CN104303709B - A kind of bionical end effector of dragonfly claw being applicable to crawl different shape fruits and vegetables - Google Patents
A kind of bionical end effector of dragonfly claw being applicable to crawl different shape fruits and vegetables Download PDFInfo
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- CN104303709B CN104303709B CN201410607470.4A CN201410607470A CN104303709B CN 104303709 B CN104303709 B CN 104303709B CN 201410607470 A CN201410607470 A CN 201410607470A CN 104303709 B CN104303709 B CN 104303709B
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Abstract
The invention reside in and provide a kind of agricultural robot end effector with biomimetic features feature, this manipulator refers to for bionics fiber object with dragonfly pawl, and its distinctive six finger architectural features are applied to the design of this manipulator.This manipulator is made up of frame-type mechanical platform, control system, reponse system, transmission system, electric auxiliary system.When capturing fruits and vegetables, by the Cam be equipped with below servomotor, to control before and after manipulator the angle that two pairs of pawls refer to relative to median claw.When manipulator touches fruits and vegetables, by the rotation amplitude of the force value feedback regulation servomotor of sensor, thus carry out adjustable claw and refer to tightening up or diastole of inner high-strength flexible polyamide rope.And then realize carrying out stablizing and the object of complaisant grasping to different size, difform fruits and vegetables.
Description
Technical field:
The present invention relates to a kind of bionical dragonfly claw end effector with crawl fruits and vegetables function, belong to a kind of Novel bionic manipulator in agricultural engineering field.
Background technology:
At agricultural engineering field, agricultural intelligence equipment is utilized to win with in the process of sorting fruits and vegetables, due to fruits and vegetables broad categories, different sizes, so it is very difficult for wanting to reach the effect utilizing same manipulator to capture various shape fruits and vegetables.Fruits and vegetables easily damage in addition, so stable and submissive crawl is also very important.But manipulator has significant limitation, so choose the research of end effector just to seem particularly important to winning and dividing to the adaptedness and submissive degree that capture difform object now.
As everyone knows, dragonfly is when capturing object, and its pawl refers to have adaptability widely, no matter is vertical branch top or the branch limb kept flat, and dragonfly can firm crawl and keep the stability of health.Forms of motion when this phenomenon and its crawl has direct relation, and its forms of motion and six of its uniqueness refer to that mechanism's movement mechanism different with each leg section is inseparable.Therefore dragonfly pawl is the bionics fiber object of end effector, by studying structure, the morphology and function mechanism of its pawl, can be the end effector capturing fruits and vegetables and providing bio-information.The feature of therefore probing into dragonfly pawl has tangible meaning for the end effector improving tradition crawl fruits and vegetables.
Summary of the invention:
The invention reside in and provide a kind of agricultural robot end effector with biomimetic features feature, this end effector refers to for bionics fiber object with dragonfly pawl, and its distinctive six finger architectural features are applied to the design of this manipulator.This manipulator is made up of frame-type mechanical platform, control system, reponse system, transmission system, electric auxiliary system.This manipulator is material with composite, take electric power as drive energy.When capturing fruits and vegetables, by the Cam be equipped with below servomotor, to control before and after manipulator the angle that two pairs of pawls refer to relative to median claw.When manipulator touches fruits and vegetables, by the rotation amplitude of the force value feedback regulation servomotor of sensor, thus carry out adjustable claw and refer to tightening up or diastole of inner high-strength flexible polyamide rope.And then realize carrying out stablizing and the object of complaisant grasping to different size, difform fruits and vegetables.
