CN202656191U - Under-actuated picking manipulator end effector device - Google Patents

Under-actuated picking manipulator end effector device Download PDF

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Publication number
CN202656191U
CN202656191U CN 201220307770 CN201220307770U CN202656191U CN 202656191 U CN202656191 U CN 202656191U CN 201220307770 CN201220307770 CN 201220307770 CN 201220307770 U CN201220307770 U CN 201220307770U CN 202656191 U CN202656191 U CN 202656191U
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China
Prior art keywords
finger
joint
drive
gear
drive rod
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Withdrawn - After Issue
Application number
CN 201220307770
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Chinese (zh)
Inventor
俞亚新
张飞
杨远渊
林佳辉
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Zhejiang Sci Tech University ZSTU
Zhejiang University of Science and Technology ZUST
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Zhejiang Sci Tech University ZSTU
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Priority to CN 201220307770 priority Critical patent/CN202656191U/en
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Abstract

The utility model discloses an under-actuated picking manipulator end effector device, which comprises three fingers with the same structures, a transmission mechanism, three contact plates, three connecting rods, a drive rod and a rotary plate, wherein each finger is provided with three joints; one end of a first joint of each finger is uniformly arranged on the rotary plate; and the contact plate is arranged on each finger. A concrete operating principle is that: the drive rod is moved under the drive of a motor; the connecting rods drive the three fingers to move and close in opposite directions; when the contact plates on the fingers are in contact with fruits and vegetables, the fruits and vegetables can push the contact plates to slide and can drive an inner part of a second joint of each finger to carry out incomplete gear movement, and a meshed gear drives a third joint of each finger to move; and when a preset grab force is tested by a force sensor on the surface of each contact plate, a signal is fed back to the motor, the drive rod is controlled to stop moving, and the motor drives the rotary plate to rotate, so that fruits and vegetables picking is realized. The under-actuated picking manipulator end effector device can be used for fruits and vegetables picking operation, and can be matched with other devices such as a robot so as to realize picking operation with high efficiency and reliability.

