CN110039533A - For detecting the multi-functional software manipulator of fruit maturity - Google Patents
For detecting the multi-functional software manipulator of fruit maturity Download PDFInfo
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- CN110039533A CN110039533A CN201910310892.8A CN201910310892A CN110039533A CN 110039533 A CN110039533 A CN 110039533A CN 201910310892 A CN201910310892 A CN 201910310892A CN 110039533 A CN110039533 A CN 110039533A
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 54
- 238000005452 bending Methods 0.000 claims abstract description 16
- 239000003990 capacitor Substances 0.000 claims abstract description 7
- 239000011159 matrix material Substances 0.000 claims description 14
- 229910001338 liquidmetal Inorganic materials 0.000 claims description 13
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 12
- 239000000741 silica gel Substances 0.000 claims description 12
- 229910002027 silica gel Inorganic materials 0.000 claims description 12
- 230000000946 synaptic effect Effects 0.000 claims description 8
- 239000007788 liquid Substances 0.000 claims description 4
- 239000002184 metal Substances 0.000 claims description 3
- 229910052751 metal Inorganic materials 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 7
- 230000006872 improvement Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 6
- 239000000463 material Substances 0.000 description 6
- 230000008859 change Effects 0.000 description 4
- 229920000260 silastic Polymers 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 229920001971 elastomer Polymers 0.000 description 3
- 230000035945 sensitivity Effects 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 229910045601 alloy Inorganic materials 0.000 description 2
- 239000000956 alloy Substances 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 206010058109 Hangnail Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002775 capsule Substances 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0023—Gripper surfaces directly activated by a fluid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/16—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring the deformation in a solid, e.g. by resistance strain gauge
- G01B7/18—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring the deformation in a solid, e.g. by resistance strain gauge using change in resistance
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/14—Measuring force or stress, in general by measuring variations in capacitance or inductance of electrical elements, e.g. by measuring variations of frequency of electrical oscillators
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/40—Investigating hardness or rebound hardness
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- General Health & Medical Sciences (AREA)
- Biochemistry (AREA)
- Analytical Chemistry (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Chemical & Material Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Health & Medical Sciences (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of for detecting the multi-functional software manipulator of fruit maturity, the software manipulator includes handgrip assembly, several connectors being fixedly installed in below handgrip assembly, the software list below connector is fixedly installed in refer to, and it is fixed on software strain transducer and software pressure sensor that software list refers to inside, the software list refers to the bending deformation occurred under air pressure driving, the software strain transducer is used to measure software list and refers to bending deformation quantity when grabbing different size fruit, the software pressure sensor is used to measure the variation of contact surface capacitor to identify the soft or hard degree of fruit.The present invention can identify the size and soft or hard degree of different fruit by software strain transducer and software pressure sensor, can be very good the maturity of detection fruit with this, can complete the sorting or picking task of mature fruit.
Description
Technical field
The present invention relates to soft robot technical fields, more particularly to a kind of for detecting the multi-functional of fruit maturity
Software manipulator.
Background technique
Soft robot is emerging hot spot and the future development forward position of current robot technology, with conventional rigid robot phase
Than showing unprecedented adaptability, sensitivity and agility, and constantly expand the application field of robot, being
One of the main trend of robot future development.
Software manipulator is one of the Main way of soft robot research, is currently based on pneumatic, memorial alloy (SMA) etc.
Intelligent drives mode develops a variety of different types of software manipulators.
But the substantially all only simple picking function of all types of software manipulators developed at present, have for breakables
Have a good Grasping skill, but multi-functional software manipulator be limited to that the development of software sensor also develops at present compared with
It is few, fruit maturity can not be detected in picking process.
Therefore, in view of the above technical problems, it is necessary to provide a kind of for detecting the multi-functional software machine of fruit maturity
Tool hand.
Summary of the invention
In view of this, the multi-functional software that the purpose of the present invention is to provide a kind of for detecting fruit maturity is mechanical
Hand can identify the size of different fruit, according to software pressure sensing according to the bending deformation quantity of software strain transducer
The capacitance variations on device surface identify the soft or hard degree of different fruit, can complete the detection, sorting and picking work of fruit.
To achieve the goals above, the technical solution that one embodiment of the invention provides is as follows:
It is a kind of for detecting the multi-functional software manipulator of fruit maturity, the software manipulator include handgrip assembly,
It is fixedly installed in several connectors below handgrip assembly, the software list being fixedly installed in below connector refers to and is fixed on soft
Body list refers to that the software strain transducer and software pressure sensor of inside, the software list refer to the bending occurred under air pressure driving
Deformation, the software strain transducer is used to measure software list and refers to bending deformation quantity when grabbing different size fruit, described
Software pressure sensor is used to measure the variation of contact surface capacitor to identify the soft or hard degree of fruit.