A kind of dragonfly claw end effector with bionic geometric structure feature of the present invention, this end effector is made up of frame-type mechanical platform, intelligence control system, reponse system, transmission system, electric auxiliary system.The main body frame (1) of frame-type mechanical platform and gripper refer to be made up of composite, slideway (19) is fixed by bolt by main body frame (1) bottom, spring constraint is passed through between two manipulator trochanter slide blocks (18), manipulator trochanter slide block (18) there is the chute (15) of two up/down perforations, manipulator fore paw and manipulator rear solid end are connected with median claw chassis (13) by ball pivot (12) and ball pivot beam (16) through chute (15) by manipulator trochanter slide block (18), median claw chassis (13) and manipulator median claw leg section (8) are interfixed by median claw beam (14), second servomotor (3) is fixed on the median claw chassis (13) on flat push rod disc cam (17) by positioning bolt hole, by the change of flat push rod disc cam (17) with the relative position of manipulator trochanter slide block (18), and spring is to the constraint of manipulator trochanter slide block (18), realize the linear reciprocating motion of manipulator trochanter slide block (18) on slideway (19).Before and after manipulator, two pairs of pawls refer to it is identical, manipulator fore paw by manipulator fore paw leg section (4), manipulator fore paw tibia (5), manipulator fore paw digitus (6) is hinged forms.Manipulator rear solid end by manipulator rear solid end leg section (23), manipulator rear solid end tibia (24), manipulator rear solid end digitus (25) is hinged forms.Manipulator median claw by manipulator median claw leg section (8), manipulator median claw tibia (9), manipulator median claw digitus (10) is hinged forms.At manipulator fore paw and the hinged barb of manipulator rear solid end end (22), barb (22) is made up of barb hinged place (28), barbed end (26) and barb corner (27), and there is warp architecture in barb (22).All foil gauge (20) is posted in side at barb (22) and manipulator median claw digitus (10) surface.Barb (22) inner side is fixed with high-strength flexible polyamide rope, high-strength flexible polyamide rope by inside groove (21) be wrapped in be fixed on the first servomotor (2) and the 3rd servomotor (7) output shaft wire spool (11) on, to realize the effect of transmission.
Ratio of distances constant between two ball pivot beam (16) end EF that Distance geometry between Distance geometry two median claw beam (14) end CD between two ball pivot beam (16) the end AB be connected with manipulator fore paw leg section (4) is connected with manipulator rear solid end leg section (23) is 64:123:64; In the plane residing for median claw chassis (13), between the ball pivot beam (16) be connected with manipulator fore paw leg section (4) and median claw beam (14), folded angle is 30 °, and between the ball pivot beam (16) be connected with manipulator rear solid end leg section (23) and median claw beam (14), folded angle is 30 °.
Manipulator fore paw leg section (4) is 18:16:7 with manipulator fore paw tibia (5) and the length ratio of manipulator fore paw digitus (6); Manipulator median claw leg section (8) is 8:5:2 with manipulator median claw tibia (9) and the length ratio of manipulator median claw digitus (10); Manipulator rear solid end leg section (23) is 18:16:7 with manipulator rear solid end tibia (24) and the length ratio of manipulator rear solid end digitus (25).
In the plane residing for median claw chassis (13), manipulator fore paw leg section (4) is 0 ° ~ 78 ° relative to median claw beam (14) rotating angular range, and manipulator rear solid end leg section (23) is 0 ° ~ 78 ° relative to median claw beam (14) rotating angular range.
There is warp architecture in barb, namely the angle folded by line of the I point of the line of the G point of barb hinged place (28) and the H point of barb corner (27) and the H point of barb corner (27) and barbed end (26) is 120 °.
Accompanying drawing illustrates:
See accompanying drawing
Fig. 1 is structural representation of the present invention
Fig. 2 is the vertical view that before and after end effector, two pairs of pawls refer to
Fig. 3 is that manipulator fore paw refers to structural representation
Fig. 4 is partial structurtes schematic diagram of the present invention
Fig. 5 is the front view of barb
In Fig. 1,1, main body frame; 2, the first servomotor; 3, the second servomotor; 4, manipulator fore paw leg section; 5, manipulator fore paw tibia; 6, manipulator fore paw digitus; 7, the 3rd servomotor; 8, manipulator median claw leg section; 9, manipulator median claw tibia; 10, manipulator median claw digitus; 11, wire spool.
In Fig. 2,12, ball pivot; 13, median claw chassis; 14, median claw beam; 15, chute; 16, ball pivot beam; 17, flat push rod disc cam; 18, manipulator trochanter slide block; 19, slideway.
In Fig. 3,20, foil gauge; 21, inside groove; 22, barb.
In Fig. 4,23, manipulator rear solid end leg section; 24, manipulator rear solid end tibia; 25, manipulator rear solid end digitus.In Fig. 5,26, barbed end; 27, barb corner; 28, barb hinged place.
