CN108381536A - A kind of gardens Green Machine manual task equipment - Google Patents
A kind of gardens Green Machine manual task equipment Download PDFInfo
- Publication number
- CN108381536A CN108381536A CN201810163556.0A CN201810163556A CN108381536A CN 108381536 A CN108381536 A CN 108381536A CN 201810163556 A CN201810163556 A CN 201810163556A CN 108381536 A CN108381536 A CN 108381536A
- Authority
- CN
- China
- Prior art keywords
- rotating cylinder
- crank
- rack
- rotation
- manipulator
- Prior art date
- 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.)
- Pending
Links
Classifications
-
- 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
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B76/00—Parts, details or accessories of agricultural machines or implements, not provided for in groups A01B51/00 - A01B75/00
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Robotics (AREA)
- Environmental Sciences (AREA)
- Multimedia (AREA)
- Soil Sciences (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of gardens Green Machine manual task equipment, including rack, the rack is equipped with speed-changing driving device, the speed-changing driving device includes driving motor, belt pulley, crank holder, crank, sliding slot, sliding block, output wheel, the crank holder is set in rack, it is rotatablely equipped with crank on the crank holder, the round end of the crank is equipped with belt pulley, the belt pulley motor driving driven, the turn over end of the crank is connected with idler wheel, the sliding slot is set in rack, it is provided with screw rod along its length in the sliding slot, the sliding block is bolted on the screw rod, the sliding block is equipped with output shaft.The speed-changing driving device of the present invention is by the movement of screw rod adjusting slider, to make output wheel have the function of the state transformation of uniform motion and non-uniform movement, to have effects that be not easy to block cutter head in the operations such as loosen the soil, mow.
Description
Technical field
The present invention relates to mechanical work technical fields, and in particular to a kind of gardens Green Machine manual task equipment.
Background technology
Currently, robot manipulator structure design is complicated, and it is of high cost, it needs to improve；It loosens the soil, be easy to block cutter head in cutting operation,
It needs to improve.
Invention content
(1) technical problems to be solved
The technical problem to be solved in the present invention is to provide a kind of gardens Green Machine manual task equipment, to solve existing skill
Robot manipulator structure design is complicated in art, of high cost, and the problem of loosen the soil, be easy to block cutter head in cutting operation.
(2) technical solution
In order to solve the above technical problems, the technical solution adopted in the present invention is：A kind of gardens Green Machine manual task
Equipment, including rack, the rack be equipped with speed-changing driving device, the speed-changing driving device include driving motor, belt pulley,
Crank holder, crank, sliding slot, sliding block, output wheel, the crank holder are set in rack, and peace is rotated on the crank holder
Equipped with crank, the round end of the crank is equipped with belt pulley, the belt pulley motor driving driven, the turn over of the crank
End is connected with idler wheel, and the sliding slot is set in rack, is provided with screw rod in the sliding slot along its length, spiral shell on the screw rod
It is connected to the sliding block, the sliding block is equipped with output shaft, and the output shaft is rotatablely connected output wheel, and the output wheel is equipped with length
The groove of bar shaped, the idler wheel are set in the groove, the rotation axis axis position where the output shaft and the belt pulley
In in same level, the belt pulley drives crank rotation to drive output wheel rotation by idler wheel；
Camera monitoring device is additionally provided in the rack, the camera monitoring device includes video camera, mounting bracket, installation
The top of seat, the mounting bracket is installation journal stirrup, and the ontology of the mounting bracket is cylindrical tube, in the installation journal stirrup
The transition body of cone is provided between cylindrical tube, the bottom of the cylindrical tube radially extends to form disk body,
The video camera is connect with installation journal stirrup, and the top of the mounting bracket and the mounting base is connected, the mounting base
It is provided centrally with cylindrical boss, the boss is provided centrally with cable-through hole, the excircle of the boss and mounting bracket
The endoporus of cylindrical tube forms clearance fit, on the top of the mounting base, the circumference more than mounting bracket bottom disc
It has been uniformly arranged locking stud, briquetting is provided on the locking stud.
