CN204131990U - Four-finger-claw type self-adaptive strawberry picking manipulator - Google Patents
Four-finger-claw type self-adaptive strawberry picking manipulator Download PDFInfo
- Publication number
- CN204131990U CN204131990U CN201420609687.4U CN201420609687U CN204131990U CN 204131990 U CN204131990 U CN 204131990U CN 201420609687 U CN201420609687 U CN 201420609687U CN 204131990 U CN204131990 U CN 204131990U
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- CN
- China
- Prior art keywords
- finger
- palm
- strawberry
- rigidity
- festival
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- 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
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- 235000016623 Fragaria vesca Nutrition 0.000 title claims abstract description 29
- 235000011363 Fragaria x ananassa Nutrition 0.000 title claims abstract description 29
- 240000009088 Fragaria x ananassa Species 0.000 title 1
- 241000220223 Fragaria Species 0.000 claims abstract description 28
- 210000000707 wrist Anatomy 0.000 claims abstract description 9
- 230000001360 synchronised effect Effects 0.000 claims abstract description 7
- 230000006978 adaptation Effects 0.000 claims description 5
- 210000001145 finger joint Anatomy 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000003306 harvesting Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
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- Manipulator (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The utility model discloses a four-finger-claw type self-adaptation strawberry picking manipulator, including palm, wrist and two pairs of fingers that the structure is the same, every including a flexible passive finger and a rigidity initiative finger to the finger, two pairs of finger symmetries are installed in the palm, and wherein rigidity initiative finger includes that the finger is first festival, finger second festival and revolute joint, be equipped with synchronous pulley and finger second festival fixed connection on the revolute joint, the first festival one end of finger articulates in the palm of the hand, and the other end is articulated through revolute joint and finger second festival, install the self-rotation joint on the flexible passive finger, the finger end is equipped with the profile modeling contact surface, ann has pressure sensor in the profile modeling contact surface, the opposite side at the palm is installed to the wrist. The utility model discloses simple structure, the processing ease, the motion is nimble, can be used to the flexible operation of picking of strawberry, cooperates other devices of robot to realize the high-efficient high reliability picking operation.
Description
Technical field
The utility model relates to a kind of strawberry picking paw, especially relates to a kind of four paw formula self adaptation strawberry picking mechanical arms.
Background technology
China's strawberry cultivating area in recent years occupies first place in the world.In strawberry harvest time, operating environment is very severe, hand labor intensity and workload are very large, and due to the appearance of strawberry comparatively fragile, and its shape and upgrowth situation are complicated, therefore design a kind of easy to use and adapt to the top priority that common ridge culture strawberry many finger-types end effector becomes strawberry picking robot development.
Utility model content
The purpose of this utility model is to provide a kind of four paw formula self adaptation strawberry picking mechanical arms, is a set of manipulator plucked for strawberry.
In order to achieve the above object, the technical solution adopted in the utility model is: the utility model comprises palm, the finger that wrist is identical with two pairs of structures, described often pair of finger comprises a passive finger of flexibility and a rigidity initiatively finger, two pairs of finger symmetries are arranged on palm, wherein rigidity is initiatively pointed and is comprised finger first segment, finger second section and cradle head, described cradle head is provided with synchronous pulley and is fixedly connected with finger second section, described finger first segment one end is hinged on palm, the other end is hinged with finger second section by cradle head, the passive finger of described flexibility installs autorotation joint, finger tips is provided with profiling contact surface, pressure sensor is equipped with in profiling contact surface, described wrist is arranged on the opposite side of palm.
As optimization, described finger second section is provided with profiling concave surface.
