CN108326881A - A kind of mechanical hand implement with deinsectization function - Google Patents
A kind of mechanical hand implement with deinsectization function Download PDFInfo
- Publication number
- CN108326881A CN108326881A CN201810152351.2A CN201810152351A CN108326881A CN 108326881 A CN108326881 A CN 108326881A CN 201810152351 A CN201810152351 A CN 201810152351A CN 108326881 A CN108326881 A CN 108326881A
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- CN
- China
- Prior art keywords
- rotating cylinder
- manipulator
- bar
- ratchet
- rotation
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M1/00—Stationary means for catching or killing insects
- A01M1/20—Poisoning, narcotising, or burning insects
- A01M1/2022—Poisoning or narcotising insects by vaporising an insecticide
-
- 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
- B25J15/0019—End effectors other than grippers
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- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Engineering & Computer Science (AREA)
- General Health & Medical Sciences (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Robotics (AREA)
- Toxicology (AREA)
- Insects & Arthropods (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of mechanical hand implements with deinsectization function, including rack, the rack is equipped with mechanical arm, the mechanical arm connects robot device, the robot device includes the support plate being connected on mechanical arm, mounting hole is equipped in the middle part of the support plate, rotation is equipped with the first rotating cylinder in the mounting hole, rotation is equipped with manipulator rotating cylinder in first rotating cylinder, first rotating cylinder and manipulator rotating cylinder are located at the both sides of support plate, internal messing toothed type ratchet is equipped in first rotating cylinder, the one end of the manipulator rotating cylinder is connected with pawl by ratchet spring, the ratchet spring forces the pawl to be meshed with the internal messing toothed type ratchet and realizes single-direction transmission, the outer end face of first rotating cylinder is equipped with convex annular wheel face.The robot device of the present invention makes rectangular slide bar that stroke variation occur by the rotation of manipulator rotating cylinder, and simple in structure to realize the conversion of mechanical finger function, reasonable design has practicability.
Description
Technical field
The present invention relates to mechanical work technical fields, and in particular to a kind of mechanical hand implement with deinsectization function.
Background technology
Currently, robot manipulator structure design is complicated, and it is of high cost, it needs to improve；In addition the spraying range of watering device is small, or
It is to need not range transfer equipment, operation inconvenient when reaching a wide range of sprinkling.
Invention content
(1) technical problems to be solved
The technical problem to be solved in the present invention is to provide a kind of mechanical hand implements with deinsectization function, existing to solve
There is robot manipulator structure design in technology complicated, it is of high cost, it needs to improve；In addition the spraying range of watering device is small, or
When reaching a wide range of sprinkling, not range transfer equipment, the problem of operation inconvenience are needed.
(2) technical solution
In order to solve the above technical problems, the technical solution adopted in the present invention is：A kind of mechanical hand with deinsectization function
Implement, including rack, the rack are equipped with mechanical arm, and the mechanical arm connects robot device, the manipulator dress
Set the support plate including being connected on mechanical arm, be equipped with mounting hole in the middle part of the support plate, in the mounting hole rotation be equipped with the
One rotating cylinder, the interior rotation of first rotating cylinder are equipped with manipulator rotating cylinder, and first rotating cylinder and manipulator rotating cylinder are located at support plate
Both sides, first rotating cylinder is interior to be equipped with internal messing toothed type ratchet, and the one end of the manipulator rotating cylinder is connected by ratchet spring
There is a pawl, the ratchet spring forces the pawl to be meshed with the internal messing toothed type ratchet and realizes single-direction transmission, and described the
The outer end face of one rotating cylinder is equipped with convex annular wheel face, and the support plate is connected with rectangular sliding sleeve by strut, in the rectangular sliding sleeve
Sliding is equipped with rectangular slide bar, and the rectangular slide bar passes through the manipulator rotating cylinder, glide direction and the machinery of the rectangular slide bar
The axial direction of hand rotating cylinder is parallel, and one end of the rectangular slide bar is equipped with transverse support bar, the transverse support bar and support plate it
Between be equipped with tension spring, the transverse support bar be equipped with support bar, the bar of supporting is connected to annular always by the active force of tension spring
On cam surface, set there are two limiting steering column on the side adjacent with manipulator rotating cylinder in the support plate, the manipulator turns
Cylinder is equipped with stopper protrusion, and when manipulator drum rotation, the stopper protrusion can be resisted against two limiting steering columns, so that
The angle of rotation of the manipulator rotating cylinder is limited within the scope of 130 °, and the ratchet of the internal messing toothed type ratchet is laid with 3, institute
The rotation for stating manipulator rotating cylinder moves to next ratchet with pawl from a ratchet of the internal messing toothed type ratchet, described
The rotation of first rotating cylinder is supported bar by the drive of convex annular wheel face and is moved along supporting pole length direction；
Trap is additionally provided in the rack, the trap includes the upright bar being set in rack, the upright bar top
Portion is equipped with solar panels, and the upright bar side is equipped with cross bar, and the cross bar lower section is connected with mounting bracket by connector, described
Trapping lamp and inductor are equipped in mounting bracket, the mounting bracket side wall is equipped with power grid, and the mounting bracket lower part is equipped with
Fan, the mounting bracket lower section are equipped with the string bag, and the string bag is located on the air outlet direction of fan.