Embodiment:
A kind of dragonfly claw end effector with bionic geometric structure feature of the present invention, this end effector is made up of frame-type mechanical platform, intelligence control system, reponse system, transmission system, electric auxiliary system.The main body frame (1) of frame-type mechanical platform and gripper refer to be made up of composite, slideway (19) is fixed by bolt by main body frame (1) bottom, spring constraint is passed through between two manipulator trochanter slide blocks (18), manipulator trochanter slide block (18) there is the chute (15) of two up/down perforations, manipulator fore paw and manipulator rear solid end are connected with median claw chassis (13) by ball pivot (12) and ball pivot beam (16) through chute (15) by manipulator trochanter slide block (18), median claw chassis (13) and manipulator median claw leg section (8) are interfixed by median claw beam (14), second servomotor (3) is fixed on the median claw chassis (13) on flat push rod disc cam (17) by positioning bolt hole, by the change of flat push rod disc cam (17) with the relative position of manipulator trochanter slide block (18), and spring is to the constraint of manipulator trochanter slide block (18), realize the linear reciprocating motion of manipulator trochanter slide block (18) on slideway (19).Before and after manipulator, two pairs of pawls refer to it is identical, manipulator fore paw by manipulator fore paw leg section (4), manipulator fore paw tibia (5), manipulator fore paw digitus (6) is hinged forms.Manipulator rear solid end by manipulator rear solid end leg section (23), manipulator rear solid end tibia (24), manipulator rear solid end digitus (25) is hinged forms.Manipulator median claw by manipulator median claw leg section (8), manipulator median claw tibia (9), manipulator median claw digitus (10) is hinged forms.At manipulator fore paw and the hinged barb of manipulator rear solid end end (22), barb (22) is made up of barb hinged place (28), barbed end (26) and barb corner (27), and there is warp architecture in barb (22).All foil gauge (20) is posted in side at barb (22) and manipulator median claw digitus (10) surface.Barb (22) inner side is fixed with high-strength flexible polyamide rope, high-strength flexible polyamide rope by inside groove (21) be wrapped in be fixed on the first servomotor (2) and the 3rd servomotor (7) output shaft wire spool (11) on, to realize the effect of transmission.
When using beginning, first servomotor (2), second servomotor (3) and the 3rd servomotor (7) are in initial position, control system regulates the relative position of flat push rod disc cam (17) and manipulator trochanter slide block (18) by machine vision technique, add the constraint of spring to manipulator trochanter slide block (18), realize the motion of manipulator trochanter slide block (18) on slideway (19), and then the two pairs of pawls refer to the angle relative to median claw when realizing capturing fruits and vegetables, reach the action of bionical dragonfly pawl to capture the object of difform fruits and vegetables.The ratio of the leg section of every bar gripper is the ratio of bionical dragonfly leg section, more adapts to the fruits and vegetables of various shape.When manipulator touches fruits and vegetables, by the foil gauge (20) that barb (22) and manipulator median claw digitus (10) inner side are posted, the force value measured is fed back to control system, and then regulate the rotation of the first servomotor (2) and the 3rd servomotor (7), the high-strength flexible polyamide rope be fixed in barb (22) and manipulator median claw digitus (10) inside groove (21) is tightened up or diastole, reaches the object of soft crawl difformity fruits and vegetables.This bionical dragonfly claw end effector adaptability is high, is applicable to the crawl of various shape fruits and vegetables.