The rack is equipped with mechanical arm, and the mechanical arm connects robot device, and the robot device includes connection
Mounting hole is equipped in the middle part of the support plate on mechanical arm, the support plate, rotation is described equipped with the first rotating cylinder in the mounting hole
Rotation is equipped with manipulator rotating cylinder in first rotating cylinder, and first rotating cylinder and manipulator rotating cylinder are located at the both sides of support plate, and described the
Internal messing toothed type ratchet is equipped in one rotating cylinder, the one end of the manipulator rotating cylinder is connected with pawl by ratchet spring, described
Ratchet spring forces the pawl to be meshed with the internal messing toothed type ratchet and realizes single-direction transmission, the outer end of first rotating cylinder
Face is equipped with convex annular wheel face, and the support plate is connected with rectangular sliding sleeve by strut, and sliding is equipped with rectangular in the rectangular sliding sleeve
Slide bar, the rectangular slide bar pass through the manipulator rotating cylinder, the axial direction of the glide direction and manipulator rotating cylinder of the rectangular slide bar
Parallel, one end of the rectangular slide bar is equipped with transverse support bar, and tension spring, institute are equipped between the transverse support bar and support plate
Transverse support bar is stated equipped with bar is supported, the bar of supporting is connected to by the active force of tension spring on convex annular wheel face always, described
It is set on the side adjacent with manipulator rotating cylinder in support plate there are two limiting steering column, the manipulator rotating cylinder is equipped with limit convex
Portion, when manipulator drum rotation, the stopper protrusion can be resisted against two limiting steering columns, so that the manipulator rotating cylinder
Angle of rotation be limited within the scope of 130 °, the ratchet of the internal messing toothed type ratchet is laid with 3, the manipulator rotating cylinder
Rotation moves to next ratchet, the rotation of first rotating cylinder with pawl from a ratchet of the internal messing toothed type ratchet
Bar is supported by the drive of convex annular wheel face to move along supporting pole length direction.
(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 speed-changing driving device of the present invention passes through
The movement of screw rod adjusting slider, to make output wheel have the function of the state transformation of uniform motion and non-uniform movement, thus
Loosening the soil, mow etc. in operations has effects that be not easy to block cutter head.
Description of the drawings
Fig. 1 is the layout of the present invention.
Fig. 2 is the structure chart of the speed-changing driving device of the present invention.
Fig. 3 is the exploded view of the speed-changing driving device of the present invention.
Fig. 4 is the stereogram of the robot device of the present invention.
Fig. 5 is the exploded view of the robot device of the present invention.
Fig. 6 is the structure chart of the manipulator rotating cylinder of the robot device of the present invention.
Fig. 7 is the structure chart of the first rotating cylinder of the robot device of the present invention.
Fig. 8 is the structure chart of the support plate of the robot device of the present invention.
Fig. 9 is the structure chart of the camera monitoring device 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 Figure 1 to Figure 3, the present invention provides a kind of gardens Green Machine manual task equipment, including rack 100, institute
It states rack 100 and is equipped with speed-changing driving device 40, the speed-changing driving device 40 includes driving motor (not shown), belt pulley
41, crank holder 42, crank 43, sliding slot 44, sliding block 45, output wheel 46, the crank holder 42 are set in rack 100, institute
It states and is rotatablely equipped with crank 43 on crank holder 42, the round end of the crank 43 is equipped with belt pulley 41, the belt pulley 41
Motor driven drives and rotates, and the turn over end of the crank 43 is rotatably connected to idler wheel 47, and the sliding slot 44 is set to rack
On 100, screw rod 48 is provided in the sliding slot 44 along its length, the sliding block 45, the cunning are bolted on the screw rod 48
Block 45 is equipped with output shaft 49, and the output shaft 49 is rotatablely connected output wheel 46, and the output wheel 46 is equipped with the recessed of strip
Slot 461, the setting direction of the groove 461 and the radius of the output wheel 46 coincide, and the idler wheel 47 is set to described recessed
In slot 461, the rotation axis axis where the output shaft 49 and the belt pulley 41 is located in same level, the belt pulley
41 drive the rotation of crank 43 to drive output wheel 46 to rotate by idler wheel 47；One end of the screw rod 48 is equipped with handle 50.