Description

A kind ofly owe to drive picking mechanical arm end effector device
Technical field
The utility model relates to a kind of end effector device, especially relates to a kind of picking mechanical arm end effector device of owing to drive.
Background technology
The fruit and vegetable picking operation is a link the most consuming time during fruits and vegetables are produced, that require great effort most.For reducing cost, to raise labour efficiency, the automation of fruit and vegetable picking becomes problem demanding prompt solution.At present end effector all needs the separate power source, and a plurality of power-equipment coordinative operations not only so that the end effector bloatedness, self is overweight, greatly reduces and can pluck weight, the bad assurance of product reliability.At home and abroad fruit and vegetable picking machinery hand end effector research emphasis is transferred at present and owed the drive-type finger, under-actuated finger is the number that the number of finger actuator is less than joint freedom degrees, underactuated manipulator has the advantages such as the control of simplification, weight reduction, reduction energy consumption and reduction cost of manufacture, just because of its is economical and make the device machine lighter, therefore be subject to researcher's favor.
Summary of the invention
The purpose of this utility model is to provide a kind of picking mechanical arm end effector device of owing to drive, it is the activation lacking mechanical paw that a cover is used for fruit and vegetable picking, whole end effector only adopts a motor to drive, and designs take restriction harvesting contact force as target.In order to achieve the above object, the technical solution adopted in the utility model is:
The utility model comprises three fingers that structure is identical, transmission mechanism, three contact plates, three connecting rods, drive rod and rolling disc; Each finger has three joints, is respectively finger the first joint, and the finger second joint is pointed the 3rd joint; An end of pointing the first joint is mutually 120 degree and evenly is fixedly mounted on the rolling disc, and an end of first connecting rod is hinged with the finger second joint, and an end of the other end of first connecting rod and drive rod is hinged, and the other end of drive rod is connected with transmission mechanism; The base of finger second joint outside inwall and the handle of sector gear are hinged, the first gear and sector gear engagement, the first gear is connected with finger bottom, the 3rd joint by connecting rod, the base of the inboard outer wall of finger second joint is provided with slide block, slide block is connected with the contact plate central shaft, the handle of contact plate central shaft and sector gear is hinged, is provided with spring between the handle of sector gear and finger second joint outside inwall, and one side is provided with the power sensor to contact plate towards the center.
Described transmission mechanism is the two-way linear stepper motor, and two-way linear stepper motor main shaft is connected with the other end of drive rod.
Described transmission mechanism comprises stepper motor, drive bevel gear, driven wheel of differential, the second gear and tooth bar; Coaxial drive bevel gear and the second gear of being equipped with of stepper motor, the second gear and the tooth bar engagement that is installed on the drive rod, driven wheel of differential be enclosed within the rolling disc hole and affixed with the rolling disc bottom surface.
Described transmission mechanism comprises stepper motor, the first electromagnetic clutch sheet, the second electromagnetic clutch sheet and electromagnetic lead screw stalk; The second electromagnetic clutch sheet and electromagnetic lead screw is housed on the stepper motor main shaft, and the first electromagnetic clutch sheet and drive rod on the electromagnetic lead screw are affixed, and electromagnetic lead screw is threaded with drive rod.
The beneficial effect that the utlity model has is:
The utility model uses three pawls of a motor-driven, and the keeping strokes of three pawls, use dish class device is installed, and the motor-driven bar is done mobile and rotated two-freedom, rotates movement and can divide open shop also can move simultaneously, the grasping movement that the driving device paw is finished.The utility model is simple in structure, processing ease, and motion is flexibly, and is safe and reliable and with low cost, can be used for the fruit and vegetable picking operation, cooperates other devices of robot to realize the harvesting operation of efficient high reliability.
Description of drawings
Fig. 1 is the arm end effector installation diagram.
Fig. 2 is the internal structure enlarged drawing of I among Fig. 1.
Fig. 3 is bevel gear-rack-driving figure.
Fig. 4 is the right view of Fig. 3.
Fig. 5 is leading screw-driven by clutches figure.
Among the figure: 1, the finger the first joint, 2, the finger second joint, 3,, the finger the 3rd joint, 4, two-way linear stepper motor, 5, contact plate, 6, hinge, 7, first connecting rod, 8, drive rod, 9, rolling disc, 10, spring, 11, second connecting rod, 12, slide block, 13, base, 14, sector gear, 15 first gears, 16, drive bevel gear, 17, driven wheel of differential, 18, tooth bar, the 19, second gear, 20, stepper motor, 21, the first electromagnetic clutch sheet, the 22, second electromagnetic clutch sheet, 23, electromagnetic lead screw, 24, power sensor, 25, the crawl thing.
