CN202200303U - Actuator at underactuated tail end - Google Patents
Actuator at underactuated tail end Download PDFInfo
- Publication number
- CN202200303U CN202200303U CN2011202419971U CN201120241997U CN202200303U CN 202200303 U CN202200303 U CN 202200303U CN 2011202419971 U CN2011202419971 U CN 2011202419971U CN 201120241997 U CN201120241997 U CN 201120241997U CN 202200303 U CN202200303 U CN 202200303U
- Authority
- CN
- China
- Prior art keywords
- knuckle
- hinged
- palm
- joint
- dactylus
- 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.)
- Expired - Fee Related
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses an actuator at an underactuated tail end. One end of a first knuckle and one end of a second knuckle of each finger of the actuator are hinged by a first joint, the other end of each knuckle is hinged with an upper palm connecting plate by a second joint, a motor of a base is mounted on a lower palm connecting plate and connected with a moving plate, one end of each of two moving push rods is fixed to one of two ends of the moving plate, the other end of each of the two moving push rods is hinged with one end of a respective coupling connecting rod, two sides of the upper palm connecting plate are connected with two sides of the lower palm connecting plate by round bars, a middle hole of a triangular driving rod of each finger is connected with a base by the other end of the respective coupling connecting rods, the motor of the base is fixedly connected with the lower connecting plate of a palm, and each finger is hinged with the palm by the second joint of the finger and the upper palm connecting plate. An underactuated mechanism is integrated between each two corresponding joints, and the motor drives the two fingers to be opened and closed by differential mechanisms. Drivers are fewer, the actuator is simple in control and high in reliability, and object grabbing adaptive to the shape of an object can be realized.
Description
Technical field
The utility model relates to a kind of end effector, specifically relates to a kind of end effector of owing to drive.
Background technology
Along with the development and the application of new agricultural production pattern and new technology, agricultural robot will become the main force of agricultural production.Picking robot is as the important kind of agricultural robot, and end effector is the important component part of fruit and vegetable picking robot, therefore, has very big development potentiality.Compare with the end effector of industrial robot, because tender property, scrambling and the property characteristic complicated and changeable of its manipulating object and environment, the end effector of picking robot has the intelligent requirements of tangible particularity and Geng Gao.
End effector has played huge contribution to agricultural development, but also exists some defectives: (1) drive source is too much.At present, the traditional end actuator all adopts full driving mechanism.Though the free degree of end effector is just many more, it is more flexible to get action; Grip is better, but finger increases with joint quantity and means that the driver number increases, and not only causes control difficult; Bring the complicated of transmission system; System makes and maintenance cost increases, and reliability reduces, negative effects such as energy consumption rising.(2) versatility is not strong.The basic structure of end effector depends on concrete target characteristic and working method.In the crops production system, the fruits and vegetables body is widely different, even same kind, its individual size and shape are also incomplete same.Therefore, picking robot can only be gathered in the crops a kind of fruit, and fruit should size, shape is more or less the same, the main cause that causes picking robot efficient to be difficult to improve also is the bottleneck of restriction picking robot future development and application.
Summary of the invention
Outside the deficiency that overcomes prior art; The purpose of the utility model provides a kind of end effector of owing to drive; The activation lacking mechanical hand of its highly versatile has that load capacity is strong, driving element is few, control is simple, picking efficiency and the high device of success rate.
The utility model adopts following technical scheme:
The utility model comprises two the identical fingers of structure, base and palm portion; One end of the first knuckle of each finger part and second knuckle is hinged through first joint, and the other end of second knuckle and palm upper junction plate are hinged through second joint; The motor of base portion is installed in the palm lower connecting plate, and motor shaft and movable plate coaxial threaded are in transmission connection, and an end of two mobile putters is separately fixed at the two ends of movable plate; The other end of two mobile putters is hinged with an end of coupled links separately; The palm upper junction plate of palm portion connects with being connected round bar respectively with palm lower connecting plate both sides; Be connected between the interstitial hole of the triangle drive rod of each finger and the base is that the other end through coupled links separately is hinged; The motor of base and the lower connecting plate of palm pass through bolt; Each finger is hinged through the second joint and the palm upper junction plate of finger with palm; It is characterized in that: integrated lack of driven structure between first joint and the second joint, motor drive the folding of two fingers through difference mechanism.