In actual job, output wheel can be used for connection operation cutter head, and operation cutter head can be loosen the soil use or use etc. of mowing, and work as output
When the pivot center of axis and belt pulley is located along the same line, output wheel output is uniform motion, and it is good to be suitable for manipulating object
Good situation；After driving screw rod, when output shaft is located at from the pivot center of belt pulley on different straight lines, output wheel output
Be non-uniform movement, speed and torque constantly change, and contribute to the blocking for understanding cutter head.
As shown in Fig. 1, Fig. 4 to Fig. 8, the rack 100 is equipped with mechanical arm 11, and the mechanical arm 11 connects manipulator dress
10 are set, the robot device 10 includes the support plate 12 being connected on mechanical arm 11, and 12 middle part of the support plate is equipped with installation
Hole 13, the interior rotation of the mounting hole 13 are equipped with the first rotating cylinder 14, and rotation is equipped with manipulator rotating cylinder 15, institute in first rotating cylinder 14
It states the first rotating cylinder 14 and manipulator rotating cylinder 15 is located at the both sides of support plate 12, the mounting hole 13, the first rotating cylinder 14, manipulator turn
Cylinder 15 is coaxial arrangement, and internal messing toothed type ratchet 141, the one end of the manipulator rotating cylinder 15 are equipped in first rotating cylinder 14
It is connected with pawl 17 by ratchet spring 16, the ratchet spring 16 forces the pawl 17 and the internal messing toothed type ratchet
141, which are meshed, realizes single-direction transmission, so that after manipulator turn 15 turns over an angle, pawl 17 is engaged in internal meshing ratchet
141, the outer end face of first rotating cylinder 14 is equipped with convex annular wheel face 142, and the support plate 12 is connected with rectangular by strut 18
Sliding sleeve 19,19 and first rotating cylinder 14 of the rectangular sliding sleeve are set to the homonymy of support plate 12, slide and be equipped in the rectangular sliding sleeve 19
Rectangular slide bar 20, the rectangular slide bar 20 pass through the manipulator rotating cylinder 15, glide direction and the machinery of the rectangular slide bar 20
The axial direction of hand rotating cylinder 15 is parallel, and one end of the rectangular slide bar 20 is equipped with transverse support bar 21, the transverse support bar 21 with
Tension spring 22 is equipped between support plate 12, the transverse support bar 21 is equipped with and supports bar 23, and the bar 23 of supporting is by tension spring 22
Active force is connected to always on convex annular wheel face 142, the axial phase of the setting direction for supporting bar 23 and manipulator rotating cylinder 15
It is parallel, set that there are two limiting steering column 24, the manipulators in the support plate 12 on the side adjacent with manipulator rotating cylinder 15
Rotating cylinder 15 is equipped with stopper protrusion 25, the manipulator rotating cylinder 15 when rotating the stopper protrusion 25 can be resisted against two and turn to limit
Position column 24, so that the angle of rotation of the manipulator rotating cylinder 15 is limited within the scope of 130 °, the spine of the internal messing toothed type ratchet 141
Tooth is laid with 3, and the rotation of the manipulator rotating cylinder 15 is with pawl 17 from a spine of the internal messing toothed type ratchet 141
Tooth moves to next ratchet, and the rotation of first rotating cylinder 14 supports bar 23 along supporting bar by the drive of convex annular wheel face 142
Length direction moves, and to drive rectangular slide bar 20 to be moved along rectangular sliding sleeve 19, on convex annular wheel face there are 3 positioning regions to be used for
Position rectangular slide bar.
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 and Fig. 9, camera monitoring device 70 is additionally provided in the rack 100, the camera monitoring device 70 wraps
Video camera 71, mounting bracket 72, mounting base 73 are included, the top of the mounting bracket 72 is installation journal stirrup 721, the mounting bracket
72 ontology is cylindrical tube 722, and the mistake of cone is provided between the installation journal stirrup 721 and cylindrical tube 722
Body 723 is crossed, the bottom of the cylindrical tube 722 radially extends to form disk body 724, the video camera 71 and installation journal stirrup
721 connections, the mounting bracket 72 and the top of the mounting base 73 are connected, and the mounting base 73 is provided centrally with circle
Cylindrical end tangs 74, the boss 74 are provided centrally with cable-through hole 741, the circle of the excircle and mounting bracket 72 of the boss 74
The endoporus of column-shaped barrel 722 forms clearance fit, at the top of the mounting base 73, is more than 72 bottom disc 724 of mounting bracket
Circumference on be uniformly arranged locking stud 75, be provided with briquetting 76 on the locking stud 75.The angle of video camera is adjusted
It is good, it is connect with mounting bracket by hinged, mounting bracket is preloaded onto to the top of mounting base, due to having circular cylindrical projection in mounting base
Platform, can effectively realize the positioning to mounting bracket, prevent mounting bracket from being slid from mounting base, and mounting bracket is passed through peace
Locking stud and briquetting at the top of dress seat are fixed in mounting bracket.