The specific embodiment
Below in conjunction with drawings and Examples to being further described to the utility model.
As shown in Figure 1 and Figure 2, the utility model comprises three fingers that structure is identical, transmission mechanism, 5, three connecting rods 7 of three contact plates, drive rod 8 and rolling disc 9; Each finger has three joints, is respectively finger the first joint 1, and finger second joint 2 is pointed the 3rd joint 3; An end of pointing the first joint 1 is mutually 120 degree and evenly is fixedly mounted on the rolling disc 9, and an end of first connecting rod 7 is hinged with finger second joint 2, and an end of the other end of first connecting rod 7 and drive rod 8 is hinged, and the other end of drive rod 8 is connected with transmission mechanism; The base of finger second joint 2 outside inwalls and the handle of sector gear 14 are hinged, the first gear 15 and sector gear 14 engagements, the first gear 15 is connected with finger 3 bottoms, the 3rd joint by connecting rod, the base of finger second joint 2 inboard outer walls is provided with slide block 12, slide block 12 is connected with contact plate 5 central shafts, the handle of contact plate 5 central shafts and sector gear 14 is hinged, be provided with spring 10 between the handle of sector gear 14 and finger second joint 2 outside inwalls, one side is provided with sensor 24 to contact plate 5 towards the center.
As shown in Figure 1, its transmission mechanism is two-way linear stepper motor 4, and two-way linear stepper motor 4 main shafts are connected with the other end of drive rod 8.
As shown in Figure 3, Figure 4, its transmission mechanism comprises stepper motor 20, drive bevel gear 16, driven wheel of differential 17, the second gear 19 and tooth bar 18; Coaxial drive bevel gear 16 and the second gear 19, the second gears 19 and tooth bar 18 engagements that are installed on the drive rod 8 of being equipped with of stepper motor 20, driven wheel of differential 17 be enclosed within rolling disc 9 holes and affixed with rolling disc 9 bottom surfaces.
As shown in Figure 5, its transmission mechanism comprises stepper motor 20, the first electromagnetic clutch sheet 21, the second electromagnetic clutch sheet 22 and electromagnetic lead screw stalk 23; The second electromagnetic clutch sheet 22 and electromagnetic lead screw 23 are housed on stepper motor 20 main shafts, and the first electromagnetic clutch sheet 21 on the electromagnetic lead screw 23 is affixed with drive rod 8, and electromagnetic lead screw 23 is threaded with drive rod 8.
Drive scheme is as shown in Figure 1 and Figure 2:
Drive rod 8 is made traveling priority and is driven first connecting rod 7 motions under the rectilinear motion of two-way linear stepper motor 4 drives, and first connecting rod 7 drives finger second joint 2 and finger the 3rd joint 3 move toward one another, makes finger closed, does the action of clamping fruits and vegetables.The strong effect of fruits and vegetables docking touch panel 5 promotes slide block 12 motions of contact plate 5 when contact plate 5 contact fruits and vegetables.Slide block 12 motion drives second connecting rods 11 motions, causes that the sector gears 14 that are installed in the finger second joint 2 rotate, and drives the first gear 15 motions that are engaged with, and three finger three joint 3 move toward one another affixed with the first gear 15 continue the clamping fruits and vegetables.On contact plate 5 surfaces power sensor 24 is housed, when power reaches required value with signal feedback to two-way linear stepper motor 10, two-way linear stepper motor 10 stops traveling priority, and whole holding action is stopped.Then two-way linear stepper motor 10 rotates and drives rolling disc 9 rotations, and three finger drives are grabbed fruits and vegetables and rotated, and fruits and vegetables are turned round down, finish and win action.Two-direction linear stepping motor 10 is rectilinear motions+rotate integrated stepper motor, can realize linear reciprocating motion and rotation, can meet the demands.
Drive scheme as shown in Figure 3, Figure 4 is:
Stepper motor 20 drives coaxial drive bevel gear 16 and the second gear 19 rotates, and the second gear 19 and tooth bar 18 engagements that are installed in drive rod 8 drive drive rod 8 and move; Simultaneously drive bevel gear 16 drives driven wheels of differential 17 and rotates, and driven wheel of differential 17 is affixed with rolling disc 9, and rolling disc 9 rotates, and mechanical paw firmly grasps that fruits and vegetables rotate fruits and vegetables simultaneously so that carpopodium is twisted off, and realizes that fruits and vegetables separate with fruit tree.
Drive scheme as shown in Figure 5 is:
Stepper motor 20 drives electromagnetic lead screws 23 and rotates, and electromagnetic lead screw 23 drives with the affixed drive rod 8 of the first electromagnetic clutch sheet 21 and makes traveling priority.The second electromagnetic clutch sheet 22 is installed in the non-threaded end of leading screw.When the chucking power that records when the power sensor on contact plate 5 surfaces reaches required value, give electromagnetic clutch 21,22 with signal, clutch is closed, drive rod 8 stops mobile, holding action stops, stepper motor 20 rotates and only drives rolling disc 9 and rotate, and three fingers drive is grabbed fruits and vegetables and rotate, and fruits and vegetables is turned round down finish to win action.

