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Finger structure of skillful hand of fruit picking robot

A picking robot and dexterous hand technology, applied in picking machines, manipulators, program-controlled manipulators, etc., can solve the problems of poor flexibility, single function, low adaptability of fruit shape, etc., to achieve convenient maintenance, stable transmission, reduced complexity and The effect of maintenance costs

Inactive Publication Date: 2012-10-17
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 low adaptability of fruit shape in the current end effector of fruit picking robot, the present invention provides a dexterous hand and finger structure of fruit picking robot, which has the advantages of light weight, flexible operation and good maintainability , The overall structure is simple and compact, easy to process and assemble, and can be applied to the dexterous hands of fruit picking robots

Method used

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  • Finger structure of skillful hand of fruit picking robot
  • Finger structure of skillful hand of fruit picking robot
  • Finger structure of skillful hand of fruit picking robot

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Experimental program
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specific Embodiment approach 1

[0023] Specific implementation mode one: asfigure 1 , figure 2 , Figure 4 , Figure 5 and Figure 7 Shown, the fruit picking robot dexterous hand finger structure described in the present embodiment is by motor I (1), motor II (2), motor III (7), pedestal (5), the first phalanx (19), middle Knuckles (20), terminal knuckles (21), belt transmission mechanism I (3), front support (6), rear support (8), gear differential mechanism (15), belt transmission mechanism II (16), coupling Link transmission mechanism (17), cross shaft (12), proximal knuckle joint shaft (13), end knuckle joint shaft (14), first knuckle shell (9), middle knuckle shell (10), The end knuckle shell (11), the first knuckle pad cover (22) and the middle knuckle pad cover (23); motor I (1) and motor II (2) are fixed side by side on the base frame ( 5) and fixed by the fastening kit I (1-1) and fastening kit II (2-1) respectively, the motor III (7) is fixed on the rear support ( 8), the front support (6) an...

specific Embodiment approach 2

[0024] Specific implementation mode two: as figure 2 , image 3 , Figure 4 and Figure 7 As shown, the second driving synchronous pulley (31) of the belt drive mechanism II (16) described in this embodiment is limited by the retaining ring (24) and the first knuckle right side plate (35) to move axially, The second driven synchronous pulley (43) of the belt transmission mechanism II (16) is fixedly connected with the proximal knuckle shaft (13), and the lower end of the connecting bracket (42) of the middle knuckle (20) is connected with the proximal knuckle. The knuckle joint shaft (13) is fixedly connected and its axial movement is limited by the stop washer, and the connecting bracket (42) of the middle phalanx (20) is connected with the left side plate (38) of the middle phalanx and the right side plate (37) of the middle phalanx. ) is fixedly connected, the upper side end of the connecting bracket (42) of the middle phalanx (20) is fixedly connected with the terminal...

specific Embodiment approach 3

[0025] Specific implementation mode three: as Figure 5 , Figure 6 As shown, the gear differential mechanism (15) described in this embodiment consists of the first driving bevel gear (25), the first intermediate bevel gear (26), the first driven bevel gear (27), the second driving bevel gear (28), the second intermediate bevel gear (29), the second driven bevel gear (30) and the cross shaft (12), the first driving bevel gear (25), the first intermediate bevel gear (26) The module is the same as the first driven bevel gear (27), and the axis lines are vertical in pairs, wherein the first driving bevel gear (25) and the first driven bevel gear (27) are identical, and the first intermediate bevel gear ( 26) Engage with the first driving bevel gear (25) and the first driven bevel gear (27) at the same time, and the first intermediate bevel gear (26) and the first driven bevel gear (27) are respectively rotated and socketed on the cross shaft ( 12) the rear side and the left si...

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Abstract

The invention discloses a finger structure of a skillful hand of a fruit picking robot, and relates to the technical field of skillful hands of agricultural robots. The finger structure comprises a motor driving device, a base frame, a first knuckle, a middle knuckle, a tail end knuckle, belt transmission mechanisms, a gear differential motion mechanism, a coupling connecting rod transmission mechanism, a cross shaft and the like, wherein the motor driving device is fixedly arranged on the base (5); a belt transmission mechanism I (3) is driven by a motor I (1) to drive the gear differential motion mechanism (15) to realize the pitching motion of a finger; the gear differential motion mechanism (15) is driven by a motor II (2) to drive a belt transmission mechanism II (16) and drive the coupling connecting rod transmission mechanism (17) to realize the bending motion of the finger; and the cross shaft (12) is driven by a motor III (7) to realize the side-sway motion of the finger. The finger of the skillful hand has four knuckles and three degrees of freedom, has the advantages of light weight, flexible operation, simple structure and high maintainability, and can be applied to the skillful hand of the fruit picking robot.

Description

technical field [0001] The invention relates to a finger structure of a dexterous hand of a fruit picking robot, which belongs to the technical field of dexterous hands of agricultural robots. Background technique [0002] With the continuous development of robot technology, the application research of agricultural robot has also made great progress. The agricultural picking robot that is currently being widely studied is an important branch of agricultural robots, and the end effector is an important part of the picking robot to complete the picking operation. The design of the end effector is also considered to be one of the core technologies of agricultural robots. Relevant researches have been carried out in this field at home and abroad. People such as Peter P.Ling of the United States set forth the design of tomato picking four-fingered hands in "Sensing and end-effector for a robotic tomato harvester" (Resource, 12(7): 13-14, 2005), which consists of four Composed o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00A01D46/30
CPCB25J15/0009B25J9/102
Inventor 杨福增蒲应俊王元杰陈晨宗王程程徐新星韩树峰潘冠廷
Owner NORTHWEST A & F UNIV
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