The beneficial effect that the utility model has is: paw is close strawberry under the drive of mechanical arm, the contact surface of flexible passive finger is made to wrap the tip of strawberry, rigidity initiatively finger palm opposite under the effect driven is rotated, two rigidity are initiatively pointed and are closed up, carry out blessing coarse positioning to strawberry carpopodium place, now the autorotation joint automatic position adjusting function stable holding of flexible passive finger lives strawberry tip, simultaneously the profiling concave surface of rigidity initiatively finger wrap under the drive of synchronous pulley strawberry carpopodium place simultaneously two rigidity initiatively point profiling concave edge and engage and cut off carpopodium, realize strawberry and pluck operation.The utility model structure is simple, processing ease, and motion flexibly, can be used for strawberry flexibility and plucks operation, coordinate other device of robot to realize the harvesting operation of efficient high reliability.
Accompanying drawing explanation
Fig. 1 is robot manipulator structure schematic diagram.
Fig. 2 is that manipulator rigidity initiatively points schematic diagram.
Fig. 3 is the flexible passive finger schematic diagram of manipulator.
In figure: 1, wrist; 2, rigidity initiatively finger; 3, rigidity initiatively points first segment; 4, rigidity finger cradle head; 5, rigidity initiatively points second section; 6, synchronous pulley; 7, flexible passive finger; 8, flexible passive finger contact face; 9, profiling concave surface; 10, flexible passive finger autorotation joint; 11, palm.
Embodiment
As shown in Figure 1, Figure 2, Figure 3 shows, the utility model comprises palm (10), wrist (1), the finger that two pairs of structures are identical; Described often pair of finger comprises a passive finger of flexibility (6) and a rigidity initiatively finger (2), two pairs of finger symmetries are arranged on palm (9), wherein rigidity is initiatively pointed and is comprised finger first segment (3), finger second section (5) and cradle head (4), described cradle head is provided with synchronous pulley (4) and is fixedly connected with finger second section (6), described finger first segment one end is hinged on palm (11), and the other end is hinged with finger second section (6) by cradle head (5).The passive finger of described flexibility is installed autorotation joint (10), finger tips is provided with profiling contact surface (8), is equipped with pressure sensor in profiling contact surface; Described wrist (1) is arranged on the opposite side of palm (11).
During utility model works, paw is close strawberry under the drive of mechanical arm, the contact surface (8) of flexible passive finger is made to wrap the tip of strawberry, rigidity initiatively finger (2) palm opposite (11) under the effect driven is rotated, two rigidity are initiatively pointed (2) and are closed up, carry out blessing coarse positioning to strawberry carpopodium place, now flexible passive finger autorotation joint (10) with strawberry contact process in rotate around own axes and regulate the angle of flexible passive finger contact face (8) and gap to realize stable holding to live strawberry tip, the profiling concave surface (9) that rigidity is initiatively pointed simultaneously wraps strawberry carpopodium place under the drive of synchronous pulley (4), when predetermined grasp force tested by pressure sensor, two rigidity are initiatively pointed the engagement of profiling concave surface (9) edge and are cut off carpopodium, realize strawberry and pluck operation.
Claims (2)
1. a paw formula self adaptation strawberry picking mechanical arm, it is characterized in that: comprise palm, the finger that wrist is identical with two pairs of structures, described often pair of finger comprises a passive finger of flexibility and a rigidity initiatively finger, two pairs of finger symmetries are arranged on palm, wherein rigidity is initiatively pointed and is comprised finger first segment, finger second section and cradle head, described cradle head is provided with synchronous pulley and is fixedly connected with finger second section, described finger first segment one end is hinged on palm, the other end is hinged with finger second section by cradle head, the passive finger of described flexibility installs autorotation joint, finger tips is provided with profiling contact surface, pressure sensor is equipped with in profiling contact surface, described wrist is arranged on the opposite side of palm.