It is additionally provided with watering device in the rack, the watering device includes the pedestal being set in rack, on the pedestal
It is connected with the first angular wheel, the pedestal is additionally provided with first rotating shaft, the axis of the first rotating shaft and in the vertical direction
The axis of one angular wheel coincides, and the first rotating shaft is driven by the second motor to be rotated, the upper end of the first rotating shaft
It is connected with the first bull stick in the horizontal direction, the other end of first bull stick rotates in the vertical direction is equipped with second turn
The upper end of axis, second shaft is installed with washing head, and the lower end of second shaft is installed with the second angular wheel, institute
The lower section for stating the first bull stick is connected with the second bull stick by the way that first support is parallel, and the one end of second bull stick is installed with third
Angular wheel to the first angular wheel is perpendicular engages, the other end of second bull stick, which is equipped with, is installed with the 4th taper
Gear to the second angular wheel is perpendicular engages.
(3) advantageous effect
The present invention is compared to the prior art, has the advantages that：
The robot device of the present invention makes rectangular slide bar that stroke variation occur by the rotation of manipulator rotating cylinder, to
Realize that the conversion of mechanical finger function, simple in structure, reasonable design have practicability.The watering device of the present invention passes through smaller
Movement range realize large range of sprinkler operation, operating environment is more adapted to this, avoids significantly moving when operation
The operation of other equipments is caused to interfere as range, also more conducively mechanical structure is laid out.
Description of the drawings
Fig. 1 is the layout of the present invention.
Fig. 2 is the stereogram of the robot device of the present invention.
Fig. 3 is the exploded view of the robot device of the present invention.
Fig. 4 is the structure chart of the manipulator rotating cylinder of the robot device of the present invention.
Fig. 5 is the structure chart of the first rotating cylinder of the robot device of the present invention.
Fig. 6 is the structure chart of the support plate of the robot device of the present invention.
Fig. 7 is the vertical view of the watering device of the present invention.
Fig. 8 is the stereogram of the watering device of the present invention.
Fig. 9 is the part-structure figure of the watering device of the present invention.
Figure 10 is the status diagram of the watering device of the present invention.
Figure 11 is the structure chart of the trap of the present invention.
Specific implementation mode
With reference to the accompanying drawings and embodiments, the specific implementation mode of the present invention is described in further detail.Implement below
Example is not limited to the scope of the present invention for illustrating the present invention.
As shown in Figures 1 to 6, the present invention provides a kind of mechanical hand implement with deinsectization function, including rack
100, the rack 100 is equipped with mechanical arm 11, and the mechanical arm 11 connects robot device 10, and the robot device 10 wraps
The support plate 12 being connected on mechanical arm 11 is included, 12 middle part of the support plate is equipped with mounting hole 13, is rotated in the mounting hole 13
Equipped with the first rotating cylinder 14, rotation is equipped with manipulator rotating cylinder 15, first rotating cylinder 14 and manipulator turn in first rotating cylinder 14
Cylinder 15 is located at the both sides of support plate 12, and the mounting hole 13, the first rotating cylinder 14, manipulator rotating cylinder 15 are coaxial arrangement, and described the
It is equipped with internal messing toothed type ratchet 141 in one rotating cylinder 14, the one end of the manipulator rotating cylinder 15 is connected with by ratchet spring 16
Pawl 17, the ratchet spring 16 force the pawl 17 to be meshed with the internal messing toothed type ratchet 141 and realize single-direction transmission,
So that manipulator turn 15 turn over an angle after, pawl 17 is engaged in internal meshing ratchet 141, first rotating cylinder 14 it is outer
End face is equipped with convex annular wheel face 142, and the support plate 12 is connected with rectangular sliding sleeve 19 by strut 18, the rectangular sliding sleeve 19 with
First rotating cylinder 14 is set to the homonymy of support plate 12, and sliding is equipped with rectangular slide bar 20, the rectangular slide bar in the rectangular sliding sleeve 19
20 pass through the manipulator rotating cylinder 15, and the glide direction of the rectangular slide bar 20 is parallel with the axial direction of manipulator rotating cylinder 15, institute
The one end for stating rectangular slide bar 20 is equipped with transverse support bar 21, and tension spring 22 is equipped between the transverse support bar 21 and support plate 12,
The transverse support bar 21 is equipped with and supports bar 23, and the bar 23 of supporting is connected to ring cam set always by the active force of tension spring 22
On face 142, the setting direction for supporting bar 23 is parallel with the axial direction of manipulator rotating cylinder 15, in the support plate 12 with machinery
It is set on the adjacent side of hand rotating cylinder 15 there are two limiting steering column 24, the manipulator rotating cylinder 15 is equipped with stopper protrusion 25, institute
Two limiting steering columns 24 can be resisted against by stating the stopper protrusion 25 when manipulator rotating cylinder 15 rotates, so that the manipulator rotating cylinder
15 angle of rotation is limited within the scope of 130 °, and the ratchet of the internal messing toothed type ratchet 141 is laid with 3, the manipulator
The rotation of rotating cylinder 15 moves to next ratchet with pawl 17 from a ratchet of the internal messing toothed type ratchet 141, described
The rotation of first rotating cylinder 14 is supported bar 23 by the drive of convex annular wheel face 142 and is moved along pole length direction is supported, to the side of drive
Shape slide bar 20 is moved along rectangular sliding sleeve 19, has 3 positioning regions for positioning rectangular slide bar on convex annular wheel face.
