Multifunctional picking three-finger manipulator

Abstract

The utility model discloses a multifunctional picking three-finger manipulator which is characterized in that a motor is arranged on the top of a motor end cover supporting frame, a straight gear at the center of the bottom of the motor end cover supporting frame is meshed with three large straight spur gears which are evenly distributed in the circumferential direction, and the large straight spur gears are connected with pinions on a supporting plate through coaxial bevel gears. The small gear is coaxial with the large stop roller on the back to form a three-stage transmission system; a picking mechanical palm is fixed to the bottom of the motor end cover supporting frame, three picking fingers are evenly distributed below the mechanical palm and comprise far finger joints, middle finger joints, near finger joints and finger roots, damping springs are arranged in the middle finger joints and the near finger joints, and a fruit fixing device is installed in the center of the mechanical palm and connected with the mechanical palm through a fruit size adjusting device. The device is driven by a single motor to realize three-finger collaborative enveloping movement, the mechanical structure is simplified, the control complexity is reduced, the picking adaptability is high, and lossless picking operation of fruits in various forms can be completed.

Description

Technical Field

[0001] This utility model belongs to the field of agricultural robot equipment technology, specifically designing a multifunctional three-finger picking manipulator. Background Technology

[0002] With the increasing scale and precision of global agricultural production, the demands on agricultural production are gradually rising, and manual harvesting remains the primary method. Traditional manual harvesting faces problems such as labor shortages, high costs, high labor intensity, and low efficiency, especially in the harvesting of cash crops such as fruits and vegetables, where the limitations of manual harvesting are becoming increasingly apparent. Furthermore, manual harvesting easily damages crops, affecting product quality and market value. Therefore, using agricultural robots to complete fruit harvesting can improve this situation and enhance operational quality; the research and development of automated agricultural harvesting technology has become a key direction for solving these problems.

[0003] The end effector is an important part of the harvesting robot to complete the harvesting work. During the harvesting operation, the end effector comes into direct contact with the fruit. Since the skin of most fruits is relatively fragile and their shape and growth conditions are complex, the design of the end effector is considered one of the key technologies of the harvesting robot.

[0004] Therefore, it is necessary to design a multifunctional three-finger picking gripper to solve the above-mentioned technical problems. Utility Model Content

[0005] The purpose of this invention is to design a flexible, highly interchangeable, and widely applicable three-finger harvesting robot to achieve efficient, precise, and non-destructive automated agricultural harvesting, thereby solving the problems of labor shortage and low harvesting efficiency.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a multifunctional three-finger picking robot, comprising a motor end cap support frame 1, large spur gears 2, a robotic hand 7, finger roots 10, proximal finger joints 11, middle finger joints 12, and distal finger joints 13; the top of the motor end cap support frame 1 supports the connection between the motor and its bottom central spur gear 16, the central spur gear 16 meshing with three circumferentially evenly distributed large spur gears 2; the large spur gears 2 are connected to a small gear 4 on the support plate via coaxial bevel gears 3, the... The small gear 4 and the large stop roller 5 on the back are coaxial, forming a three-stage transmission system. The bottom of the motor end cover support frame 1 is fixed with the harvesting mechanical hand 7. Three harvesting fingers are evenly distributed below the mechanical hand 7. The fingers are mainly composed of the distal interphalangeal joint 13, the middle interphalangeal joint 12, the proximal interphalangeal joint 11, and the finger root 10. The middle interphalangeal joint 12 and the proximal interphalangeal joint 11 are respectively equipped with shock-absorbing springs 14. A fruit fixing device 8 is installed in the center of the harvesting mechanical hand 7. The harvesting mechanical hand 7 and the fruit fixing device 8 are connected by a fruit size adjustment device 15.

[0007] Preferably, the three support rods of the motor end cover support frame 1 are evenly distributed; the three-stage transmission system includes: first-stage transmission: the central spur gear 16 meshes with three circumferentially evenly distributed large spur gears 2; second-stage transmission: each of the large spur gears 2 drives a small gear 4 through a bevel gear 3; third-stage transmission: the small gear 4 is coaxial with a large stop roller 5, and the large stop roller 5 is linked to the small stop roller 6 through a tendon rope, forming a two-stage reduction mechanism.

[0008] Preferably, the mechanical hand 7 has a circular structure, and the three fingers are evenly distributed on the circumference of the mechanical hand 7. The fruit size adjustment device 15 extends downward from the center of the mechanical hand 7 and connects to the fruit fixing device 8. The fruit size adjustment device 15 consists of a spring 20, a large sleeve 19, and a small sleeve 21.