As a further improvement of the present invention, the more airbag structures of software Dan Zhiwei, including several interconnected gas
Capsule, the software list refers to occurs corresponding bending deformation under different air pressures, the deformation that curves inwardly of direct draught, under negative pressure to
Outside sweep deformation.
As a further improvement of the present invention, the software strain transducer and software pressure sensor are pasted on software list
Refer on the inner surface contacted with fruit.
As a further improvement of the present invention, the software strain transducer includes internal with several continuous empty slot structures
Silica gel ontology and the liquid metal that is filled in empty slot structure.
As a further improvement of the present invention, the silica gel body surface is equipped with the silica gel hangnail knot being obliquely installed upwards
Structure, to increase the crawl frictional force with fruit surface.
As a further improvement of the present invention, the software pressure sensor includes first electrode layer and setting up and down
Two electrode layers, the intermediate dielectric layer between first electrode layer and the second electrode lay and the table positioned at first electrode layer surface
Cynapse layer in face is respectively equipped with spatially several first electrodes of vertical distribution and the second electricity in first electrode layer and the second electrode lay
Pole, surface cynapse layer include it is several in matrix array distribution several synaptic structures, and synaptic structure be located at first electrode layer with
Above the second electrode lay.
As a further improvement of the present invention, the first electrode layer includes having the first matrix of the first micro-flow groove and filling out
It fills in the liquid metal in the first micro-flow groove, the second electrode lay includes the second matrix with the second micro-flow groove and is filled in first
Liquid metal in micro-flow groove.
As a further improvement of the present invention, the interlevel dielectric layer surface has microstructured layers, the microstructured layers packet
Include several tetragonous wimble structures in matrix array distribution, the tetragonous wimble structure of interlevel dielectric layer surface and dashing forward on surface cynapse layer
Touch structure corresponding distribution up and down.
As a further improvement of the present invention, the software list refers to that lower section is fixedly installed with the tip for grabbing fruit.
As a further improvement of the present invention, it is equipped with notch below the connector, is equipped with rotation in notch
The extruding rod piece of setting, the upper end that the software list refers to are installed in the notch and are fixed by squeezing rod piece.
As a further improvement of the present invention, handgrip assembly structure in a ring.
The beneficial effects of the present invention are:
Present invention combination software strain transducer and software pressure sensor, devising one kind can detecte fruit maturity
Software manipulator, the software manipulator can complete different fruit maturity detection, sorting and picking work；
Software strain transducer is made of silastic material and liquid metal, has good tensile properties, can be very
The large deformation of good adaptation software manipulator, can detect its bending deformation quantity by the variation of resistance value；
The surface of software strain transducer devises barb structure, can increase frictional force when handgrip is contacted with fruit,
Enhance the Grasping skill of software handgrip；
Software pressure sensor is made of silastic material and liquid metal, can pass through identification contact surface capacitance
The pressure of variation detection contact surface, to judge the soft or hard degree of fruit；
The tip designs that software list refers to rubber tip, can increase the frictional force of software arm end, to enhance
The picking ability of software manipulator；
Software list refers to that connector uses notch and squeezes rod piece, also square while guaranteeing that software list refers to air-tightness
The later period installing and dismounting work.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The some embodiments recorded in invention, for those of ordinary skill in the art, without creative efforts,
It is also possible to obtain other drawings based on these drawings.
Fig. 1 is the schematic perspective view of software manipulator in a specific embodiment of the invention；
Fig. 2 is the assembling structure schematic diagram of software Dan Zhiyu connector in a specific embodiment of the invention；
Fig. 3 is the airbag structure schematic diagram that software list refers in a specific embodiment of the invention；
Fig. 4 is the schematic perspective view of handgrip assembly in a specific embodiment of the invention；
Fig. 5 is the schematic perspective view of connector in a specific embodiment of the invention；
Fig. 6 is the schematic perspective view at tip in a specific embodiment of the invention；
Fig. 7 a, 7b are respectively the planar structure schematic diagram and side view of software pressure sensor in a specific embodiment of the invention
Structural schematic diagram；
Fig. 8 a, 8b are respectively the schematic diagram of internal structure and solid of software strain transducer in a specific embodiment of the invention
Structural schematic diagram.
Specific embodiment
Technical solution in order to enable those skilled in the art to better understand the present invention, below in conjunction with of the invention real
The attached drawing in example is applied, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described implementation
Example is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without making creative work, all should belong to protection of the present invention
Range.
