CN217453953U - Flexible bionic end effector - Google Patents
Flexible bionic end effector Download PDFInfo
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- CN217453953U CN217453953U CN202221529262.3U CN202221529262U CN217453953U CN 217453953 U CN217453953 U CN 217453953U CN 202221529262 U CN202221529262 U CN 202221529262U CN 217453953 U CN217453953 U CN 217453953U
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- finger
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Abstract
A flexible bionic end effector comprises a base, a transmission assembly, a moving platform, a connecting rod and a soft finger; the soft fingers are arranged at the top of the base, the soft fingers are uniformly distributed along the circumferential direction of the top of the base, and the bottoms of the soft fingers are hinged with the top of the base; the transmission assembly is arranged in the base, the upper end of the transmission assembly is rotatably connected with the top of the base, and the lower end of the transmission assembly penetrates through the bottom of the base; the movable platform is sleeved outside the transmission assembly and is in threaded connection with the transmission assembly; the upper end of the connecting rod is correspondingly hinged with the bottom of the soft finger, and the lower end of the connecting rod is correspondingly hinged with the peripheral edge of the moving platform; the utility model discloses a drive assembly rotates, drives moving platform and reciprocates, and when moving platform moved upwards, can drive soft directional incurvation through the connecting rod and snatch the fruit, and when moving platform moved downwards, can drive soft directional outer relaxation release fruit through the connecting rod, soft finger application of force is very balanced to adopt flexible material, in the time of snatching the fruit, can not cause the damage to the fruit.
Description
Technical Field
The utility model relates to an arm technical field especially relates to a flexible bionical end effector.
Background
In recent years, robot arms have been widely used in the fields of industrial manufacturing, medical treatment, military equipment, agricultural machinery, and the like, particularly in the agricultural field where labor intensity and labor cost are high. The pome fruit is always the mainstream in the four-season fruit market, common apples, pears, kiwifruits and the like are used, the pome fruit is high in yield, the most mechanical arms are used for picking the pome fruit except for a manual picking mode, and whether the picked fruit is damaged or not when the mechanical arms are used for picking the pome fruit is the key point in the design of the end effector. The existing end effector can cause fruit damage during picking.
Disclosure of Invention
In order to solve the technical problems in the above-mentioned technologies, it is necessary to provide a flexible bionic end effector.
A flexible bionic end effector comprises a base, a transmission assembly, a moving platform, a connecting rod and a soft finger;
the soft fingers are arranged at the top of the base, the soft fingers are uniformly distributed along the circumferential direction of the top of the base, and the bottoms of the soft fingers are hinged with the top of the base;
the transmission assembly is arranged in the base, the upper end of the transmission assembly is rotatably connected with the top of the base, and the lower end of the transmission assembly penetrates through the bottom of the base;
the movable platform is sleeved outside the transmission assembly and is in threaded connection with the transmission assembly, and the transmission assembly can drive the movable platform to move up and down along the longitudinal direction of the base;
the upper end of the connecting rod is hinged with one end, far away from the transmission assembly, of the bottom of the soft finger, the lower end of the connecting rod is hinged with the peripheral edge of the moving platform, the moving platform moves up and down, and the connecting rod can drive the soft finger to bend inwards or relax outwards synchronously.
Preferably, a connecting sleeve is arranged at the middle position of the moving platform.
Preferably, the transmission assembly comprises a transmission rod and a coupler, the upper end of the transmission rod is rotatably connected with the top of the base, the transmission rod penetrates through the connecting sleeve and is in threaded connection with the connecting sleeve, the coupler is fixed at the lower end of the transmission rod, and the coupler penetrates through the lower end of the base.
Preferably, the soft finger comprises a finger body, one end of the bottom of the finger body, which is close to the transmission assembly, is hinged to the edge of the moving platform, one end of the bottom of the finger body, which is far away from the rotating assembly, is hinged to the upper end of the connecting rod, and a sucker is arranged on the side wall of one side, which is close to the transmission assembly, of the finger body.
Preferably, an air passage is arranged inside the finger body and is communicated with the suction cup on the side wall of the finger body.
Preferably, the suckers are uniformly distributed at equal intervals along the length direction of the finger body.
Preferably, the finger bodies are circumferentially and uniformly distributed along the top of the base at 120 degrees.