Claims (4)

1. owe to drive picking mechanical arm end effector device for one kind, it is characterized in that: comprise three fingers that structure is identical, transmission mechanism, three contact plates (5), three connecting rods (7), drive rod (8) and rolling disc (9); Each finger has three joints, is respectively finger the first joint (1), and finger second joint (2) is pointed the 3rd joint (3); An end of pointing the first joint (1) is mutually 120 degree and evenly is fixedly mounted on the rolling disc (9), one end of first connecting rod (7) is hinged with finger second joint (2), one end of the other end of first connecting rod (7) and drive rod (8) is hinged, and the other end of drive rod (8) is connected with transmission mechanism; The base of finger second joint (2) outside inwall and the handle of sector gear (14) are hinged, the first gear (15) and sector gear (14) engagement, the first gear (15) is connected with finger bottom, the 3rd joint (3) by connecting rod, the base of the inboard outer wall of finger second joint (2) is provided with slide block (12), slide block (12) is connected with contact plate (5) central shaft, the handle of contact plate (5) central shaft and sector gear (14) is hinged, be provided with spring (10) between the handle of sector gear (14) and finger second joint (2) outside inwall, one side is provided with power sensor (24) to contact plate (5) towards the center.
2. a kind of picking mechanical arm end effector device of owing to drive according to claim 1, it is characterized in that: described transmission mechanism is two-way linear stepper motor (4), two-way linear stepper motor (4) main shaft is connected with the other end of drive rod (8).
3. a kind of picking mechanical arm end effector device of owing to drive according to claim 1, it is characterized in that: described transmission mechanism comprises stepper motor (20), drive bevel gear (16), driven wheel of differential (17), the second gear (19) and tooth bar (18); Coaxial drive bevel gear (16) and the second gear (19) of being equipped with of stepper motor (20), the second gear (19) and tooth bar (18) engagement that is installed on the drive rod (8), driven wheel of differential (17) be enclosed within rolling disc (9) hole and affixed with rolling disc (9) bottom surface.
4. a kind of picking mechanical arm end effector device of owing to drive according to claim 1, it is characterized in that: described transmission mechanism comprises stepper motor (20), the first electromagnetic clutch sheet (21), the second electromagnetic clutch sheet (22) and electromagnetic lead screw stalk (23); The second electromagnetic clutch sheet (22) and electromagnetic lead screw (23) are housed on stepper motor (20) main shaft, and the first electromagnetic clutch sheet (21) on the electromagnetic lead screw (23) is affixed with drive rod (8), and electromagnetic lead screw (23) is threaded with drive rod (8).
CN 201220307770 2012-06-28 2012-06-28 Under-actuated picking manipulator end effector device Withdrawn - After Issue CN202656191U (en)

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Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102729256A (en) * 2012-06-28 2012-10-17 浙江理工大学 End effector device of under-actuated picking manipulator
CN103299776A (en) * 2013-05-29 2013-09-18 西北农林科技大学 Dexterous three-finger hand of fruit picking robot
CN103434840A (en) * 2013-08-30 2013-12-11 中国化学工业桂林工程有限公司 Tire hand grab
CN103688660A (en) * 2013-12-05 2014-04-02 华南农业大学 Under-actuated picking tail end executing device and method
CN104303709A (en) * 2014-11-03 2015-01-28 东北农业大学 Dragonfly claw type bionic end effector applicable to grabbing differently shaped fruits and vegetables
CN104594846A (en) * 2015-01-26 2015-05-06 成都科盛石油科技有限公司 Cleaning tool for downhole operation in petroleum well
CN104612618A (en) * 2015-01-26 2015-05-13 成都科盛石油科技有限公司 Oil well fisher
CN104782325A (en) * 2015-04-30 2015-07-22 浙江海洋学院 Under-actuated dexterous mechanical hand for picking fruits and vegetables
CN105409452A (en) * 2015-12-24 2016-03-23 米莹莹 Multifunctional fruit picking machine
CN105532184A (en) * 2016-01-06 2016-05-04 北京工业大学 Hydraulic cutting tomato picking device
CN105580561A (en) * 2015-12-10 2016-05-18 华南农业大学 Self-adaption under-actuation picking tail end executing device and method
CN106171294A (en) * 2016-06-30 2016-12-07 哈尔滨尼亚农业有限公司 A kind of human simulation hand getting device and picking
CN106625734A (en) * 2016-09-28 2017-05-10 东北农业大学 Under-actuated flexible terminal actuator aiming at special-shaped melons and fruits and simulating bird jaws
CN108377748A (en) * 2018-05-07 2018-08-10 安徽三联学院 A kind of fruit picker
CN109156162A (en) * 2018-09-02 2019-01-08 刘明 A kind of picking robot
CN109618635A (en) * 2018-12-20 2019-04-16 浙江农林大学 A kind of portable bamboo shoots excavator
CN111149514A (en) * 2020-01-19 2020-05-15 浙江理工大学 Rotary folding type tea single-bud picking manipulator
CN112388665A (en) * 2020-11-07 2021-02-23 南宁学院 Passion fruit picking manipulator
CN113301797A (en) * 2018-11-13 2021-08-24 迈辛克斯公司 Mushroom autonomous harvesting system and method