[0009] Preferably, the picking finger is composed of a distal interphalangeal joint 13, a middle interphalangeal joint 12, a proximal interphalangeal joint 11, and a finger root 10. A layer of silicone is fixed at the contact position between the distal interphalangeal joint 13, the middle interphalangeal joint 12, and the proximal interphalangeal joint 11 and the fruit, and pressure sensors 22 are installed on the joints respectively. The joints are rotatably connected by slotted countersunk screws 17, and the joints are coordinated to move through tendon rope linkage.

[0010] Compared with the prior art, the beneficial effects of this utility model are: the multifunctional three-finger picking robotic hand;

[0011] (1) Driven by a motor, the large spur gear drives the transmission, which in turn drives the stop roller to rotate, and at the same time drives the three fingers to move. The entire mechanical claw can be controlled by a single motor. The control is simple, and each mechanism can be modularized and disassembled easily.

[0012] (2) The tendons of the four joints of the fingers are linked together, which can realize the coordinated movement of a single finger. The three fingers are linked together, which can realize the picking action of the picking robot. The middle finger joint and the proximal finger joint are added with springs to increase the flexibility of the robot. The three fingers have a total of twelve degrees of freedom, which has high flexibility and precise control ability, and can easily grasp fruits of different sizes. Attached Figure Description

[0013] Figure 1 : Schematic diagram of the overall structure of this utility model;

[0014] Figure 2 : A schematic diagram of part of the gear transmission structure of this utility model;

[0015] Figure 3 : A cross-sectional view of the gripper assembly of this utility model;

[0016] Figure 4 : Schematic diagram of the mechanical finger structure of this utility model;

[0017] Figure 5 : Schematic diagram of the mechanical tendon rope drive structure of this utility model;

[0018] Figure 6 : A schematic diagram of the mechanical finger connection part of this utility model;

[0019] Figure 7 : Schematic diagram of the fruit size adjustment device of this utility model.

[0020] In the diagram: 1. Motor end cover support frame; 2. Large spur gear; 3. Bevel gear; 4. Pinion; 5. Large stop roller; 6. Small stop roller; 7. Mechanical hand; 8. Fruit fixing device; 9. Fruit; 10. Finger root; 11. Proximal finger joint; 12. Middle finger joint; 13. Distal finger joint; 14. Shock-absorbing spring; 15. Fruit size adjustment device; 16. Central spur gear; 17. Slotted countersunk screw; 18. Elastic washer; 19. Large sleeve; 20. Spring; 21. Small sleeve; 22. Pressure sensor. Detailed Implementation

[0021] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0022] Please see Figure 1-7 This utility model provides the following technical solution: a multifunctional three-finger picking robot, including a motor end cap support frame 1, a large spur gear 2, a robotic hand 7, finger roots 10, proximal finger joints 11, middle finger joints 12, and distal finger joints 13; the top of the motor end cap support frame 1 supports the connection between the motor and its bottom central spur gear 16, the central spur gear 16 meshing with three circumferentially evenly distributed large spur gears 2; the large spur gears 2 are connected to a small gear 4 on the support plate via a coaxial bevel gear 3, the small gear 4... Coaxial with the large stop roller 5 on the back, the above forms a three-stage transmission system. The bottom of the motor end cover support frame 1 is fixed with the picking mechanical hand 7. Three picking fingers are evenly distributed below the mechanical hand 7. The fingers are mainly composed of the distal interphalangeal joint 13, the middle interphalangeal joint 12, the proximal interphalangeal joint 11, and the finger root 10. The middle interphalangeal joint 12 and the proximal interphalangeal joint 11 are respectively equipped with shock-absorbing springs 14. A fruit fixing device 8 is installed in the center of the picking mechanical hand 7. The picking mechanical hand 7 and the fruit fixing device 8 are connected by a fruit size adjustment device 15.

[0023] The three support rods of the motor end cover support frame 1 are evenly distributed. The three-stage transmission system includes: a first-stage transmission in which the central spur gear 16 meshes with three circumferentially evenly distributed large spur gears 2; a second-stage transmission in which each of the large spur gears 2 drives a small gear 4 through a bevel gear 3; and a third-stage transmission in which the small gear 4 is coaxial with a large stop roller 5, and the large stop roller 5 is linked to a small stop roller 6 through a tendon rope, forming a two-stage reduction mechanism. The even arrangement of the three support rods of the motor end cover support frame 1 makes the entire hand claw more stable and reduces vibration when the motor is running. The gear transmission is a multi-stage transmission structure, which can change the transmission ratio by changing the number of teeth, thereby changing the movement angle of different finger joints, and is suitable for different kinds of fruits 9. The central spur gear 16 drives the three large spur gears 2 to control the movement of the three fingers respectively.

