CN216438005U - End manipulator is picked to underactuated apple - Google Patents
End manipulator is picked to underactuated apple Download PDFInfo
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- CN216438005U CN216438005U CN202122764432.8U CN202122764432U CN216438005U CN 216438005 U CN216438005 U CN 216438005U CN 202122764432 U CN202122764432 U CN 202122764432U CN 216438005 U CN216438005 U CN 216438005U
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Abstract
The utility model discloses an under-actuated apple picking end manipulator, and belongs to the technical field of agricultural mechanical equipment. The finger device comprises a base, a stepping motor, a motor support, a steel wire wheel, steel wires, finger seats and a finger device, wherein the stepping motor is connected to a bottom plate; the finger devices are respectively installed and connected on the finger seats corresponding to the respective sides, and the U port at the bottom end of the second joint is vertically inserted into the middle of the first joint in the horizontal direction and is hinged with the middle of the first joint and connected between two vertical surfaces of the finger seats; a tension spring is installed and connected between the middle of the third joint and the hinged position of the top end of the fourth joint, and a tension spring is also installed and connected between the middle of the second joint and the hinged position of the top end of the sixth joint. The fruit picking machine is convenient to control and can effectively cooperate with the mechanical arm to pick fruits.
Description
Technical Field
The utility model relates to an under-actuated apple picking tail end manipulator, and belongs to the technical field of agricultural mechanical equipment.
Background
With the application, popularization and development of computer technology, automatic control technology and agricultural high and new technology, the agricultural robot gradually enters the field of agricultural production, and the development of modern agricultural equipment towards mechanization and production intellectualization is promoted. Fruit picking is seasonal agricultural production, has high labor intensity, low manual picking efficiency and intensive labor, and can cause certain damage to fruits and vegetables. The existing robot is easy to have mechanical damage in the fruit picking process, causes invasion of pathogenic microorganisms, is the main reason for causing fruit rot, causes the rotten fruit to be 30% -40% as much as the fruit due to load bruise, and has huge annual loss. The manipulator is a part directly contacted with the fruit, so that the design of the manipulator which is light and easy to use and has small damage to the fruit is particularly important.
SUMMERY OF THE UTILITY MODEL
In order to overcome the defects of the prior art, the utility model provides the under-actuated apple picking tail end mechanical arm which is suitable for fruit picking work, has a simple structure, is convenient to control and light in weight, and can be effectively matched with the mechanical arm to finish fruit picking.
The technical scheme adopted by the utility model for solving the technical problems is as follows: the utility model provides an end manipulator is picked to under-actuated apple, includes base, step motor, motor support, steel wire wheel, steel wire and finger seat, still includes the finger device, and the finger device includes first joint, second joint, third joint, fingertip joint, fourth joint, fifth joint, extension spring and sixth joint again.
The bottom of the base is a circular bottom plate, the top of the base is a circular plate body, and two vertical columns in the vertical direction are fixedly connected between the edges of the two sides of the bottom plate and the edges of the two sides of the plate body; the stepping motor is installed and connected to a bottom plate of the base through a motor support, a steel wire wheel is installed and connected to a driving end of the stepping motor, three groups of steel wires are installed and connected to the steel wire wheel, and three U-shaped finger seats are installed and connected to the top of a plate body of the base at uniform intervals through hexagon socket head bolts and nuts; the number of the finger devices is three, the finger devices are respectively installed and connected to the finger seats corresponding to the respective sides of the finger devices, and the U-shaped opening at the bottom end of the second joint of each finger device is vertically inserted into the middle of the first joint in the horizontal direction and is hinged and connected between two vertical surfaces of the finger seat together with the middle of the first joint through a pin and a nut; the U opening at the bottom end of the third joint is inserted into the U opening at the top end of the second joint, the short-side end of the L-shaped fifth joint is inserted into the U opening at the bottom end of the third joint, and the third joint, the second joint and the third joint are hinged together through a pin and a nut; one end of the bottom of the triangular fingertip joint is inserted into a U-shaped opening at the top end of the third joint, the other end of the bottom of the triangular fingertip joint is inserted into a U-shaped opening at the top of the fourth joint, and the two ends of the bottom of the fingertip joint are hinged; the long side end of the fifth joint is inserted into the bottom U-shaped opening of the fourth joint, the right angle of the fifth joint is inserted into the top U-shaped opening of the sixth joint, the outer side end of the first joint is inserted into the bottom U-shaped opening of the sixth joint, and the connecting positions are hinged; the ends of the three groups of steel wires on the steel wire wheel are respectively connected with the inner ends of the three first joints; a tension spring is arranged and connected between the middle of the third joint and the hinged position of the top end of the fourth joint, and a tension spring is also arranged and connected between the middle of the second joint and the hinged position of the top end of the sixth joint; a position sensor is arranged on the finger device; the finger device is made of nylon.