Integrated lack of driven structure between two dactylus of said each finger, it gets mechanism and envelope grasping mechanism composition by accurately pinching.
Accurately pinch and get mechanism, constitute parallelogram linkage, be arranged between two dactylus by first knuckle pivoted lever, one or two dactylus revolution coupling bar, second knuckle pivoted lever and second knuckle; First joint of second knuckle and an end of first knuckle pivoted lever are hinged; One end of the other end of first knuckle pivoted lever and one or two dactylus revolution coupling bar is hinged; The other end of one or two dactylus revolution coupling bar and an end of second knuckle pivoted lever are hinged, and the other end of second knuckle pivoted lever and the second joint of second knuckle are hinged.
The envelope grasping mechanism; Constitute quadric chain by first knuckle pivoted lever, one or two dactylus couple drive bars, triangle drive rod and second knuckle; Be arranged between two dactylus, first joint of second knuckle and an end of first knuckle pivoted lever are hinged, and an end of the other end of first knuckle pivoted lever and one or two dactylus couple drive bars is hinged; The other end of one or two dactylus couple drive bars and the apertura lateralis of triangle drive rod are hinged, and the inboard aperture of drive rod and the second joint of second knuckle are hinged.
Said motor is installed in the palm lower connecting plate, the direct drive installation of motor output shaft on movable plate, said two coupled links be fixed on the movable plate two mobile putters and form moving sets, the difference mechanism that realizes the folding of two fingers of a motor-driven.
The beneficial effect that the utlity model has is:
The utility model is simple in structure, highly versatile, the driver number is few, cost is low, control is simple, reliability is high, volume is little and can realize the characteristics such as self-adapting grasping to body form.
Description of drawings
Fig. 1 is the structural principle sketch map of the utility model;
Fig. 2 is the understructure principle schematic of the utility model;
Fig. 3 is the under-actuated finger structural principle sketch map of the utility model;
Among the figure: 1, first knuckle, 2, first joint, 3, second knuckle, 4, second joint, 5, connect round bar; 6, coupled links, 7, the palm upper junction plate, 8, accurately pinch and get mechanism, 9, the envelope grasping mechanism, 10, limiting plate; 11, mobile putter, 12, motor, 13, the palm lower connecting plate, 14, movable plate, 15, the first knuckle pivoted lever; 16, one or two dactylus revolutions coupling bar, 17 second knuckle pivoted levers, 18,1 dactylus couple drive bars, 19, the triangle drive rod.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the utility model is further specified.
As shown in Figure 1, the utility model comprises two the identical fingers of structure, palm portion and bases; The first knuckle 1 of each finger part is hinged through first joint 2 with an end of second knuckle 3, and the other end of second knuckle 3 and palm upper junction plate 7 are hinged through second joint 4; The motor 12 of base portion is installed in palm lower connecting plate 13, and motor shaft and movable plate 14 coaxial threaded are in transmission connection, and an end of two mobile putters 11 is separately fixed at the two ends of movable plate; The other end of two mobile putters 11 is hinged with an end of coupled links 6 separately; The palm upper junction plate 7 of palm portion connects with being connected round bar 5 respectively with palm lower connecting plate 13 both sides; Be connected between the interstitial hole of the triangle drive rod 19 of each finger and the base is that the other end through coupled links 6 separately is hinged; The motor 12 of base passes through bolt with the lower connecting plate 13 of palm; Each finger is hinged with palm upper junction plate 7 through the second joint 4 of finger with palm; Integrated lack of driven structure between first joint and the second joint, motor drive the folding of two fingers through difference mechanism.
Like Fig. 1, Fig. 2, shown in Figure 3, integrated lack of driven structure between two dactylus of said each finger, it gets mechanism and envelope grasping mechanism composition by accurately pinching;
Accurately pinch and get mechanism, constitute parallelogram linkage, be arranged between two dactylus by first knuckle pivoted lever 15,1 dactylus revolution coupling bar 16, second knuckle pivoted lever 17 and second knuckle 2; First joint 2 of second knuckle is hinged with an end of first knuckle pivoted lever 15; One end of the other end of first knuckle pivoted lever 15 and one or two dactylus revolution coupling bar 16 is hinged; The other end of one or two dactylus revolution coupling bar 16 and an end of second knuckle pivoted lever 17 are hinged, and the other end of second knuckle pivoted lever 17 and the second joint of second knuckle 4 are hinged;
The envelope grasping mechanism; Constitute quadric chain by first knuckle pivoted lever 15,1 dactylus couple drive bars 18, triangle drive rod 19 and second knuckle 2; Be arranged between two dactylus; First joint 2 of second knuckle is hinged with an end of first knuckle pivoted lever 15; One end of the other end of first knuckle pivoted lever 15 and one or two dactylus couple drive bars 18 is hinged, and the other end of one or two dactylus couple drive bars 18 and the apertura lateralis of triangle drive rod 19 are hinged, and the inboard aperture of triangle drive rod 19 and the second joint of second knuckle 4 are hinged.
