, the tail of the flexible mechanical arm is provided with an air pipe joint 1, an air pipe joint 2 and an air pipe joint 3 respectively, each section of the three rubber hoses is connected with one another respectively, and the number of the sections can be determined according to requirements. The three rubber hoses are filled with different amounts of gas, so that the freedom-free degree of the mechanical arm can be realized, and the actuator can be driven to be in any position within a certain range.
The actuator consists of a pneumatic part (a telescopic cylinder, a vacuum sucker and the like), a grabbing part (a rope winding mechanism, three clamping units and the like) and a conversion part (a second steering engine, a gear transmission mechanism and the like). The lower supporting plate 10 is installed at the front end of the flexible mechanical arm, the telescopic cylinder 11 is installed in the middle of the lower supporting plate 10, the first steering engine 12 and the second steering engine 13 are installed on the lower supporting plate 10 respectively, and the upper supporting plate 19 is connected with the lower supporting plate 10 through three hexagonal studs.
The piston rod 11-1 of the telescopic cylinder 11 passes through the central hole on the upper supporting plate 19 to be connected with a vacuum sucker rod 20, and the vacuum sucker rod 20 is connected with a vacuum sucker 21 positioned at the center of the three clamping units. The rodless cavity of the telescopic cylinder 11 is filled with air, the rod cavity is filled with air, the piston rod 11-1 drives the vacuum sucker rod 20 to drive the vacuum sucker 21 to extend forwards, and then the vacuum sucker 20 works to adsorb fruits, especially round and oval fruits, or plays a positioning and supporting role on the fruits. The rod cavity of the telescopic cylinder 11 is filled with air, the rodless cavity is filled with air, the piston rod 11-1 drives the vacuum sucker rod 20 to drive the vacuum sucker 21 to retract backwards, and the pneumatic part work is completed.
A three-jaw winding disc 18 with three winding rods 18-1 is connected to the first steering gear 12 to form a rope winding mechanism. The first support 22 is fixed to the upper support plate 19, the second support 23 is integrally connected to the first gear 14 by a pivot shaft penetrating the upper support plate 19, and the third support 24 is integrally connected to the fourth gear 17 by a connecting shaft penetrating the upper support plate 19. The first knuckle 25, the second knuckle 26, the third knuckle 27 and the fourth knuckle 28 and the first knuckle 25 and the support are hinged through hinge pins 30 at joints, and compression springs 29 are arranged between the knuckles and between the first knuckle and the support. The center of each knuckle is provided with a circular through hole. The center of the pressure spring 29 is superposed with the center of the circular through hole. One end of each of the three winding ropes 31 is fixed on one winding rod 18-1 of the three-jaw winding disc 18, and the other end of each of the three winding ropes passes through the hole 19-1 of the upper support plate 19 and then sequentially passes through the through holes at the centers of the first knuckle 25, the second knuckle 26, the third knuckle 27 and the fourth knuckle 28 to be fixed at the fourth knuckle 28. The cord exiting from the hole 19-1 in the upper support plate 19 can be passed radially through a compression spring between the abutment and the first knuckle into the first knuckle. The knuckles are separated from each other under the action of the pressure spring, so that the three clamping units are in a relatively gathered state. The first steering engine 12 rotates forwards to drive the three-jaw winding disc 18 to rotate forwards, and the winding rope 31 winds the three-jaw winding disc 18, so that the pressure spring 29 at each joint is compressed, and the three clamping units are driven to be separated; similarly, the first steering engine 12 rotates reversely to drive the three claws to rotate reversely around the disc 18, so that the three clamping units gather together to clamp the fruits. A layer of flexible nylon material 32 is provided on the surface of each knuckle to protect the fruit.
The first gear 14 is connected with the second steering engine 13, and the first gear 14, the second gear 15 rotationally arranged on the upper supporting plate, the third gear 16 rotationally arranged on the upper supporting plate and the fourth gear 17 are meshed in sequence. An output shaft of the second steering engine 13 rotates 60 degrees clockwise to drive the first gear to rotate 60 degrees clockwise, and the second support 23 is connected with the first gear 14 to drive the second clamping unit 101 to rotate 60 degrees clockwise; through gear transmission, the fourth gear 17 rotates 60 ° counterclockwise, and since the third support 24 is connected to the fourth gear 17, the third clamping unit 102 is driven to rotate 60 ° counterclockwise, so that the second clamping unit 101 and the third clamping unit 102 are opposite to the first clamping unit 100, as shown in fig. 5, to adapt to long fruits, such as cucumbers, luffa, and the like.
Claims (7)
1. The utility model provides a flexible picking manipulator of many adaptability which characterized by: the device comprises three hoses which are positioned in the same circumferential direction and are mutually connected, wherein one ends of the three hoses are commonly connected to a lower supporting plate, and the other ends of the three hoses are provided with air pipe joints for inflating the hoses; the upper supporting plate is fixedly connected with the lower supporting plate; the side surface of the upper supporting plate, which is far away from the lower supporting plate, is provided with three supports, namely a first support, a second support and a third support, and the first support, the second support and the third support are respectively provided with three clamping units, namely a first clamping unit, a second clamping unit and a third clamping unit, which surround the same central axis; each clamping unit comprises a plurality of knuckles, adjacent knuckles of each clamping unit and each support are hinged with the knuckle at one end of each clamping unit close to the support, and a pressure spring is arranged; when the pressure spring is in a normal state, all the clamping units are bent towards the central axis and are in a gathered state; the three winding ropes respectively penetrate through the upper supporting plate and each knuckle and are fixedly connected with the knuckle at the other end of the clamping unit far away from the support, and the other ends of the three winding ropes are fixed on an output shaft of the rotating winding rope mechanism; when the rope winding mechanism rotates, the rope winding is wound on the output shaft, and each clamping unit is opened; the base of the rope winding mechanism is fixed on the lower supporting plate.