2. four paw formula self adaptation strawberry picking mechanical arms according to claim 1, is characterized in that: described finger second section is provided with profiling concave surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420609687.4U CN204131990U (en) | 2014-10-22 | 2014-10-22 | Four-finger-claw type self-adaptive strawberry picking manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420609687.4U CN204131990U (en) | 2014-10-22 | 2014-10-22 | Four-finger-claw type self-adaptive strawberry picking manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204131990U true CN204131990U (en) | 2015-02-04 |
Family
ID=52408727
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420609687.4U Expired - Fee Related CN204131990U (en) | 2014-10-22 | 2014-10-22 | Four-finger-claw type self-adaptive strawberry picking manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204131990U (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104875182A (en) * | 2015-05-18 | 2015-09-02 | 天津大学 | Variable palm type manipulator pawl capable of realizing passive enveloping |
| CN107584506A (en) * | 2017-10-12 | 2018-01-16 | 谷新运 | A kind of more strawberries while picking mechanical arm end effector |
| CN107593113A (en) * | 2017-09-21 | 2018-01-19 | 昆明理工大学 | A kind of intelligent fruit picking robot based on machine vision |
| CN107912144A (en) * | 2018-01-02 | 2018-04-17 | 西南林业大学 | A kind of electric fruit picker machinery claw |
| CN108093854A (en) * | 2017-12-19 | 2018-06-01 | 徐州工业职业技术学院 | A kind of apery hand formula strawberry picker |
| CN109005912A (en) * | 2018-09-28 | 2018-12-18 | 华中农业大学 | A kind of end executive device of strawberry flexibility picking |
| CN110640772A (en) * | 2019-10-16 | 2020-01-03 | 珠海格力智能装备有限公司 | Gripping device |
| CN110883596A (en) * | 2019-12-11 | 2020-03-17 | 江涛 | Automatic feeding and discharging device for machining special-shaped parts |
| CN112091988A (en) * | 2020-08-13 | 2020-12-18 | 宁波大学 | Software bionic underwater detection robot |
| CN114916317A (en) * | 2022-05-09 | 2022-08-19 | 华南理工大学 | Multi-connecting-rod fruit picking manipulator |
| US11445663B2 (en) | 2018-02-13 | 2022-09-20 | Saga Robotics As | Device for picking fruit comprising overlapping locating members |
-
2014
- 2014-10-22 CN CN201420609687.4U patent/CN204131990U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104875182B (en) * | 2015-05-18 | 2016-07-06 | 天津大学 | A kind of variable palm type flexible mechanical paw realizing passive envelope |
| CN104875182A (en) * | 2015-05-18 | 2015-09-02 | 天津大学 | Variable palm type manipulator pawl capable of realizing passive enveloping |
| CN107593113A (en) * | 2017-09-21 | 2018-01-19 | 昆明理工大学 | A kind of intelligent fruit picking robot based on machine vision |
| CN107584506A (en) * | 2017-10-12 | 2018-01-16 | 谷新运 | A kind of more strawberries while picking mechanical arm end effector |
| CN108093854A (en) * | 2017-12-19 | 2018-06-01 | 徐州工业职业技术学院 | A kind of apery hand formula strawberry picker |
| CN107912144A (en) * | 2018-01-02 | 2018-04-17 | 西南林业大学 | A kind of electric fruit picker machinery claw |
| US11445663B2 (en) | 2018-02-13 | 2022-09-20 | Saga Robotics As | Device for picking fruit comprising overlapping locating members |
| CN109005912A (en) * | 2018-09-28 | 2018-12-18 | 华中农业大学 | A kind of end executive device of strawberry flexibility picking |
| CN109005912B (en) * | 2018-09-28 | 2024-04-23 | 华中农业大学 | End effector for strawberry flexible picking |
| CN110640772A (en) * | 2019-10-16 | 2020-01-03 | 珠海格力智能装备有限公司 | Gripping device |
| CN110883596A (en) * | 2019-12-11 | 2020-03-17 | 江涛 | Automatic feeding and discharging device for machining special-shaped parts |
| CN112091988A (en) * | 2020-08-13 | 2020-12-18 | 宁波大学 | Software bionic underwater detection robot |
| CN114916317A (en) * | 2022-05-09 | 2022-08-19 | 华南理工大学 | Multi-connecting-rod fruit picking manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150204 Termination date: 20151022 |
|
| EXPY | Termination of patent right or utility model |