According to the technical scheme, the flexible bionic end effector provided by the utility model comprises a base, a transmission component, a mobile platform, a connecting rod and a soft finger; the soft fingers are arranged at the top of the base, the soft fingers are uniformly distributed along the circumferential direction of the top of the base, and the bottoms of the soft fingers are hinged with the top of the base; the transmission assembly is arranged in the base, the upper end of the transmission assembly is rotatably connected with the top of the base, and the lower end of the transmission assembly penetrates through the bottom of the base; the movable platform is sleeved outside the transmission assembly and is in threaded connection with the transmission assembly, and the transmission assembly can drive the movable platform to move up and down along the longitudinal direction of the base; the upper end of the connecting rod is hinged with one end of the bottom of the soft finger, which is far away from the transmission assembly, the lower end of the connecting rod is hinged with the peripheral edge of the moving platform, which is corresponding to the lower end of the connecting rod, and the moving platform moves up and down, so that the connecting rod can drive the soft finger to bend inwards or relax outwards synchronously; the utility model drives the transmission component to rotate through the direct current motor, so that the mobile platform moves upwards, the connecting rod is driven to jack upwards, the soft point is promoted to bend inwards, fruit grabbing is realized, the soft finger presents circumferential uniform distribution on the top of the base, the force applied to the middle is very balanced when fruit grabbing is carried out, and the soft finger adopts flexible materials, so that the fruit is not damaged in the fruit grabbing process; when fruits need to be released, the direct current motor can drive the transmission assembly to rotate, so that the moving platform is driven to move downwards, the connecting rod is driven to pull the soft point to expand outwards, and the fruits are released.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural view of fig. 1 from another angle.
Fig. 3 is a schematic structural view of the soft finger of the present invention.
Fig. 4 is a schematic sectional structure view of a-a in fig. 3.
In the figure: the device comprises a base 01, a transmission assembly 02, a transmission rod 21, a coupler 22, a moving platform 03, a connecting sleeve 31, a connecting rod 04, a soft finger 05, a finger body 51, a suction cup 52 and an air channel 53.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "upper", "middle", "outer", "inner", "lower", and the like, indicate positional or positional relationships, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referenced components or elements must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.
Referring to fig. 1 to 4, a flexible bionic end effector includes a base 01, a transmission assembly 02, a moving platform 03, a connecting rod 04, and a soft finger 05; the soft fingers 05 are arranged on the top of the base 01, the soft fingers 05 are uniformly distributed along the circumferential direction of the top of the base 01, and the bottom of each soft finger 05 is hinged with the top of the base 01; the transmission assembly 02 is arranged in the base 01, the upper end of the transmission assembly 02 is rotatably connected with the top of the base 01, and the lower end of the transmission assembly 02 penetrates through the bottom of the base 01; the movable platform 03 is sleeved outside the transmission assembly 02, the movable platform 03 is in threaded connection with the transmission assembly 02, and the transmission assembly 02 can drive the movable platform 03 to move up and down along the longitudinal direction of the base 01; the upper end of the connecting rod 04 is hinged with one end of the bottom of the soft finger 05, which is far away from the transmission component 02, and the lower end of the connecting rod 04 is hinged with the peripheral edge of the moving platform 03. When fruits need to be grabbed, the transmission assembly 02 rotates to enable the moving platform 03 to move upwards, so that the connecting rod 04 is driven to jack upwards, the soft fingers 05 are enabled to bend inwards, and therefore the fruits are grabbed, because the soft fingers 05 are circumferentially and uniformly distributed on the top of the base 01, in the fruit grabbing process, force applied to the middle of the fruit grabbing machine is quite balanced, and the soft fingers 05 are made of flexible materials, so that the fruits cannot be damaged in the fruit grabbing process; when fruits need to be released, the direct current motor can drive the transmission assembly 02 to rotate, so that the moving platform 03 is driven to move downwards, the connecting rod 04 is driven to pull the soft finger 05 to expand outwards, and the fruits are released.
The middle position of the movable platform 03 is provided with a connecting sleeve 31. The transmission assembly 02 comprises a transmission rod 21 and a coupler 22, the upper end of the transmission rod 21 is rotatably connected with the top of the base 01, the transmission rod 21 penetrates through the connecting sleeve 31 and is in threaded connection with the connecting sleeve 31, the coupler 22 is fixed at the lower end of the transmission rod 21, the coupler 22 and the coupler 22 penetrate through the lower end of the base 01, the coupler 22 can be connected with a direct current motor, and the transmission rod 21 is driven to rotate by the direct current motor.