The course of work of the robot device is as follows：Manipulator rotating cylinder 15 is by the drive (not shown) of manipulator motor
Realize positive and negative rotation, due to the limitation of two limiting steering columns, the angle of rotation of manipulator rotating cylinder 15 is limited within the scope of 130 °, machine
Tool hand rotating cylinder only when rotation is abutted against to a wherein limiting steering column, just can make pawl 17 be engaged to internal messing toothed type ratchet
141, then the first rotating cylinder 14 can just be driven to rotate together, the first rotating cylinder will not be driven and rotate, first turn in the case of remaining
Cylinder 14 is every time after 120 ° of rotation, and relative motion will be occurred with convex annular wheel face 142 by supporting bar 23, therefore rectangular slide bar 20 can have
There are 3 movement travels, this 3 movement travels are transmitted to the mechanical finger (not shown) of end, there can be 3 specific actions
State, such as correspond to the expansion of mechanical finger, hold, clutch state, in each state, manipulator rotating cylinder 15 can be certain
Positive and negative rotation in angle, without the transformation of Crush trigger mobile phone state.
As shown in Fig. 1, Fig. 7 to Figure 10, watering device 40 is additionally provided in the rack 100, the watering device 40 includes
Pedestal 41 in rack 100 is connected with the first angular wheel 42 on the pedestal 41, and the pedestal 41 is in the vertical direction
It is additionally provided with first rotating shaft 43, the axis of the first rotating shaft 43 and the axis of the first angular wheel 42 coincide, described first turn
Axis 43 is rotated by the driving (not shown) of the second motor, and the upper end of the first rotating shaft 43 is connected with first in the horizontal direction
Bull stick 44, the other end of first bull stick 44 rotates in the vertical direction is equipped with the second shaft 45, second shaft 45
Upper end be installed with washing head 46, the lower end of second shaft 45 is installed with the second angular wheel 47, described first turn
The lower section of bar 44 is connected with the second bull stick 49 by the way that first support 48 is parallel, and the one end of second bull stick 49 is installed with third
Angular wheel 50 to the first angular wheel 42 is perpendicular engages, the other end of second bull stick 49, which is equipped with, is installed with the
Four angular wheels 51 to the second angular wheel 47 is perpendicular engages.When the second motor drives the first bull stick to turn over 90 °, spill
Head can complete 180 ° of steering, therefore realize large range of sprinkler operation by smaller movement range, with this
Operating environment is more adapted to, avoids when operation that significantly actuating range causes the operation of other equipments to interfere, is also more conducive to
Mechanical structure is laid out.
As shown in Fig. 1 and Figure 11, trap 70 is additionally provided in the rack 100, the trap 70 includes being set to
Upright bar 71 in rack 100,71 top of the upright bar are equipped with solar panels 72, and 71 side of the upright bar is equipped with cross bar 73, described
73 lower section of cross bar is connected with mounting bracket 75 by connector 74, and trapping lamp 76 and inductor are equipped in the mounting bracket 75
77,75 side wall of the mounting bracket is equipped with power grid 78, and 75 lower part of the mounting bracket is equipped with fan 79, the mounting bracket 75
Lower section is equipped with the string bag 80, and the string bag 80 is located on the air outlet direction of fan 79.Solar panels are powered at electrical equipment, such as
Trapping lamp, fan etc..
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvements and modifications can also be made, these improvements and modifications
Also it should be regarded as protection scope of the present invention.
