Mechanical hand

A manipulator and finger technology, applied in the field of manipulators, can solve the problems of high labor costs, less agricultural labor, and labor difficulties, and achieve the effects of avoiding mechanical damage, reducing mechanical damage, and increasing friction.

Inactive Publication Date: 2019-03-26
DONGGUAN UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] With the rapid development of industrial technology, agricultural equipment gradually tends to be automated and intelligent, and is used in many fields. Agricultural machinery and equipment have gradually entered the field of agricultural production, promoting the development of modern agriculture in the direction of equipment mechanization and intelligent production; crops It is an important link in agricultural production with strong seasonality, high labor intensity and high operation requirements. However, my country's agricultural development is relatively prominent, but the agricultural labor force is relatively small, and many crops still need to rely on a lot of manpower. Not only the labor cost High and low efficiency; especially for some fruit trees, because the fruit trees are tall or the terrain is complex, manual labor is more difficult, and manual labor has the risk of accidentally falling and falling due to complex terrain; Labor production efficiency, reducing labor costs, ensuring the quality of fresh fruits and vegetables, and meeting the real-time requirements of crop growth are all of great significance
[0003] In addition, machinery has great limitations for some fragile and easily damaged crops, which can easily cause mechanical damage during the process, seriously affecting the quality and storage of crops.

Method used

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Experimental program
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Effect test

Embodiment 1

[0026] Such as figure 1 and figure 2 Shown, a kind of manipulator includes: finger linkage mechanism, finger linkage driving part, telescoping part, cutting part and vision system, described finger linkage mechanism is connected with finger linkage driving part, and described finger linkage drives The part is connected with the telescopic part, the cutting part is connected with the fixed slide rail of the telescopic part, and the vision system is connected with the telescopic part.

[0027] according to figure 1, the finger linkage mechanism includes: far knuckle 1, flat plate pressure sensor 2, proximal knuckle 3, silica gel pad 4, support plate 5, connecting rod fixture 6, tension spring 7, remote lever 8, torsion spring 9, Torsion spring fixing part 10, intermediate connecting rod 11, driving rocker 12, driving connecting rod 13, connecting rod fixing part 14 and S-type pressure sensor 15; The two ends of described S-type pressure sensor 15 are respectively connected wi...

Embodiment 2

[0034] The finger link mechanism that the present invention adopts uses extension spring as 7 as a limiting mechanism, so that it has a grasping function; the finger link mechanism adopts a series link mechanism, and the extension spring 7 and the finger link With the cooperation of the mechanism, the target object is grasped, and the finger linkage mechanism can adapt to the shapes of various objects; and considering the vulnerability of fruits, the proximal knuckle 3 and the far knuckle of the finger linkage The middle position of 1 is installed flat plate pressure sensor 2 respectively, is used for sensing the contact force of fruit, avoids the fruit damage that causes because of excessive contact force; The friction force between the fruit and the finger surface has a certain buffering effect on the force applied to clamping the fruit, further reducing the mechanical damage of the force-type clamping to the fruit; A potentiometer is set at the hinge of the S-type pressure ...

Embodiment 3

[0036] The working mode that can be realized by the present invention is to collect the maturity degree, position size, position and stem position information of the target through the industrial camera in the vision system, and then feed back the collected information to the controller, and the controller will process and analyze the collected information And to locate the mature fruit and its stalk, the controller drives each motor to work independently through the motor driver: through the telescopic motor to control the finger linkage mechanism to realize the clamping of the fruit; through the arm telescopic lead screw motor, lifting motor and rotating motor drive, The positioning of the fruit clamping part is realized; the cutting of the stem is realized by controlling the rotation of the circular blade by the shearing motor; the positioning of the cutting part of the fruit stem is realized by driving the shearing telescopic motor and the shearing rotation motor.

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Abstract

The invention discloses a mechanical hand which comprises a finger connecting rod mechanism, a finger connecting rod drive portion, a telescoping portion, a shearing portion and a vision system. The finger connecting rod mechanism is connected with the finger connecting rod drive portion. The finger connecting rod drive portion is connected with the telescoping portion. The shearing portion is connected with a fixed sliding rail. The vision system is connected with the fixed sliding rail. Information of a target object is collected through the vision system, then the information is fed back toa controller, the controller processes the collected information, and a motor driver drives all motors to work independently to achieve functions of clamping, locating of the clamping portion, shearing, locating of the shearing portion and the like. According to the mechanical hand, an S-shaped pressure sensor, a flat plate pressure sensor and a tension spring are utilized, the controller achieves closed loop real-time control over the finger connecting rod mechanism, the target object is grabbed flexibly, and caused mechanical damage is reduced.

Description

technical field [0001] The invention relates to the field of machine automation, in particular to a manipulator. Background technique [0002] With the rapid development of industrial technology, agricultural equipment gradually tends to be automated and intelligent, and is used in many fields. Agricultural machinery and equipment have gradually entered the field of agricultural production, promoting the development of modern agriculture in the direction of equipment mechanization and intelligent production; crops It is an important link in agricultural production with strong seasonality, high labor intensity and high operation requirements. However, my country's agricultural development is relatively prominent, but the agricultural labor force is relatively small, and many crops still need to rely on a lot of manpower. Not only the labor cost High and low efficiency; especially for some fruit trees, because the fruit trees are tall or the terrain is complex, manual labor is m...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J9/12B25J15/00B25J15/02A01D46/30
CPCA01D46/30B25J9/0009B25J9/123B25J15/0009B25J15/0019B25J15/0206
Inventor 肖力胡宇鹏
Owner DONGGUAN UNIV OF TECH
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