The tail end manipulator is provided with three finger devices which are symmetrically arranged on the circumference, namely one finger device is arranged on each side, and each finger device is provided with six joints; the tail end mechanical arm of the picking machine is an execution device, when the picking machine is used, the driving end of the picking machine mainly drives the steel wire wheel to rotate under the control of the stepping motor, the steel wire wheel can drag the steel wire while rotating, the steel wire can drag the inner side end of the first joint, the outer side end of the first joint can be tilted upwards under the supporting action of the finger seat, and the mutual action of other joints drives the fingertip joints to be folded inwards, so that the picking of fruits is realized; the first joint in the horizontal direction of the lower part of the finger device is pulled by the steel wire to realize the linkage of the three finger devices and the clamping of objects with different shapes.
The mechanical arm sends the end mechanical arm to the position near the fruit, the position sensor on the finger device detects the relative position of the mechanical arm and the apple, when the fruit enters the center position of the mechanical arm, the position sensor triggers a single chip microcomputer control signal, the stepping motor starts to rotate in the forward direction to enable the three finger devices of the mechanical arm to start to grip the fruit, the pressure sensor detects the real-time pressure of the three finger devices for clamping the fruit and judges whether the pressure threshold value is reached, the threshold value is obtained through experiments, if the threshold value is reached, the mechanical arm stops moving, the mechanical arm simulates manual picking movement, and the fruit handle are separated; after the mechanical arm sends the fruit to the designated position, the stepping motor rotates reversely, the finger device is loosened and restored to the initial position, and the picking of the fruit is completed.
The fingers are made of nylon materials, the structure size of the hand is followed, meanwhile, enough light intensity and quality are kept, and the nylon has the characteristics of high mechanical strength, heat resistance, low friction coefficient, wear resistance, self-lubrication, shock absorption, oil resistance, weak acid resistance and the like; the base is mainly used for installing a stepping motor serving as a driving mechanism and a finger device serving as an executing device, and meets the design requirements of small size, small size and light weight of the machine body.
The utility model has the beneficial effects that: the utility model has simple structure, reasonable design, convenient operation, safety, practicability, small volume, strong adaptability and economic cost; the fruit picking device has the advantages of high load capacity, good universality, capability of catching fruits in any shapes, wide application range and capability of reducing the number of driving sources, so that the system structure is simple and easy to control; and the labor intensity of operators is low, the picking efficiency is high, and the mechanical damage to fruits is reduced.
Drawings
The utility model is further described with reference to the following figures and detailed description.
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a front view of the present invention.
Fig. 3 is a side view of the present invention.
Fig. 4 is a top view of fig. 2.
Reference numbers in the figures:
1. the device comprises a base, 101, a bottom plate, 102, a plate body, 103, a stand column, 2, a stepping motor, 3, a motor support, 4, a steel wire wheel, 5, a steel wire, 6, a finger seat, 7, a finger device, 701, a first joint, 702, a second joint, 703, a third joint, 704, a fingertip joint, 705, a fourth joint, 706, a fifth joint, 707, a tension spring, 708 and a sixth joint.