Cited By (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102729256A (en) * 2012-06-28 2012-10-17 浙江理工大学 End effector device of under-actuated picking manipulator
CN102729256B (en) * 2012-06-28 2014-07-23 浙江理工大学 End effector device of under-actuated picking manipulator
CN103299776A (en) * 2013-05-29 2013-09-18 西北农林科技大学 Dexterous three-finger hand of fruit picking robot
CN103434840B (en) * 2013-08-30 2015-07-22 中国化学工业桂林工程有限公司 Tire hand grab
CN103434840A (en) * 2013-08-30 2013-12-11 中国化学工业桂林工程有限公司 Tire hand grab
CN103688660A (en) * 2013-12-05 2014-04-02 华南农业大学 Under-actuated picking tail end executing device and method
CN103688660B (en) * 2013-12-05 2015-09-30 华南农业大学 A kind of drive lacking picking end actuating unit and method
CN104303709A (en) * 2014-11-03 2015-01-28 东北农业大学 Dragonfly claw type bionic end effector applicable to grabbing differently shaped fruits and vegetables
CN104303709B (en) * 2014-11-03 2016-02-10 东北农业大学 A kind of bionical end effector of dragonfly claw being applicable to crawl different shape fruits and vegetables
CN104594846A (en) * 2015-01-26 2015-05-06 成都科盛石油科技有限公司 Cleaning tool for downhole operation in petroleum well
CN104612618A (en) * 2015-01-26 2015-05-13 成都科盛石油科技有限公司 Oil well fisher
CN104782325A (en) * 2015-04-30 2015-07-22 浙江海洋学院 Under-actuated dexterous mechanical hand for picking fruits and vegetables
CN105580561A (en) * 2015-12-10 2016-05-18 华南农业大学 Self-adaption under-actuation picking tail end executing device and method
CN105409452A (en) * 2015-12-24 2016-03-23 米莹莹 Multifunctional fruit picking machine
CN105409452B (en) * 2015-12-24 2017-09-22 米莹莹 Multi-functional fruit picker
CN105532184A (en) * 2016-01-06 2016-05-04 北京工业大学 Hydraulic cutting tomato picking device
CN106171294A (en) * 2016-06-30 2016-12-07 哈尔滨尼亚农业有限公司 A kind of human simulation hand getting device and picking
CN106625734A (en) * 2016-09-28 2017-05-10 东北农业大学 Under-actuated flexible terminal actuator aiming at special-shaped melons and fruits and simulating bird jaws
CN108377748A (en) * 2018-05-07 2018-08-10 安徽三联学院 A kind of fruit picker
CN109156162A (en) * 2018-09-02 2019-01-08 刘明 A kind of picking robot
CN109156162B (en) * 2018-09-02 2021-11-16 利津县鑫业化工科技有限公司 Picking robot
CN113301797A (en) * 2018-11-13 2021-08-24 迈辛克斯公司 Mushroom autonomous harvesting system and method
CN109618635A (en) * 2018-12-20 2019-04-16 浙江农林大学 A kind of portable bamboo shoots excavator
CN111149514A (en) * 2020-01-19 2020-05-15 浙江理工大学 Rotary folding type tea single-bud picking manipulator
CN112388665A (en) * 2020-11-07 2021-02-23 南宁学院 Passion fruit picking manipulator

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C14 Grant of patent or utility model
GR01 Patent grant
AV01 Patent right actively abandoned

Granted publication date: 20130109

Effective date of abandoning: 20140723

RGAV Abandon patent right to avoid regrant