[0024] The robotic hand 7 has a circular structure, with three fingers evenly distributed around its circumference. The fruit size adjustment device 15 extends downward from the center of the robotic hand 7 and connects to the fruit fixing device 8. The fruit size adjustment device 15 consists of a spring 20, a large sleeve 19, and a small sleeve 21. The three fingers evenly distributed around the circumference of the robotic hand 7 form a stable triangular gripping layout, preventing the object from tilting or slipping, and is suitable for adaptive gripping of fruits of different sizes. Compared with two-finger gripping, the three-finger gripper reduces the risk of slippage and disperses the force points to avoid damaging the target object. At the same time, compared with four-finger gripping, it simplifies the mechanical structure and reduces control complexity. When gripping fruits of different sizes, the three fingers can naturally conform to the surface, eliminating the need for frequent adjustment of the gripper spacing. The fruit size adjustment device 15 is used to adjust the fruit fixing device 8 for picking different fruits 9, making the three-finger picking robotic hand more applicable and improving the success rate of fruit picking.

[0025] The picking fingers consist of distal interphalangeal joint 13, middle interphalangeal joint 12, proximal interphalangeal joint 11, and finger root 10. A layer of silicone is fixed at the contact points between the distal interphalangeal joint 13, middle interphalangeal joint 12, and proximal interphalangeal joint 11 and the fruit, and pressure sensors 22 are installed on each joint to sense the pressure between the fruit and the mechanical fingers in real time during the fruit grasping process, thereby reducing the impact force caused by the grasping process and preventing damage to the fruit. The joints are connected by slotted countersunk screws 17, and the joints are linked by tendon ropes to achieve coordinated movement. Power is transmitted through tension, enabling multi-joint coordinated movement and making the entire picking device more flexible. Compared with gear or linkage transmission, tendon ropes are lighter, reducing the impact of inertia on rapid movements. The tendon ropes are driven by a single motor, reducing the complexity of multi-motor control. The tendon ropes also have a certain degree of elasticity, absorbing impact during the grasping process and avoiding hard collisions that damage the fruit. The countersunk design prevents screw protrusions from interfering with movement, and the slotted structure facilitates adjustment of tightness to adapt to different load requirements. Elastic washers 18 are placed between the joints to prevent the connection from loosening due to long-term vibration.

Claims

1. A multifunctional picking three-fingered mechanical hand, comprising a motor end cover support frame (1), a large straight-tooth cylindrical gear (2), a mechanical hand palm (7), a finger root (10), a proximal finger joint (11), a middle finger joint (12), and a distal finger joint (13); characterized in that The motor end cover support frame (1) top is used for supporting motor and its bottom center spur gear (16) is connected, the center spur gear (16) is engaged with three circumferentially uniform distribution big spur cylindrical gear (2), the big spur cylindrical gear (2) is connected with the support plate small gear (4) through coaxial bevel gear (3), the small gear (4) is coaxial with the back big stop roller (5), above the three-stage transmission system is formed, the motor end cover support frame (1) bottom fixed picking mechanical palm (7), the mechanical palm (7) below evenly distributes three picking fingers, and the finger is mainly composed of distal interphalangeal joint (13), middle phalanx joint (12), proximal phalanx joint (11), finger root (10), the middle phalanx joint (12), proximal phalanx joint (11) is respectively equipped with damping spring (14), the picking mechanical palm (7) center installation is provided with fruit fixing device (8), the picking mechanical palm (7) and fruit fixing device (8) are connected with fruit size adjusting device (15).

2. The multifunctional picking three-fingered manipulator according to claim 1, characterized in that The three support rods of the motor end cover support frame (1) are evenly distributed, and the three-stage transmission system comprises: first-stage transmission, the center spur gear (16) is engaged with three circumferentially uniform distribution big spur cylindrical gear (2);Second-stage transmission, each big spur cylindrical gear (2) drives small gear (4) through bevel gear (3);Third-stage transmission, the small gear (4) is coaxial with the big stop roller (5), and the big stop roller (5) is connected with the small stop roller (6) through the tendon rope, forming a two-stage speed reduction mechanism.

3. The multifunctional picking three-fingered manipulator according to claim 1, characterized in that The mechanical palm (7) is a circular structure, the three fingers are evenly distributed on the circumference of the mechanical palm (7), the fruit size adjusting device (15) extends downward from the center of the mechanical palm (7) and connects the fruit fixing device (8), and the fruit size adjusting device (15) is composed of a spring (20) and a large sleeve (19), a small sleeve (21).

4. The multifunctional picking three-fingered manipulator according to claim 1, characterized in that The picking finger is composed of distal interphalangeal joint (13), middle phalanx joint (12), proximal phalanx joint (11) and finger root (10), a layer of silica gel is fixed on the contact position of the distal interphalangeal joint (13), middle phalanx joint (12) and proximal phalanx joint (11) and the fruit, and a pressure sensor (22) is installed on the joint, respectively, the joints are connected by slotted countersunk screw (17), and the joints are connected by tendon rope linkage to realize coordinated movement.

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