Claims (5)
1. have a dragonfly claw end effector for bionic geometric structure feature, this dragonfly claw end effector is made up of frame-type mechanical platform, intelligence control system, reponse system, transmission system, electric auxiliary system; the main body frame (1) of frame-type mechanical platform and gripper refer to be made up of composite, slideway (19) is fixed by bolt by main body frame (1) bottom, spring constraint is passed through between two manipulator trochanter slide blocks (18), manipulator trochanter slide block (18) there is the chute (15) of two up/down perforations, manipulator fore paw and manipulator rear solid end are connected with median claw chassis (13) by ball pivot (12) and ball pivot beam (16) through chute (15) by manipulator trochanter slide block (18), median claw chassis (13) and manipulator median claw leg section (8) are interfixed by median claw beam (14), second servomotor (3) is fixed on the median claw chassis (13) on flat push rod disc cam (17) by positioning bolt hole, by the change of flat push rod disc cam (17) with the relative position of manipulator trochanter slide block (18), and spring is to the constraint of manipulator trochanter slide block (18), realize the linear reciprocating motion of manipulator trochanter slide block (18) on slideway (19), before and after manipulator, two pairs of pawls refer to it is identical, manipulator fore paw by manipulator fore paw leg section (4), manipulator fore paw tibia (5), manipulator fore paw digitus (6) is hinged forms, manipulator rear solid end by manipulator rear solid end leg section (23), manipulator rear solid end tibia (24), manipulator rear solid end digitus (25) is hinged forms, manipulator median claw by manipulator median claw leg section (8), manipulator median claw tibia (9), manipulator median claw digitus (10) is hinged forms, at manipulator fore paw and the hinged barb of manipulator rear solid end end (22), barb (22) is made up of barb hinged place (28), barbed end (26) and barb corner (27), and there is warp architecture in barb (22), all foil gauge (20) is posted in side at barb (22) and manipulator median claw digitus (10) surface, barb (22) inner side is fixed with high-strength flexible polyamide rope, high-strength flexible polyamide rope by inside groove (21) be wrapped in be fixed on the first servomotor (2) and the 3rd servomotor (7) output shaft wire spool (11) on, to realize the effect of transmission.
2. a kind of dragonfly claw end effector with bionic geometric structure feature according to claim 1, it is characterized in that, the ratio of distances constant between two ball pivot beam (16) end EF that the Distance geometry between Distance geometry two median claw beam (14) the end CD between two ball pivot beam (16) the end AB be connected with manipulator fore paw leg section (4) is connected with manipulator rear solid end leg section (23) is 64:123:64; In the plane residing for median claw chassis (13), between the ball pivot beam (16) be connected with manipulator fore paw leg section (4) and median claw beam (14), folded angle is 30 °, and between the ball pivot beam (16) be connected with manipulator rear solid end leg section (23) and median claw beam (14), folded angle is 30 °.
3. a kind of dragonfly claw end effector with bionic geometric structure feature according to claim 1, it is characterized in that, manipulator fore paw leg section (4) is 18:16:7 with manipulator fore paw tibia (5) and the length ratio of manipulator fore paw digitus (6); Manipulator median claw leg section (8) is 8:5:2 with manipulator median claw tibia (9) and the length ratio of manipulator median claw digitus (10); Manipulator rear solid end leg section (23) is 18:16:7 with manipulator rear solid end tibia (24) and the length ratio of manipulator rear solid end digitus (25).
4. a kind of dragonfly claw end effector with bionic geometric structure feature according to claim 1, it is characterized in that, in the plane residing for median claw chassis (13), manipulator fore paw leg section (4) is 0 ° ~ 78 ° relative to median claw beam (14) rotating angular range, and manipulator rear solid end leg section (23) is 0 ° ~ 78 ° relative to median claw beam (14) rotating angular range.
5. a kind of dragonfly claw end effector with bionic geometric structure feature according to claim 1, it is characterized in that, there is warp architecture in barb, namely the angle folded by line of the I point of the line of the G point of barb hinged place (28) and the H point of barb corner (27) and the H point of barb corner (27) and barbed end (26) is 120 °.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410607470.4A CN104303709B (en) | 2014-11-03 | 2014-11-03 | A kind of bionical end effector of dragonfly claw being applicable to crawl different shape fruits and vegetables |
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| CN201410607470.4A CN104303709B (en) | 2014-11-03 | 2014-11-03 | A kind of bionical end effector of dragonfly claw being applicable to crawl different shape fruits and vegetables |
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| CN104303709A CN104303709A (en) | 2015-01-28 |
| CN104303709B true CN104303709B (en) | 2016-02-10 |
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| CN105557197A (en) * | 2015-12-15 | 2016-05-11 | 桐城市神墩环卫保洁有限公司 | Fruit picker |
| CN105532184B (en) * | 2016-01-06 | 2017-09-12 | 北京工业大学 | A kind of hydraulic cutter tomato stripper unit |
| CN110027003A (en) * | 2019-04-19 | 2019-07-19 | 泸州开士乐工程技术有限责任公司 | A kind of multifunction manipulator |
| CN110539257B (en) * | 2019-08-05 | 2021-01-01 | 中山大学 | Multifunctional bionic clamp holder |
| CN111515983B (en) * | 2020-03-25 | 2022-07-29 | 江阴兴澄特种钢铁有限公司 | Snatch manipulator |
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