The art of the representation spaces relative position such as such as " left side " used herein, " left side ", " right side ", " right side ", "upper", "lower"
Language be for convenient for explanation purpose come describe as shown in the drawings a unit or feature relative to another unit or spy
The relationship of sign.The term of relative space position can be intended to include equipment in use or work other than orientation as shown in the figure
Different direction.For example, being described as being located at the unit of other units or feature " left side " if the equipment in figure overturn
Other units or feature " right side " will be located at.Therefore, exemplary term " left side " can include both orientation of left and right side.
Equipment can otherwise be directed (be rotated by 90 ° or other directions), and used herein and space correlation is interpreted accordingly
Description language.
In description herein, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in text.
The invention discloses a kind of for detecting the multi-functional software manipulator of fruit maturity, including handgrip assembly, solid
Dingan County refers to and is fixed on software loaded on several connectors below handgrip assembly, the software list that is fixedly installed in below connector
Singly refer to that the software strain transducer and software pressure sensor of inside, software list refer to the bending deformation occurred under air pressure driving,
Software strain transducer is used to measure software list and refers to bending deformation quantity when grabbing different size fruit, software pressure sensor
The soft or hard degree of fruit is identified for measuring the variation of contact surface capacitor.
Below in conjunction with specific embodiment, the invention will be further described.
Join shown in Fig. 1, is disclosed in a specific embodiment of the invention a kind of for detecting the multifunctional soft of fruit maturity
Body manipulator, the software manipulator include handgrip assembly 10, several connectors 20 being fixedly installed in below handgrip assembly, fix
The software list below connector is installed on to refer to 30, be fixed on software strain transducer 40 and software pressure biography that software list refers to inside
It sensor 50 and is fixed on software list and refers to that lower section is located at software and strains for grabbing the tip 60 of fruit, software pressure sensor 50
40 lower section of sensor, software list refer to 30 bending deformations occurred under air pressure driving, and software strain transducer 40 is soft for measuring
Body list refers to that the bending deformation quantity when grabbing different size fruit, software pressure sensor 50 are used to measure the change of contact surface capacitor
Change the soft or hard degree to identify fruit.
Join Fig. 1 and as shown in connection with fig. 6, tip 60 is made of elastic rubber material, can increase software arm end
Grasping skill.60 upper end of tip is equipped with groove 61, and software list refers to that 30 lower ends are embedded in groove 61.
Join Fig. 1 and combine shown in Fig. 2, Fig. 3, software list refers to 30 as more airbag structures, includes 8 in the present embodiment and mutually interconnects
Logical air bag 31, when being filled with gas, software list refers to that 30 air bags can expand, and corresponding bending occurs under different air pressures and becomes
Shape, the deformation that curves inwardly of direct draught, is bent outwardly deformation under negative pressure.
Join Fig. 1 and as shown in connection with fig. 5, notch 21 is equipped with below connector 20, is equipped with to rotate in notch 21 and sets
The extruding rod piece 22 set, software list refer to that 30 upper end is installed in notch 21 and is fixed by squeezing rod piece 22.
The structure of connector 20 can closely connect software list and refer to 30, have good air-tightness.Connector 20 simultaneously
It is connect with handgrip assembly 10 using screw, also facilitates the disassembly and maintenance in later period while guaranteeing bonding strength.
Join Fig. 1 and as shown in connection with fig. 4, handgrip assembly 10 is a ring structure, which is connected with connector 20, by three
A software list, which refers to, constitutes an overall structure.Simultaneously because the design of ring structure, can adjust the position that software list refers at any time
It sets to adapt to object of different shapes.
Join Fig. 1 and combine shown in Fig. 8 a, Fig. 8 b, software strain transducer 40 is pasted on the inner surface that software list refers to 30
On, software strain transducer 40 is strain gauge transducer, including the internal silica gel ontology 41 with several continuous empty slot structures and
The liquid metal 42 being filled in empty slot structure.
The software strain transducer 40 being made of silica gel material and liquid metal material has good tensile properties.?
When strain deforms, the liquid metal in empty slot structure will elongate in the axial direction, therefore resistance will change, thus
It is detected by the variation of resistance value is bent variable.
Further, 41 surface of silica gel ontology is equipped with the silica gel barb structure 411 being obliquely installed upwards, which can increase
Frictional force when handgrip and fruit being added to contact enhances the Grasping skill of software handgrip.