Claims (2)
1. a kind of mechanical hand implement with deinsectization function, including rack, which is characterized in that the rack is equipped with machinery
Arm, the mechanical arm connect robot device, and the robot device includes the support plate being connected on mechanical arm, the support
Mounting hole is equipped in the middle part of plate, the interior rotation of the mounting hole is equipped with the first rotating cylinder, and rotation is equipped with manipulator turn in first rotating cylinder
Cylinder, first rotating cylinder and manipulator rotating cylinder are located at the both sides of support plate, and internal messing toothed type ratchet is equipped in first rotating cylinder,
The one end of the manipulator rotating cylinder is connected with pawl by ratchet spring, the ratchet spring force the pawl with it is described interior
Engagement toothed type ratchet, which is meshed, realizes single-direction transmission, and the outer end face of first rotating cylinder is equipped with convex annular wheel face, the support plate
It is connected with rectangular sliding sleeve by strut, sliding is equipped with rectangular slide bar in the rectangular sliding sleeve, and the rectangular slide bar is across the machine
The glide direction of tool hand rotating cylinder, the rectangular slide bar is parallel with the axial direction of manipulator rotating cylinder, and one end of the rectangular slide bar is set
There is transverse support bar, tension spring is equipped between the transverse support bar and support plate, the transverse support bar is equipped with and supports bar, institute
It states and supports bar and be connected to always on convex annular wheel face by the active force of tension spring, the side adjacent with manipulator rotating cylinder in the support plate
Set on face there are two limiting steering column, the manipulator rotating cylinder is equipped with stopper protrusion, when the manipulator drum rotation described in
Stopper protrusion can be resisted against two limiting steering columns, so that the angle of rotation of the manipulator rotating cylinder is limited within the scope of 130 °, institute
The ratchet for stating internal messing toothed type ratchet is laid with 3, and the rotation band pawl of the manipulator rotating cylinder is from the internal messing tooth
One ratchet of formula ratchet moves to next ratchet, and the rotation of first rotating cylinder supports bar edge by the drive of convex annular wheel face
Support the movement of pole length direction；
Trap is additionally provided in the rack, the trap includes the upright bar being set in rack, is set at the top of the upright bar
There are solar panels, the upright bar side to be equipped with cross bar, the cross bar lower section is connected with mounting bracket, the installation by connector
Trapping lamp and inductor are equipped in holder, the mounting bracket side wall is equipped with power grid, and the mounting bracket lower part is equipped with fan,
The string bag is equipped with below the mounting bracket, the string bag is located on the air outlet direction of fan.
2. rack according to claim 1, which is characterized in that be additionally provided with watering device, the watering dress in the rack
It sets including the pedestal in rack, is connected with the first angular wheel on the pedestal, the pedestal is also set in the vertical direction
There are first rotating shaft, the axis of the first rotating shaft and the axis of the first angular wheel to coincide, the first rotating shaft passes through second
Motor driving rotation, the upper end of the first rotating shaft are connected with the first bull stick in the horizontal direction, first bull stick it is another
One end rotates in the vertical direction is equipped with the second shaft, and the upper end of second shaft is installed with washing head, and described second
The lower end of shaft is installed with the second angular wheel, and the lower section of first bull stick is connected with second turn by the way that first support is parallel
Bar, the one end of second bull stick be installed with third angular wheel to the first angular wheel is perpendicular engages, described
The other end of two bull sticks be equipped be installed with the 4th angular wheel to the second angular wheel is perpendicular engages.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810152351.2A CN108326881A (en) | 2018-02-14 | 2018-02-14 | A kind of mechanical hand implement with deinsectization function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810152351.2A CN108326881A (en) | 2018-02-14 | 2018-02-14 | A kind of mechanical hand implement with deinsectization function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108326881A true CN108326881A (en) | 2018-07-27 |
Family
ID=62929529
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810152351.2A Withdrawn CN108326881A (en) | 2018-02-14 | 2018-02-14 | A kind of mechanical hand implement with deinsectization function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108326881A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113146629A (en) * | 2021-04-14 | 2021-07-23 | 杭州职业技术学院 | Manipulator accurate control system and control device thereof |
-
2018
- 2018-02-14 CN CN201810152351.2A patent/CN108326881A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113146629A (en) * | 2021-04-14 | 2021-07-23 | 杭州职业技术学院 | Manipulator accurate control system and control device thereof |
| CN113146629B (en) * | 2021-04-14 | 2023-07-07 | 杭州职业技术学院 | Accurate control system and control device of manipulator |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180727 |
|
| WW01 | Invention patent application withdrawn after publication | ||
| DD01 | Delivery of document by public notice |
Addressee: Zhao Jibing Document name: Notification of Approving Refund |
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| DD01 | Delivery of document by public notice |