Detailed Description
As shown in fig. 1-4, an under-actuated apple picking end manipulator comprises a base 1, a stepping motor 2, a motor support 3, a steel wire wheel 4, a steel wire 5, a finger seat 6 and a finger device 7, wherein the finger device 7 further comprises a first joint 701, a second joint 702, a third joint 703, a fingertip joint 704, a fourth joint 705, a fifth joint 706, a tension spring 707 and a sixth joint 708, the bottom of the base 1 is a circular bottom plate 101, the top of the base 1 is a circular plate 102, and two vertical columns 103 are fixedly connected between the edges of the two sides of the bottom plate 101 and the edges of the two sides of the plate 102; the stepping motor 2 is installed and connected to a bottom plate 101 of the base 1 through a motor support 3, a steel wire wheel 4 is installed and connected to a driving end of the stepping motor 2, three groups of steel wires 5 are installed and connected to the steel wire wheel 4, and three U-shaped finger seats 6 are installed and connected to the top of a plate body 102 of the base 1 at uniform intervals through hexagon socket head bolts and nuts; three finger devices 7 are respectively installed and connected to the finger seats 6 corresponding to the respective sides, and a U-shaped opening at the bottom end of the second joint 702 of each finger device 7 is vertically inserted into the middle of the first joint 701 in the horizontal direction and is hinged and connected between two vertical surfaces of the finger seats 6 together with the middle of the first joint 701 through a pin and a nut; the U-shaped opening at the bottom end of the third joint 703 is inserted into the U-shaped opening at the top end of the second joint 702, the short-side end of the L-shaped fifth joint 706 is inserted into the U-shaped opening at the bottom end of the third joint 703, and the three are hinged together through a pin and a nut; one end of the bottom of the triangular fingertip joint 704 is inserted into a U-shaped opening at the top end of the third joint 703, the other end of the bottom of the triangular fingertip joint 704 is inserted into a U-shaped opening at the top of the fourth joint 705, and the two ends of the bottom of the fingertip joint 704 are hinged; the long side end of the fifth joint 706 is inserted into the bottom U-shaped opening of the fourth joint 705, the right angle position of the fifth joint 706 is inserted into the top U-shaped opening of the sixth joint 708, the outer side end of the first joint 701 is inserted into the bottom U-shaped opening of the sixth joint 708, and the connecting positions are hinged; the ends of the three groups of steel wires 5 on the steel wire wheel 4 are respectively connected with the inner ends of the three first joints 701; a tension spring 707 is arranged and connected between the middle of the third joint 703 and the top end hinge joint of the fourth joint 705, and a tension spring 707 is also arranged and connected between the middle of the second joint 702 and the top end hinge joint of the sixth joint 708; a position sensor is arranged on the finger device 7; the finger device 7 is made of nylon.
The end manipulator is provided with three finger devices 7, the three finger devices 7 are circumferentially and symmetrically arranged, namely one finger device 7 is arranged at each side, and each finger device 7 is provided with six joints; the end manipulator of the picking machine is an actuating device, when the picking machine is used, the driving end of the manipulator drives the steel wire wheel 4 to rotate under the control of the stepping motor 2, the steel wire wheel 4 can drag the steel wire 5 while rotating, the steel wire 5 can drag the inner end of the first joint 701, the outer end of the first joint 701 can tilt upwards under the supporting action of the finger seat 6, and the fingertip joints 704 are driven to fold inwards by the interaction of the other joints, so that the picking of fruits is realized; the first joint 701 in the horizontal direction at the lower part of the finger device 7 is pulled by the steel wire 5 to realize the linkage of the three finger devices 7 and the clamping of objects with different shapes.
The mechanical arm sends the end mechanical arm to the position near the fruit, the position sensor on the finger device 7 detects the relative position of the mechanical arm and the apple, when the fruit enters the center position of the mechanical arm, the position sensor triggers a single chip microcomputer control signal, the stepping motor 2 starts to rotate in the forward direction to enable the three finger devices 7 of the mechanical arm to start to grasp the fruit, the pressure sensor detects the real-time pressure of the three finger devices 7 for clamping the fruit and judges whether the pressure threshold value is reached, the threshold value is obtained by experiments, if the threshold value is reached, the mechanical arm stops moving, the mechanical arm simulates manual picking movement, and the fruit handle are separated; after the mechanical arm sends the fruit to the designated position, the stepping motor 2 rotates reversely, the finger device 7 is loosened and restored to the initial position, and the picking of the fruit is completed.