As shown in Figure 2; Said motor 12 is installed in palm lower connecting plate 13; The direct drive installation of motor output shaft on movable plate 14, said two coupled links be fixed on the movable plate 14 two mobile putters 11 and form moving sets, the difference mechanism that realizes the folding of two fingers of a motor-driven; Palm lower connecting plate bolt limiting plate 10 is with the movement travel of restriction movable plate.
The course of work of the utility model grasps and accurately pinches and get for being divided into envelope:
Envelope grasps the course of work: motor 12 drives leading screw just to be changeed, and leading screw drives movable plate 14 and moves upward, and movable plate drives mobile putter 11 and moves up; Coupled links 6 accompany movements drive finger near grasping thing, and second knuckle 3 touches object and is limited motion; Motor continues just to change; First knuckle 1 continues motion, and last first knuckle 1 contacts with object, accomplishes envelope and grasps process.
Accurately pinch and get the course of work: motor 12 drives leading screw just to be changeed, and leading screw drives movable plate and moves upward, and movable plate 12 drives mobile putter 11 and moves up; The coupled links accompany movement; Drive first knuckle 1 and second knuckle 3 translations near object, motor continues just to change, and first finger 1 continues to move with second knuckle 3; Last first knuckle contacts with 1 object, accomplishes the process of getting of accurately pinching.
Claims (3)
1. owe to drive end effector for one kind, comprise two the identical fingers of structure, base and palm portion; The first knuckle of each finger part (1) is hinged through first joint (2) with an end of second knuckle (3), and the other end of second knuckle (3) and palm upper junction plate (7) are hinged through second joint (4); The motor of base portion (12) is installed in palm lower connecting plate (13), and motor shaft and movable plate (14) coaxial threaded is in transmission connection, and an end of two mobile putters (11) is separately fixed at the two ends of movable plate; The other end of two mobile putters (11) is hinged with an end of coupled links (6) separately; The palm upper junction plate (7) of palm portion connects with being connected round bar (5) respectively with palm lower connecting plate (13) both sides; Be connected between the interstitial hole of the triangle drive rod (19) of each finger and the base is that the other end through coupled links (6) separately is hinged; The motor of base (12) passes through bolt with the lower connecting plate (13) of palm; Each finger is hinged with palm upper junction plate (7) through the second joint (4) of finger with palm; It is characterized in that: integrated lack of driven structure between first joint and the second joint, motor drive the folding of two fingers through difference mechanism.
2. a kind of end effector of owing to drive according to claim 1 is characterized in that: integrated lack of driven structure between two dactylus of said each finger, and it gets mechanism (8) and envelope grasping mechanism (9) composition by accurately pinching;
Accurately pinch and get mechanism (8), constitute parallelogram linkage, be arranged between two dactylus by first knuckle pivoted lever (15), one or two dactylus revolution coupling bar (16), second knuckle pivoted lever (17) and second knuckle (2); First joint (2) of second knuckle is hinged with an end of first knuckle pivoted lever (15); One end of the other end of first knuckle pivoted lever (15) and one or two dactylus revolution coupling bars (16) is hinged; The other end of one or two dactylus revolution coupling bars (16) and an end of second knuckle pivoted lever (17) are hinged, and the second joint (4) of the other end of second knuckle pivoted lever (17) and second knuckle is hinged;
Envelope grasping mechanism (9); Constitute quadric chain by first knuckle pivoted lever (15), one or two dactylus couple drive bars (18), triangle drive rod (19) and second knuckle (2); Be arranged between two dactylus; First joint (2) of second knuckle is hinged with an end of first knuckle pivoted lever (15); One end of the other end of first knuckle pivoted lever (15) and one or two dactylus couple drive bars (18) is hinged, and the apertura lateralis of the other end of one or two dactylus couple drive bars (18) and triangle drive rod (19) is hinged, and the second joint (4) of the inboard aperture of triangle drive rod (19) and second knuckle is hinged.
