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Under-actuated flexible terminal actuator aiming at special-shaped melons and fruits and simulating bird jaws

An end effector and underactuated technology, applied in the direction of manipulators, chucks, manufacturing tools, etc., can solve problems such as complex manipulator motion control

Inactive Publication Date: 2017-05-10
NORTHEAST AGRICULTURAL UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Since the driving number of the full-drive manipulator is equal to the number of degrees of freedom, the number of degrees of freedom of the general full-drive manipulator is particularly large, so the motion control of this type of manipulator is particularly complicated.

Method used

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  • Under-actuated flexible terminal actuator aiming at special-shaped melons and fruits and simulating bird jaws
  • Under-actuated flexible terminal actuator aiming at special-shaped melons and fruits and simulating bird jaws
  • Under-actuated flexible terminal actuator aiming at special-shaped melons and fruits and simulating bird jaws

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Embodiment Construction

[0029] In order to make the technical means, innovative points, and achieved effects of the present invention easy to understand, the present invention will be further described below in conjunction with the accompanying drawings.

[0030] Such as figure 1 Shown, the present invention consists of a top plate (1), telescopic cylinder (2), chassis (4), vacuum silica gel sucker (6), sucker rod (5), two identical steering gears (3) (11), two base(23)(30), four identical flexible grabbing units(12)(13)(14)(15), six gears(16)(17)(18)(19)(21)(22 ) constitutes; the top joint (24) and the front joint (26), the front joint (26) and the middle joint of the flexible grasping unit (16) (17) (18) (19) (21) (22) (27), the middle joint (27) and the tail joint (28) are successively hinged in series through cylindrical pins (25), wherein the flexible grabbing units (12) and (14) are fixed on the chassis, and the flexible grabbing unit (13 ) and (15) are respectively fixed on the base (23) and...

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Abstract

The invention relates to a bionic robot terminal actuator, in particular to a structural design of an under-actuated flexible terminal actuator simulating bird jaws, and is generally applied to the field of agricultural product picking robots and intelligent sorting and packing. The terminal actuator consists of a grabbing module, a sucking module, a power module and a fixed connecting module. When the terminal actuator performs a special-shaped melon and fruit grabbing task, the sucking module and the grabbing module are cooperated to finish the grabbing task. The terminal actuator has bionic characteristics, can realize flexible grabbing of the special-shaped melons and fruits, reduces damage of the melons and the fruits in the working process, and has the advantages of fast response speed and high working efficiency.

Description

technical field [0001] The invention relates to a bionic robot end effector, in particular to the structural design of an underactuated flexible end effector imitating a bird's claw. The invention is mostly used in the fields of agricultural product picking robots and intelligent sorting and packaging. It is equipped on a mechanical arm as an end effector and has the function of independently grabbing special-shaped melons and fruits. Background technique [0002] The idea of ​​bionics builds a bridge between biology and technology, and provides innovative methods to solve some technical problems. By reproducing the principles of biology, man has not only found a technical solution, but at the same time the solution has been fully adapted to the needs of nature. [0003] With the deepening of human research on robots in recent years, many good results have been achieved in the research on robot manipulators. The main forms of manipulators are divided into fully-actuated ma...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/06B25J15/10
CPCB25J15/0009B25J15/0616B25J15/10
Inventor 权龙哲张传彬孟祥生郦亚军周浩程攻肖术明
Owner NORTHEAST AGRICULTURAL UNIVERSITY
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