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Underactuated flexible gripper

A flexible clamping and under-actuated technology, which is applied in the direction of picking machines, agricultural machinery and implements, etc., can solve the problems of low success rate of fruit harvesting and fruit damage, and achieve the effect of reducing impact and high transmission efficiency

Inactive Publication Date: 2018-12-07
KUNMING UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The underactuated flexible gripper is used to solve the problem of low fruit harvesting success rate and easy damage to fruit in the field of fruit harvesting

Method used

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  • Underactuated flexible gripper

Examples

Experimental program
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Effect test

Embodiment 1

[0031] Such as Figure 1 to 7 As shown, the under-actuated flexible gripper includes a gripper base 1, a guide rod 7, a palm 8, a palm-proximal finger 11, a fingertip structure, a drive device, and a control device. The fingertip structure includes fingertips 14, Ball 15, compression spring 16, spring limit device 19, sliding rod limit surface 20, sliding groove 21 and rubber cushion 22, the driving device includes stepping motor 2, coupling 3, ball screw 4, disc sliding Block 5, arc push rod 6, guide rod 7, connecting rod I9, connecting rod II10, connecting rod III12 and sliding rod 13. The control device includes a controller and a pressure sensor;

[0032] The holder base 1 is evenly provided with three guide rods 7, the top seat surface of the guide rod 7 is provided with a flat palm 8, and the palm 8 is evenly provided with the same structure and can be bent and opened relative to the palm 8 There are three palm-proximal fingers 11, each of which is equipped with a fingerti...

Embodiment 2

[0038] Such as Figure 1 to 7 As shown, the under-actuated flexible gripper includes a gripper base 1, a guide rod 7, a palm 8, a palm-proximal finger 11, a fingertip structure, a drive device, and a control device. The fingertip structure includes fingertips 14, Ball 15, compression spring 16, spring limit device 19, sliding rod limit surface 20, sliding groove 21 and rubber cushion 22, the driving device includes stepping motor 2, coupling 3, ball screw 4, disc sliding Block 5, arc push rod 6, guide rod 7, connecting rod I9, connecting rod II10, connecting rod III12 and sliding rod 13. The control device includes a controller and a pressure sensor;

[0039] The holder base 1 is evenly provided with three guide rods 7, the top seat surface of the guide rod 7 is provided with a flat palm 8, and the palm 8 is evenly provided with the same structure and can be bent and opened relative to the palm 8 There are three palm-proximal fingers 11, each of which is equipped with a fingerti...

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PUM

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Abstract

The invention relates to an underactuated flexible gripper, and belongs to the technical field of agricultural intelligent equipment. The underactuated flexible gripper includes a gripper base, guiderods, a palm, a palm-adjacent finger, a fingertip structure, a driving device and a control device, wherein the fingertip structure includes a fingertip, a ball, a compression spring, a spring limit device, a slider limit surface, a slide groove and a rubber cushion, the driving device includes a stepper motor, a coupling, a ball screw, a disc slider, a curved push rod, the guide rods, a connecting rod I, a connecting rod II, a connecting rod III and a slide bar, and the control device comprises a controller and a pressure sensor. The underactuated flexible gripper is used to solve the problems that the fruit harvesting rate is not high and fruits are easily damaged.

Description

Technical field [0001] The invention relates to an under-actuated flexible gripper, which belongs to the technical field of agricultural intelligent equipment. Background technique [0002] In the field of agricultural picking and harvesting, the flexibility of manipulators is very demanding, which directly determines the effectiveness of picking. The less flexible gripper causes damage to the fruit skin, which not only reduces the efficiency and benefits, but also wastes the fruit. The traditional picking manipulator grippers mostly have two fingers, the grip is not stable enough, and the flexibility is not high, so the picking success rate decreases. Summary of the invention [0003] In view of the above-mentioned problems and deficiencies in the prior art, the present invention provides an under-actuated flexible gripper. The under-actuated flexible gripper is used to solve the problem of low fruit harvest success rate in the fruit harvest field and easy damage to the fruit. ...

Claims

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Application Information

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IPC IPC(8): A01D46/00A01D46/24
CPCA01D46/00A01D46/24
Inventor 胡亚文何俊德李杨
Owner KUNMING UNIV OF SCI & TECH
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