3. described a kind of end effector of owing to drive according to claim 1; It is characterized in that: said motor (12) is installed in palm lower connecting plate (13); The direct drive installation of motor output shaft is on movable plate (14); Said two coupled links be fixed on last two mobile putters of movable plate (14) (11) and form moving sets, the difference mechanism that realizes the folding of two fingers of a motor-driven.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011202419971U CN202200303U (en) | 2011-07-11 | 2011-07-11 | Actuator at underactuated tail end |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011202419971U CN202200303U (en) | 2011-07-11 | 2011-07-11 | Actuator at underactuated tail end |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202200303U true CN202200303U (en) | 2012-04-25 |
Family
ID=45964440
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011202419971U Expired - Fee Related CN202200303U (en) | 2011-07-11 | 2011-07-11 | Actuator at underactuated tail end |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202200303U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102259340A (en) * | 2011-07-11 | 2011-11-30 | 浙江理工大学 | Underactuated end effector |
| CN108214534A (en) * | 2018-01-16 | 2018-06-29 | 深圳市大寰机器人科技有限公司 | Adaptive lack of driven robot clamping jaw |
| CN108934440A (en) * | 2018-06-19 | 2018-12-07 | 新疆农业大学 | Under-actuated finger mechanism and rodlike fruits and vegetables holding picking mechanical arm end effector |
-
2011
- 2011-07-11 CN CN2011202419971U patent/CN202200303U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102259340A (en) * | 2011-07-11 | 2011-11-30 | 浙江理工大学 | Underactuated end effector |
| CN108214534A (en) * | 2018-01-16 | 2018-06-29 | 深圳市大寰机器人科技有限公司 | Adaptive lack of driven robot clamping jaw |
| CN108934440A (en) * | 2018-06-19 | 2018-12-07 | 新疆农业大学 | Under-actuated finger mechanism and rodlike fruits and vegetables holding picking mechanical arm end effector |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102259340A (en) | Underactuated end effector | |
| CN202292762U (en) | Fruit/vegetable picking under-actuated mechanical manipulator | |
| CN104838809B (en) | A kind of drive lacking three refers to hands formula fruit and vegerable flexibility picker | |
| CN102729256B (en) | End effector device of under-actuated picking manipulator | |
| CN106717534B (en) | A kind of drive lacking fruit and vegetable picking end effector apparatus and picking method | |
| CN102205542B (en) | Multipath flexible piece two-joint compound robot finger device | |
| CN102441892A (en) | Under-actuated manipulator claw for picking fruits and vegetables | |
| CN104908056A (en) | Three-finger mechanical gripper with variable structure | |
| CN203092562U (en) | Stacking robot | |
| CN202656191U (en) | Under-actuated picking manipulator end effector device | |
| CN201405355Y (en) | Connecting rod-lever type pneumatic manipulator | |
| CN108293418B (en) | End effector of fruit string picking manipulator and picking method thereof | |
| CN102310411B (en) | Three-axis gear and rack composite underactuated dual-joint robot finger device | |
| CN202172604U (en) | Inductive multi-finger under-actuated end effector | |
| CN109648589B (en) | Robot dexterous manipulator finger device based on cylinder driving | |
| CN202200303U (en) | Actuator at underactuated tail end | |
| CN209533429U (en) | A kind of automatically controlled gripper of multiconductor towards rubbish crawl | |
| CN111226600A (en) | Under-actuated fruit and vegetable picking manipulator and picking method | |
| CN109605404B (en) | Sliding chute parallel connection connecting rod linear parallel clamping self-adaptive robot finger device | |
| CN105415392A (en) | Wide-range grabbing under-actuated multi-adaptive manipulator | |
| CN102284957A (en) | Differential bevel gear rack type combination underactuated robot finger device | |
| CN113183172A (en) | Variable-configuration under-actuated manipulator for fruit picking and using method thereof | |
| CN202200300U (en) | Underactuated end effector with feeling | |
| CN102179817A (en) | Double-flexibility piece composite under-actuated double-joint finger device for robot | |
| CN102282972A (en) | Under-actuated end effector with sensing function |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120425 Termination date: 20120711 |