2. The adaptable flexible picking manipulator of claim 1, further comprising: the gear transmission mechanism is used for driving the second support and the third support to synchronously and reversely rotate and is arranged between the upper supporting plate and the lower supporting plate.
3. A multi-adaptable flexible picking manipulator as claimed in claim 2 in which: the gear transmission mechanism comprises a first gear, a second gear, a third gear and a fourth gear which are meshed in sequence; the first gear is connected with a second steering engine which drives the first gear to rotate and is arranged on the lower supporting plate, the second support is connected with the first gear through a pivot which penetrates through the upper supporting plate, and the third support is connected with the fourth gear through a connecting shaft which penetrates through the upper supporting plate.
4. The adaptable flexible picking manipulator of claim 1, further comprising: the clamping device further comprises a vacuum sucker which is arranged in the middle of the three clamping units and can axially move along the central axis.
5. The adaptable flexible picking manipulator of claim 4, wherein: a telescopic cylinder is fixed on the lower supporting plate, and a piston rod of the telescopic cylinder penetrates through the upper supporting plate to be connected with the vacuum chuck.
6. The adaptable flexible picking manipulator of claim 1, further comprising: the rope winding mechanism comprises a first steering engine and three winding rods which are connected with an output shaft of the first steering engine and uniformly distributed in the circumferential direction of the output shaft of the first steering engine; the other ends of the three winding ropes are fixed on the same winding rod or different winding rods; when the first steering engine rotates, the three winding ropes are wound around the periphery of a triangle formed by the three winding rods.
7. The adaptable flexible picking manipulator of claim 1, further comprising: the surface of each knuckle facing the central axis is provided with a layer of flexible material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921750258.8U CN210704824U (en) | 2019-10-17 | 2019-10-17 | Multi-adaptability flexible picking manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921750258.8U CN210704824U (en) | 2019-10-17 | 2019-10-17 | Multi-adaptability flexible picking manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210704824U true CN210704824U (en) | 2020-06-09 |
Family
ID=70965545
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921750258.8U Active CN210704824U (en) | 2019-10-17 | 2019-10-17 | Multi-adaptability flexible picking manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210704824U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114278808A (en) * | 2021-12-15 | 2022-04-05 | 安徽大学绿色产业创新研究院 | Variable-rigidity pipeline detection robot based on spherical joints |
-
2019
- 2019-10-17 CN CN201921750258.8U patent/CN210704824U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114278808A (en) * | 2021-12-15 | 2022-04-05 | 安徽大学绿色产业创新研究院 | Variable-rigidity pipeline detection robot based on spherical joints |
| CN114278808B (en) * | 2021-12-15 | 2022-07-15 | 安徽大学绿色产业创新研究院 | Variable-rigidity pipeline detection robot based on spherical joints |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110561409A (en) | Multi-adaptability flexible picking manipulator | |
| JP7173643B2 (en) | Multifunctional long arm gripping mechanism | |
| CN108994864A (en) | Double tendon rope tandem coupling adaptive finger apparatus | |
| CN210704824U (en) | Multi-adaptability flexible picking manipulator | |
| CN114946406B (en) | Fruit picking manipulator with adjustable clamping force perception | |
| CN107891419B (en) | Phagocytic grabbing and conveying integrated flexible robot | |
| CN111702793A (en) | Floating self-centering assembly tongs of robot | |
| CN113199498A (en) | Rigidity-adjustable soft mechanical arm and driving method thereof | |
| CN107053145A (en) | A kind of multifunction machine mechanical gripper | |
| CN101733758A (en) | Pneumatic type underactuated robot finger device | |
| CN110842958A (en) | Self-adaptive tubular thin-walled part clamping jaw | |
| CN104708616B (en) | Three Degree Of Freedom detent mechanism and its telescopically driven multiple degrees of freedom series-parallel robot | |
| CN111390953A (en) | Enveloping type under-actuated robot paw | |
| CN212421339U (en) | Floating self-centering assembly tongs of robot | |
| CN109397278A (en) | Imitative hedgehog magnetic drives bar ball adaptive robot arm device | |
| CN114916315B (en) | Fruit picking end effector with adjustable clamping force | |
| CN108436895B (en) | General robot with extension arm | |
| CN210610363U (en) | Fruit and vegetable picking robot end effector | |
| CN114147752B (en) | Self-adaptive rigidity-variable flexible gripper | |
| CN110524528A (en) | A kind of flexibility winding mechanism | |
| CN216058332U (en) | Fruit picking and collecting mechanism and picking robot | |
| CN112706186B (en) | Humanoid wrist type robot claw and grabbing method thereof | |
| CN210551291U (en) | Pawl locking force grouping rotation flat-grab multi-rod self-adaptive robot hand device | |
| CN110497431B (en) | Pawl locking force grouping rotation parallel grabbing multi-rod self-adaptive robot hand device | |
| CN109649610B (en) | Adaptive parallel folding gripper and underwater pipeline robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |