CN104885706A - End effector structure of fruit and vegetable picking robot - Google Patents
End effector structure of fruit and vegetable picking robot Download PDFInfo
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- CN104885706A CN104885706A CN201510261693.4A CN201510261693A CN104885706A CN 104885706 A CN104885706 A CN 104885706A CN 201510261693 A CN201510261693 A CN 201510261693A CN 104885706 A CN104885706 A CN 104885706A
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- dactylus
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- vegetable picking
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Abstract
The invention provides an end effector structure of a fruit and vegetable picking robot. On the premise of meeting the fruit and vegetable picking requirements and guaranteeing fruit and vegetable picking stability, the end effector structure is simple in structure, small in control difficulty, low in use and manufacturing cost, high in adaptability and suitable for popularization and application. The end effector structure comprises a driving box. The end effector structure is characterized in that the driving box is provided with at least three movable knuckles, the movable knuckles are circumferentially arranged to form an accommodating cavity and are connected with the driving box respectively through torsional springs or tension springs, the driving box is provided with a driving device corresponding to the movable knuckles, and the driving device is connected with the movable knuckles through key ropes.
Description
Technical field
The present invention relates to the art field of robot and parts thereof, be specially a kind of terminal executor of fruit and vegetable picking robot structure.
Background technology
Fruit is important foodstuffs indispensable in our daily life.And fruit picking to be agricultural product produce in chain one of effort, link the most consuming time, pluck seasonal strong, the time and effort consuming of operation, costly, therefore ensureing fruit timely collecting, reducing harvest operation expense is the important channel that orchard worker increases income.China's fruit picking automaticity is lower, mostly adopts manual work at present, and its overall situation is to be improved.
Terminal executor of fruit and vegetable picking robot is the vitals of direct contacting fruit, realizes pinching of fruits and vegetables by the gathering of multiple dactylus, is focus and the difficult point of recent domestic research.American-European, the states such as Japan have all developed various terminal executor of fruit and vegetable picking robot, but its mechanical complications is high, control difficulty larger, make its use and manufacturing cost higher, be not suitable for applying, and the domestic research for fruit and vegetable picking end effector is in developing stage, as notification number drive lacking picking mechanical arm end effector apparatus disclosed in the patent of invention of CN102729256A, it comprises three fingers, each finger comprises three dactylus, the closing movement of finger is realized by transmission mechanism, realize the harvesting of fruits and vegetables, but transmission mechanism is gear drive, finger realizes closing up by gear drive, its complex structure and its manipulation difficulty larger, as notification number for CN204031841U is a kind of fruits picking mechanical hand disclosed in utility model granted patent, its finger realizes closing up of finger by the tractive of stay cord, its structure is simple, better handling, but because handle drives the scope of activities of stay cord less, it is less to the scope of application pinched of fruits and vegetables, the harvesting requirement of the fruits and vegetables that more difficult simultaneous adaptation shape differs greatly, its adaptability is lower, and make stay cord occur drawing high distortion due to the frequent stressed meeting of stay cord, thus finger can be reduced power is clutched to fruits and vegetables, thus reduce the stability that fruits and vegetables pinch.
Summary of the invention
For the problems referred to above, the invention provides a kind of terminal executor of fruit and vegetable picking robot structure, meet fruit and vegetable picking can have, under ensureing that fruits and vegetables pinch the prerequisite of stability, its structure is simple, control difficulty is less, make its use and manufacturing cost lower, adaptability is higher, is applicable to applying.
A kind of terminal executor of fruit and vegetable picking robot structure, it comprises driving box, it is characterized in that: described driving box is provided with at least three movable dactylus, described movable dactylus circumferentially forms containing cavities, described movable dactylus connects described driving box respectively by torsion spring or extension spring, described driving box is provided with the drive unit corresponding with described movable dactylus, described drive unit connects described movable dactylus by key rope.
It is further characterized in that: described driving box arranges concertina type cutter sweep outside containing cavities;
Described drive unit comprises drive motors, described drive motors connection reducer, and described reducer shaft connects described key rope;
Described concertina type cutter sweep comprises cutting knife;
Pressure sensor is provided with inside described movable dactylus;
On described driving box, corresponding described movable dactylus is provided with fixing dactylus, and described movable dactylus connects described fixing dactylus by torsion spring or extension spring;
Described movable dactylus comprises the first movable dactylus and the second movable dactylus, and described first movable dactylus connects described fixing dactylus by torsion spring or extension spring, and described second movable dactylus connects described first movable dactylus by torsion spring or extension spring;
The described fixing dactylus of described first movable dactylus, described second movable dactylus and correspondence is set with flexible hose;
Corresponding described containing cavities is provided with sucker to described driving box.
In said structure of the present invention, owing to connecting described driving box at movable dactylus respectively by torsion spring or extension spring, described driving box is provided with the drive unit corresponding with described movable dactylus, described drive unit connects described movable dactylus by key rope, by the reset with torsion spring that draws high of key rope, achieve the harvesting of movable dactylus to fruits and vegetables, under ensureing that fruits and vegetables pinch the prerequisite of the applicability of stability and raising end effector structures, its structure is simple, control difficulty is less, make its use and manufacturing cost lower, be applicable to applying.
Accompanying drawing explanation
Fig. 1 is terminal executor of fruit and vegetable picking robot structural representation of the present invention;
Fig. 2 is terminal executor of fruit and vegetable picking robot structural perspective of the present invention.
Embodiment
See Fig. 1, Fig. 2, a kind of terminal executor of fruit and vegetable picking robot structure, it comprises driving box 1, driving box 1 is provided with three movable dactylus 2-1, 2-2, 2-3, movable dactylus 2-1, 2-2, 2-3 circumferentially forms containing cavities 3, movable dactylus 2-1, 2-2, 2-3 connects driving box 1 respectively by torsion spring or extension spring 4, driving box 1 is provided with and movable dactylus 2-1, 2-2, the drive unit 5 that 2-3 is corresponding, drive unit 5 is respectively by key rope 6 connection activity dactylus 2-1, 2-2, 2-3, driving box 1 arranges concertina type cutter sweep 7 outside containing cavities, movable dactylus 2-1, 2-2, pressure sensor 8 is provided with inside 2-3, key rope is tightened up by drive unit 5, overcome the contraction of key rope preferably, what ensure that movable dactylus pinches scope, improve the stability that fruits and vegetables pinch, improve the applicability of end effector structures simultaneously.
Drive unit 5 comprises drive motors 9, drive motors 9 connection reducer 10, and reducer shaft 12 connecting key rope 6, concertina type cutter sweep 7 comprises cutting knife 7a.
On driving box 1, corresponding movable dactylus 2-1,2-2,2-3 are provided with fixing dactylus 11-1,11-2,11-3, movable dactylus 2-1,2-2,2-3 are connected and fixed dactylus 11-1,11-2,11-3 respectively by torsion spring or extension spring 4, because fixing dactylus 11-1,11-2,11-3 form relatively-stationary containing cavities 3, ensure that the storage of fruits and vegetables is placed, effectively prevent the stressed damage of fruits and vegetables in picking process.
Movable dactylus 2-1, 2-2, 2-3 comprises the first movable dactylus 2a and the second movable dactylus 2b, first movable dactylus 2a is connected and fixed dactylus 11-1 respectively by torsion spring or extension spring 4, 11-2, 11-3, second movable dactylus 2b connects the first movable dactylus 2a respectively by torsion spring or extension spring 4, first movable dactylus 2a, second movable dactylus 2b and corresponding fixing dactylus 11-1, 11-2, 11-3 is provided with key rope chute 12, the scope of activities of limit key rope, ensure the stability of key rope action, due to the bending of the first movable dactylus and the second movable dactylus, achieve the double bending of movable dactylus, further ensure the stability that fruits and vegetables pinch.
Fixing dactylus 11-1,11-2,11-3 of first movable dactylus 2a, the second movable dactylus 2b and correspondence is set with flexible hose 13, rigidity dactylus not only can be avoided the surface damage of captured apple and increase frictional force thus be substituted in the mode being equipped with elastomeric material inside dactylus, and flexibility and the aesthetics of end effector can be improved.
Corresponding containing cavities is provided with sucker 14 to driving box 1, and ensure that fruit and vegetable picking is the stable position in end effector, simultaneous buffering dactylus is to the impact of fruits and vegetables.
In the present embodiment, important spare part torsion spring adopts one arm curl torsionspring, without the need to lubrication, take up room little, elastic range wide, reciprocally use and stable performance can be provided.
Below in conjunction with accompanying drawing, operation principle of the present invention is described:
When the drive motors 9 be placed in driving box rotates forward, slow down through decelerator 10, deboost axle drives tendon rope 6 to pull to the direction away from dactylus, first movable dactylus 2a and the second movable dactylus 2b is rotated, and then first movable dactylus 2a and the second movable dactylus 2b bend, touching fruit, pressure sensor 8 contacting fruit also produces pressure signal, control finger until firmly firmly grasp envelope apple, simultaneously, connect the first movable dactylus 2a, second movable dactylus 2b and fixing dactylus 11-1, 11-2, torsion spring on 11-3 is further compressed, sucker 14 holds fruits and vegetables, the impact of buffering finger to apple, concertina type cutting knife 7a cuts carpopodium, when drive motors 9 reverses, torsion spring 4 is out of shape and reduces, under the effect of torsion spring power, the counter motion of tendon rope 6, dactylus reverses under the driving of torsion spring 4, due to the connection function of tendon rope 6, first movable dactylus 2a and the second movable dactylus 2b reversion receive certain cushioning effect, until finger reaches complete straight configuration reposefully, simultaneously, flexible hose 13 returns to linear state, and then protection dactylus is injury-free.
Terminal executor of fruit and vegetable picking robot provided by the invention, the chucking power of dactylus formula finger structure comparatively greatly, envelope scope that is comparatively compact, that open is large and flexibly, therefore, the kinematic accuracy in clamping process is higher.Meanwhile, overall employing three finger structures, each finger has two cradle heads, and similar with the finger of people, like this, degree of freedom and moderate complexity, while ensure that necessary motion, be also convenient to stability contorting.Because rigidity finger adaptability is poor, the movable dactylus in upper end first of this end effector, the axis of the second movable dactylus are in same plane, the fixing dactylus plane parallelization therewith of lower end, and relative first movable dactylus, the second movable dactylus symmetrical placement, effectively can increase the accommodation of end effector like this, to capture multiple difform fruit.Many dactylus fingers adopt the mode of tendon wire saws, each finger is in series by two single-DOF-joints, and each many dactylus fingers only drive its bending motion with a tendon rope, while satisfied crawl requires, overall structure is simple, effectively reduce the complexity of mechanism, manufacturing cost is reduced.
Can certainly adopt the movable dactylus of other quantity, as long as drive key rope to pull dactylus to bend by drive unit capture fixing fruits and vegetables to fruits and vegetables, realizing the harvesting of fruits and vegetables, is all protection scope of the present invention.
Claims (9)
1. a terminal executor of fruit and vegetable picking robot structure, it comprises driving box, it is characterized in that: described driving box is provided with at least three movable dactylus, described movable dactylus circumferentially forms containing cavities, described movable dactylus connects described driving box respectively by torsion spring or extension spring, described driving box is provided with the drive unit corresponding with described movable dactylus, described drive unit connects described movable dactylus by key rope.
2. a kind of terminal executor of fruit and vegetable picking robot structure according to claim 1, is characterized in that: described driving box arranges concertina type cutter sweep outside containing cavities.
3. a kind of terminal executor of fruit and vegetable picking robot structure according to claim 1, is characterized in that: described drive unit comprises drive motors, described drive motors connection reducer, and described reducer shaft connects described key rope.
4. a kind of terminal executor of fruit and vegetable picking robot structure according to claim 2, is characterized in that: described concertina type cutter sweep comprises cutting knife.
5. a kind of terminal executor of fruit and vegetable picking robot structure according to claim 1, is characterized in that: be provided with pressure sensor inside described movable dactylus.
6. a kind of terminal executor of fruit and vegetable picking robot structure according to claim 1, is characterized in that: on described driving box, corresponding described movable dactylus is provided with fixing dactylus, and described movable dactylus connects described fixing dactylus by torsion spring or extension spring.
7. a kind of terminal executor of fruit and vegetable picking robot structure according to claim 6, it is characterized in that: described movable dactylus comprises the first movable dactylus and the second movable dactylus, described first movable dactylus connects described fixing dactylus by torsion spring or extension spring, and described second movable dactylus connects described first movable dactylus by torsion spring or extension spring.
8. a kind of terminal executor of fruit and vegetable picking robot structure according to claim 7, is characterized in that: the described fixing dactylus of described first movable dactylus, described second movable dactylus and correspondence is set with flexible hose.
9., according to the arbitrary described a kind of terminal executor of fruit and vegetable picking robot structure of claim 1-8, it is characterized in that: corresponding described containing cavities is provided with sucker to described driving box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510261693.4A CN104885706A (en) | 2015-05-21 | 2015-05-21 | End effector structure of fruit and vegetable picking robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510261693.4A CN104885706A (en) | 2015-05-21 | 2015-05-21 | End effector structure of fruit and vegetable picking robot |
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| CN104885706A true CN104885706A (en) | 2015-09-09 |
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| CN201510261693.4A Pending CN104885706A (en) | 2015-05-21 | 2015-05-21 | End effector structure of fruit and vegetable picking robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106576604A (en) * | 2016-12-06 | 2017-04-26 | 南昌大学 | Fruit and vegetable picking grabber |
| CN108098801A (en) * | 2017-12-15 | 2018-06-01 | 长沙志唯电子科技有限公司 | Terminal executor of fruit and vegetable picking robot structure |
| CN110603976A (en) * | 2019-10-24 | 2019-12-24 | 中国计量大学 | Tomato branch and leaf trimming device and trimming method thereof |
| CN112273053A (en) * | 2020-11-27 | 2021-01-29 | 南宁学院 | Flexible passion fruit picking manipulator end effector |
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2015
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106576604A (en) * | 2016-12-06 | 2017-04-26 | 南昌大学 | Fruit and vegetable picking grabber |
| CN106576604B (en) * | 2016-12-06 | 2023-04-07 | 南昌大学 | Fruit and vegetable picking grabber |
| CN108098801A (en) * | 2017-12-15 | 2018-06-01 | 长沙志唯电子科技有限公司 | Terminal executor of fruit and vegetable picking robot structure |
| CN110603976A (en) * | 2019-10-24 | 2019-12-24 | 中国计量大学 | Tomato branch and leaf trimming device and trimming method thereof |
| CN110603976B (en) * | 2019-10-24 | 2024-04-26 | 中国计量大学 | Tomato branch and leaf trimming device and trimming method thereof |
| CN112273053A (en) * | 2020-11-27 | 2021-01-29 | 南宁学院 | Flexible passion fruit picking manipulator end effector |
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Application publication date: 20150909 |