The fingers are made of nylon materials, the structure size of the hand is followed, meanwhile, enough light intensity and quality are kept, and the nylon has the characteristics of high mechanical strength, heat resistance, low friction coefficient, wear resistance, self-lubrication, shock absorption, oil resistance, weak acid resistance and the like; the base 1 is mainly used for installing a stepping motor 2 serving as a driving mechanism and a finger device 7 serving as an executing device, and meets the design requirements of small size, small size and light weight of a machine body.
Claims (3)
1. The utility model provides an end manipulator is picked to underactuated apple, includes base (1), step motor (2), motor support (3), steel wire wheel (4), steel wire (5) and finger seat (6), its characterized in that: the finger device (7) comprises a first joint (701), a second joint (702), a third joint (703), a fingertip joint (704), a fourth joint (705), a fifth joint (706), a tension spring (707) and a sixth joint (708), the bottom of the base (1) is a circular bottom plate (101), the top of the base (1) is a circular plate body (102), and two vertical columns (103) in the vertical direction are fixedly connected between the edges of the two sides of the bottom plate (101) and the edges of the two sides of the plate body (102); the stepping motor (2) is installed and connected to a bottom plate (101) of the base (1) through a motor support (3), a steel wire wheel (4) is installed and connected to a driving end of the stepping motor (2), three groups of steel wires (5) are installed and connected to the steel wire wheel (4), and three U-shaped finger seats (6) are installed and connected to the top of a plate body (102) of the base (1) at uniform intervals through hexagon socket head bolts and nuts; three finger devices (7) are respectively installed and connected to the finger seats (6) corresponding to the respective sides, and a U-shaped opening at the bottom end of a second joint (702) of each finger device (7) is vertically inserted into the middle of a first joint (701) in the horizontal direction and is hinged and connected between two vertical surfaces of the finger seats (6) together with the middle of the first joint (701) through a pin and a nut; the U opening at the bottom end of the third joint (703) is inserted into the U opening at the top end of the second joint (702), the short-side end of the L-shaped fifth joint (706) is inserted into the U opening at the bottom end of the third joint (703), and the three are hinged together through a pin and a nut; one end of the bottom of the triangular fingertip joint (704) is inserted into a U-shaped opening at the top end of the third joint (703), the other end of the bottom of the triangular fingertip joint (704) is inserted into a U-shaped opening at the top of the fourth joint (705), and the two ends of the bottom of the fingertip joint (704) are hinged; the long side end of the fifth joint (706) is inserted into the bottom U-shaped opening of the fourth joint (705), the right angle of the fifth joint (706) is inserted into the top U-shaped opening of the sixth joint (708), the outer side end of the first joint (701) is inserted into the bottom U-shaped opening of the sixth joint (708), and the connecting positions are hinged; the ends of the three groups of steel wires (5) on the steel wire wheel (4) are respectively connected with the inner ends of the three first joints (701); a tension spring (707) is arranged and connected between the middle of the third joint (703) and the hinged position of the top end of the fourth joint (705), and a tension spring (707) is also arranged and connected between the middle of the second joint (702) and the hinged position of the top end of the sixth joint (708).
2. The under-actuated apple picking end manipulator of claim 1, wherein: a position sensor is mounted on the finger device (7).
3. The under-actuated apple picking end manipulator of claim 1, wherein: the finger device (7) is made of nylon.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122764432.8U CN216438005U (en) | 2021-11-12 | 2021-11-12 | End manipulator is picked to underactuated apple |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122764432.8U CN216438005U (en) | 2021-11-12 | 2021-11-12 | End manipulator is picked to underactuated apple |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216438005U true CN216438005U (en) | 2022-05-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122764432.8U Active CN216438005U (en) | 2021-11-12 | 2021-11-12 | End manipulator is picked to underactuated apple |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216438005U (en) |
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2021
- 2021-11-12 CN CN202122764432.8U patent/CN216438005U/en active Active
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