Join Fig. 1 and combine shown in Fig. 7 a, Fig. 7 b, software pressure sensor 50 is pasted on the interior of software Dan Zhiyu fruit contact
On side surface, and software pressure sensor 50 is located at lower the ten thousand of software strain transducer 40.
Software pressure sensor 50 includes first electrode layer 51 and the second electrode lay 52 setting up and down, is located at first electrode
Intermediate dielectric layer 53 between layer and the second electrode lay and the surface cynapse layer 54 positioned at first electrode layer surface, first electrode
Several first electrodes and second electrode of spatially vertical distribution, surface cynapse layer are respectively equipped on layer 51 and the second electrode lay 52
Including several several synaptic structures in matrix array distribution, and synaptic structure is located in first electrode layer and the second electrode lay
Side.
Wherein, first electrode layer 51 includes the liquid for having the first matrix of the first micro-flow groove and being filled in the first micro-flow groove
State metal, the second electrode lay 52 include the liquid gold for having the second matrix of the second micro-flow groove and being filled in the first micro-flow groove
Belong to, the first micro-flow groove and the second micro-flow groove are spatially in vertical distribution.
In addition, 53 surface of intermediate dielectric layer has microstructured layers, microstructured layers include several in the four of matrix array distribution
Pyramidal structure, the distribution corresponding with above and below the synaptic structure on surface cynapse layer of the tetragonous wimble structure of interlevel dielectric layer surface.
Specifically, first electrode layer and the second electrode lay are to inject liquid in the micro-flow groove that silica gel is produced in the present embodiment
State metal E-GaIn is as electrode, since liquid metal E-GaIn is a kind of alloy, have fabulous electric conductivity, conductivity and
The conductivity of copper is in an order of magnitude.First electrode layer and the second electrode lay all have 7 strip electrodes, by upper layer and lower layer electrode in sky
Between on be in vertical distribution, 7 × 7 capacitor cells can be formed in total.
It is one layer of micro-structural intermediate dielectric layer among two layers of electrode, micro-structure uses tetragonous wimble structure, in software pressure
Force snesor is under pressure when acting on, and compared with being not micro-structural dielectric layer, intermediate dielectric layer can generate bigger deformation,
To increase the sensitivity of sensor.
And the surface cynapse layer of the top, be also made of silica gel, be in order to when sensor array is by active force, it is excellent
Surface cynapse layer is first touched, active force is all focused in the first electrode layer and the second electrode lay of capacitor, sensing is increased
The sensitivity of device.
Software pressure sensor 50 in the present embodiment increases the detection change of sensor using 7 × 7 matrix array structure
Amount, can judge contactant contact level product, shape, hardness, surface quality etc. by matrix data.
As can be seen from the above technical solutions, the invention has the following advantages:
Present invention combination software strain transducer and software pressure sensor, devising one kind can detecte fruit maturity
Software manipulator, the software manipulator can complete different fruit maturity detection, sorting and picking work；
Software strain transducer is made of silastic material and liquid metal, has good tensile properties, can be very
The large deformation of good adaptation software manipulator, can detect its bending deformation quantity by the variation of resistance value；
The surface of software strain transducer devises barb structure, can increase frictional force when handgrip is contacted with fruit,
Enhance the Grasping skill of software handgrip；
Software pressure sensor is made of silastic material and liquid metal, can pass through identification contact surface capacitance
The pressure of variation detection contact surface, to judge the soft or hard degree of fruit；
The tip designs that software list refers to rubber tip, can increase the frictional force of software arm end, to enhance
The picking ability of software manipulator；
Software list refers to that connector uses notch and squeezes rod piece, also square while guaranteeing that software list refers to air-tightness
The later period installing and dismounting work.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (11)
1. a kind of for detecting the multi-functional software manipulator of fruit maturity, which is characterized in that the software manipulator includes
Handgrip assembly, several connectors being fixedly installed in below handgrip assembly, the software list being fixedly installed in below connector refer to and
It is fixed on software strain transducer and software pressure sensor that software list refers to inside, the software list refers to be issued in air pressure driving
Raw bending deformation, the software strain transducer are used to measure software list and refer to bending deformation when grabbing different size fruit
Amount, the software pressure sensor are used to measure the variation of contact surface capacitor to identify the soft or hard degree of fruit.
2. according to claim 1 for detecting the multi-functional software manipulator of fruit maturity, which is characterized in that described
The more airbag structures of software Dan Zhiwei, including several interconnected air bags, the software list refers to and occurs accordingly under different air pressures
Bending deformation, the deformation that curves inwardly of direct draught is bent outwardly deformation under negative pressure.
