Dexterous three-finger hand of fruit picking robot

A technology for picking robots and dexterous hands, applied in picking machines, manipulators, program-controlled manipulators, etc., can solve the problems of poor flexibility, single function, poor fruit shape adaptability, etc., and achieve convenient maintenance, flexible operation, easy processing and assembly Effect

Inactive Publication Date: 2013-09-18
NORTHWEST A & F UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Aiming at the problems of single function, poor flexibility and poor adaptability to fruit shape in the current fruit picking robot end effector, the present invention provides a three-fingered dexterous hand of a fruit picking robot, which has anthropomorphic fingers. Flexible, good maintainability, simple and compact overall structure, can be applied to picking a variety of fruits

Method used

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  • Dexterous three-finger hand of fruit picking robot
  • Dexterous three-finger hand of fruit picking robot
  • Dexterous three-finger hand of fruit picking robot

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specific Embodiment approach 1

[0019] Specific implementation mode one: see figure 1 , figure 2 with image 3 As shown, the three-finger dexterous hand of the fruit picking robot described in this embodiment includes modular fingers, a palm, a sensor module, and a control module; the dexterous hand is composed of three fingers, and each finger adopts a modular design idea, which is anthropomorphic. The finger structure and degree of freedom; the modular finger is composed of the base joint (6), the first knuckle (1), the middle knuckle (2) and the end knuckle (3), each of the finger pads (7) All are equipped with rubber gaskets to reduce the damage to the fruit. The three motors that drive the finger joints are all fixedly mounted on the base joint support (5); the palm (11) is evenly distributed along the circumference with 3 mounting slots ( 12), the mounting groove is evenly distributed along the circumference of the palm at 120°, the base joint bracket (5) of the finger is fixed in the mounting groove (1...

specific Embodiment approach 2

[0020] Specific implementation manner two: see figure 1 , figure 2 , image 3 with Figure 4 As shown, the sensor module of this embodiment includes an ultrasonic sensor (14) and a pressure sensor (4). The ultrasonic sensor (14) is installed in the circumferential hole in the center of the palm, and the pressure sensor (4) is installed on the first knuckle. , The middle knuckle and the finger pads (7) of the end knuckle; the control module includes a sensor signal receiving module, a signal processor, an I\O interface, a motor drive unit and a controller. The signal processor passes the sensor signal The receiving module receives the distance signal detected by the ultrasonic sensor (14). When the distance reaches a suitable grasping distance, the signal processor drives the servo motor to move through the controller to realize the simultaneous action of three fingers and grasp the fruit. At the same time, pressure The sensor (4) feeds back the detected pressure value to the s...

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Abstract

The invention discloses a dexterous three-finger hand of a fruit picking robot, and relates to the technical field of dexterous agriculture robot hands. The dexterous three-finger hand mainly comprises three modular fingers, a palm, a sensor module and a control module, wherein a rubber pad is arranged on each finger pulp (7) of the modular fingers; three mounting grooves (12) are uniformly distributed in the palm (11) along the circumference; base joint brackets (5) of the fingers are fixedly mounted inside the mounting grooves through screws; the sensor module comprises an ultrasonic sensor (14) and a pressure sensor (4) which are used for detecting signals about the distance between a fruit and the center of the palm and signals about the pressure of the fingers contacted with the fruit, respectively; the control module controls a motor to rotate positively and reversely according to the sensor signals, so as to realize flexible holding of the dexterous three-finger hand; and subsequently the palm turns together with the wrist to twist off the pedicel, then the fruit is picked. The dexterous three-finger hand disclosed by the invention has personate fingers, is flexible and convenient, flexible to operate, applicable to picking of various fruits, and good in university and adaptability.

Description

Technical field [0001] The invention relates to a three-finger dexterous hand of a fruit picking robot, belonging to the technical field of agricultural robot dexterous hands. Background technique [0002] With the continuous development of robot technology, fruit picking robots have also made considerable progress. Researchers at home and abroad have also conducted extensive research on their end effectors and achieved some results. Chinese patent No. 200710020501.6 introduces an end effector of a spherical fruit picking robot, which is composed of a suction disk and fingers. Although the structure is novel, it is only suitable for relatively large spherical fruit picking, and its openness and versatility are not strong; Chinese patent No. CN201120343116.7 provides a kiwi fruit picking end effector, which uses a two-finger gripper for operation, but the mechanical structure is large in size and poor in flexibility, which is not conducive to orchard picking operations. [0003] At...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A01D46/24A01D46/30B25J9/08B25J9/18B25J13/00B25J15/12
Inventor 杨福增蒲应俊周渝王涛王元杰潘冠廷秦昊刘志杰赵友亮
Owner NORTHWEST A & F UNIV
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