The soft finger 05 comprises a finger body 51, one end of the bottom of the finger body 51, which is close to the transmission component 02, is hinged with the edge of the moving platform 03, one end of the bottom of the finger body 51, which is far away from the rotating component, is hinged with the upper end of the connecting rod 04, and a suction cup 52 is arranged on the side wall of one side of the finger body 51, which is close to the transmission component 02. The sucking disc 52 is made of flexible materials, so that the fruits cannot be damaged in the fruit grabbing process.
The suction cups 52 are equally spaced along the length of the finger 51. The fingers 51 are circumferentially equispaced at 120 ° along the top of the base 01. An air passage 53 is arranged inside the finger body 51, and the air passage 53 is communicated with the suction cup 52 on the side wall of the finger body 51. Through hose and air flue 53 switch-on, in the real time of snatching the fruit, the sucking disc 52 with the fruit surface contact back, utilize the air adsorption principle, make sucking disc 52 and fruit outward appearance contact to can guarantee to snatch the fruit more firm, can prevent again to damage the fruit.
The utility model discloses when using, the tip at the arm is fixed to base 01, be connected shaft coupling 22 and DC motor, DC motor drives shaft coupling 22 rotatoryly, can drive transfer line 21 and rotate, thereby it reciprocates to drive moving platform 03, during moving platform 03 rebound, can drive the soft inside bend of pointing 05 through connecting rod 04 and snatch the fruit, when moving platform 03 rebound, can drive the soft outside relaxation release fruit of pointing 05 through connecting rod 04, the inside bend or the outside relaxation through soft inside bend or the outside relaxation of pointing 05 realize snatching or releasing the harvesting of fruit.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.
Claims (7)
1. A flexible bionic end effector is characterized in that: comprises a base, a transmission component, a mobile platform, a connecting rod and a soft finger;
the soft fingers are arranged at the top of the base, the soft fingers are uniformly distributed along the circumferential direction of the top of the base, and the bottoms of the soft fingers are hinged with the top of the base;
the transmission assembly is arranged in the base, the upper end of the transmission assembly is rotatably connected with the top of the base, and the lower end of the transmission assembly penetrates through the bottom of the base;
the movable platform is sleeved outside the transmission assembly and is in threaded connection with the transmission assembly, and the transmission assembly can drive the movable platform to move up and down along the longitudinal direction of the base;
the upper end of the connecting rod is hinged with one end, far away from the transmission assembly, of the bottom of the soft finger, the lower end of the connecting rod is hinged with the peripheral edge of the moving platform, the moving platform moves up and down, and the connecting rod can drive the soft finger to bend inwards or relax outwards synchronously.
2. The flexible biomimetic end effector of claim 1, wherein: and a connecting sleeve is arranged at the middle position of the moving platform.
3. The flexible biomimetic end effector of claim 2, wherein: the transmission assembly comprises a transmission rod and a coupler, the upper end of the transmission rod is rotatably connected with the top of the base, the transmission rod penetrates through the connecting sleeve and is in threaded connection with the connecting sleeve, the coupler is fixed at the lower end of the transmission rod, and the coupler penetrates through the lower end of the base.
4. The flexible biomimetic end effector according to claim 1, 2, or 3, wherein: the soft finger comprises a finger body, one end of the bottom of the finger body, which is close to the transmission assembly, is hinged with the edge of the moving platform, one end of the bottom of the finger body, which is far away from the rotating assembly, is hinged with the upper end of the connecting rod, and a sucker is arranged on the side wall of one side, which is close to the transmission assembly, of the finger body.
5. The flexible biomimetic end effector of claim 4, wherein: the inside of the finger body is provided with an air passage, and the air passage is communicated with the sucker on the side wall of the finger body.
6. The flexible biomimetic end effector of claim 4, wherein: the sucking discs are uniformly distributed at equal intervals along the length direction of the finger body.
7. The flexible biomimetic end effector of claim 4, wherein: the finger bodies are circumferentially and uniformly distributed along the top of the base at 120 degrees.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221529262.3U CN217453953U (en) | 2022-06-16 | 2022-06-16 | Flexible bionic end effector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221529262.3U CN217453953U (en) | 2022-06-16 | 2022-06-16 | Flexible bionic end effector |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217453953U true CN217453953U (en) | 2022-09-20 |
Family
ID=83237074
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221529262.3U Active CN217453953U (en) | 2022-06-16 | 2022-06-16 | Flexible bionic end effector |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217453953U (en) |
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2022
- 2022-06-16 CN CN202221529262.3U patent/CN217453953U/en active Active
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