3. according to claim 1 for detecting the multi-functional software manipulator of fruit maturity, which is characterized in that described
Software strain transducer and software pressure sensor are pasted on the inner surface of software Dan Zhiyu fruit contact.
4. according to claim 3 for detecting the multi-functional software manipulator of fruit maturity, which is characterized in that described
Software strain transducer includes the internal silica gel ontology with several continuous empty slot structures and the liquid being filled in empty slot structure
Metal.
5. according to claim 4 for detecting the multi-functional software manipulator of fruit maturity, which is characterized in that described
Silica gel body surface is equipped with the silica gel barb structure being obliquely installed upwards, to increase the crawl frictional force with fruit surface.
6. according to claim 3 for detecting the multi-functional software manipulator of fruit maturity, which is characterized in that described
Software pressure sensor includes first electrode layer and the second electrode lay setting up and down, is located at first electrode layer and the second electrode lay
Between intermediate dielectric layer and surface cynapse layer positioned at first electrode layer surface, in first electrode layer and the second electrode lay point
Not She You spatially vertical distribution several first electrodes and second electrode, surface cynapse layer includes several being distributed in matrix array
Several synaptic structures, and synaptic structure is located above first electrode layer and the second electrode lay.
7. according to claim 6 for detecting the multi-functional software manipulator of fruit maturity, which is characterized in that described
First electrode layer includes the liquid metal for having the first matrix of the first micro-flow groove and being filled in the first micro-flow groove, second electrode
Layer includes the liquid metal for having the second matrix of the second micro-flow groove and being filled in the first micro-flow groove.
8. according to claim 6 for detecting the multi-functional software manipulator of fruit maturity, which is characterized in that described
Interlevel dielectric layer surface has microstructured layers, and the microstructured layers include several tetragonous wimble structures in matrix array distribution, in
Between tetragonous wimble structure and the synaptic structure on surface cynapse layer of dielectric layer surface corresponding be up and down distributed.
9. according to claim 1 for detecting the multi-functional software manipulator of fruit maturity, which is characterized in that described
Software list refers to that lower section is fixedly installed with the tip for grabbing fruit.
10. according to claim 1 for detecting the multi-functional software manipulator of fruit maturity, which is characterized in that institute
It states and is equipped with notch below connector, the extruding rod piece of rotary setting, the upper end that the software list refers to are equipped in notch
It is installed in the notch and is fixed by squeezing rod piece.
11. according to claim 1 for detecting the multi-functional software manipulator of fruit maturity, which is characterized in that institute
State handgrip assembly structure in a ring.
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| CN201910310892.8A CN110039533A (en) | 2019-04-17 | 2019-04-17 | For detecting the multi-functional software manipulator of fruit maturity |
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| CN201910310892.8A CN110039533A (en) | 2019-04-17 | 2019-04-17 | For detecting the multi-functional software manipulator of fruit maturity |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110587662A (en) * | 2019-10-07 | 2019-12-20 | 华东交通大学 | Multifunctional polymer robot skin and preparation method thereof |
| CN110625639A (en) * | 2019-09-16 | 2019-12-31 | 南京航空航天大学 | A soft manipulator |
| CN110863461A (en) * | 2019-11-22 | 2020-03-06 | 张思祺 | Intelligent cleaning robot |
| CN110919687A (en) * | 2019-12-12 | 2020-03-27 | 西湖大学 | Soft gripper with embedded flexible multimodal tactile sensor |
| CN111360866A (en) * | 2020-03-31 | 2020-07-03 | 上海交通大学 | Pneumatic software gripper, mechanical arm and gripping method with automatically adjustable working space |
| CN111791243A (en) * | 2020-05-22 | 2020-10-20 | 国网安徽省电力有限公司电力科学研究院 | A robot grasping mechanism and robot for unstructured scenes |
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| CN114570664A (en) * | 2022-03-11 | 2022-06-03 | 郑州大学 | Force sense-based fruit hardness and softness identification method, sorting device and control method |
| CN114570664B (en) * | 2022-03-11 | 2024-01-30 | 郑州大学 | Fruit softness and hardness recognition method based on force sense, sorting device and control method |
| CN114619457A (en) * | 2022-03-23 | 2022-06-14 | 东南大学 | A dual-airway bionic snail soft robot |
| CN114619457B (en) * | 2022-03-23 | 2023-08-01 | 东南大学 | A dual-airway bionic snail soft robot |
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| CN117621145A (en) * | 2023-12-01 | 2024-03-01 | 安徽大学 | A flexible robotic arm system for fruit ripeness detection based on FPGA |
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