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 gardens Green Machine manual task equipment, including rack, which is characterized in that the rack is equipped with variable speed drives
Device, the speed-changing driving device include driving motor, belt pulley, crank holder, crank, sliding slot, sliding block, output wheel, described
Crank holder is set in rack, and crank is rotatablely equipped on the crank holder, and the round end of the crank is equipped with belt
Wheel, the belt pulley motor driving driven, the turn over end of the crank are connected with idler wheel, and the sliding slot is set in rack,
Screw rod is provided in the sliding slot along its length, the sliding block is bolted on the screw rod, the sliding block is equipped with output shaft,
The output shaft is rotatablely connected output wheel, and the output wheel is equipped with the groove of strip, and the idler wheel is set to the groove
Interior, the rotation axis axis where the output shaft and the belt pulley is located in same level, and the belt pulley drives crank
Rotation by idler wheel so that drive output wheel rotation；
It is additionally provided with camera monitoring device in the rack, the camera monitoring device includes video camera, mounting bracket, mounting base,
The top of the mounting bracket is installation journal stirrup, and the ontology of the mounting bracket is cylindrical tube, in the installation journal stirrup and
The transition body of cone is provided between cylindrical tube, the bottom of the cylindrical tube radially extends to form disk body, institute
It states video camera to connect with installation journal stirrup, the top of the mounting bracket and the mounting base is connected, in the mounting base
The heart is provided with cylindrical boss, and the boss is provided centrally with cable-through hole, the excircle of the boss and the circle of mounting bracket
The endoporus of column-shaped barrel forms clearance fit, on the top of the mounting base, the circumference more than mounting bracket bottom disc
Cloth is provided with locking screw column, and briquetting is provided on the locking stud.
2. rack according to claim 1, which is characterized in that the rack is equipped with mechanical arm, the mechanical arm connection
Robot device, the robot device include the support plate being connected on mechanical arm, and mounting hole is equipped in the middle part of the support plate,
Rotation is equipped with the first rotating cylinder in the mounting hole, in first rotating cylinder rotation be equipped with manipulator rotating cylinder, first rotating cylinder and
Manipulator rotating cylinder is located at the both sides of support plate, and internal messing toothed type ratchet is equipped in first rotating cylinder, the manipulator rotating cylinder
One end is connected with pawl by ratchet spring, and the ratchet spring forces the pawl mutually to be nibbled with the internal messing toothed type ratchet
It closes and realizes single-direction transmission, the outer end face of first rotating cylinder is equipped with convex annular wheel face, and the support plate passes through the strut side of being connected with
Shape sliding sleeve, the interior sliding of the rectangular sliding sleeve are equipped with rectangular slide bar, and the rectangular slide bar passes through the manipulator rotating cylinder, described rectangular
The glide direction of slide bar is parallel with the axial direction of manipulator rotating cylinder, and one end of the rectangular slide bar is equipped with transverse support bar, described
Tension spring is equipped between transverse support bar and support plate, the transverse support bar is equipped with and supports bar, and the bar of supporting is by tension spring
Active force is connected to always on convex annular wheel face, sets that there are two turn in the support plate on the side adjacent with manipulator rotating cylinder
Limited post, the manipulator rotating cylinder are 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 °, the internal messing toothed type ratchet
Ratchet be laid with 3, the rotation of the manipulator rotating cylinder is with pawl from a ratchet of the internal messing toothed type ratchet
Next ratchet is moved to, the rotation of first rotating cylinder is supported bar by the drive of convex annular wheel face and transported along pole length direction is supported
It is dynamic.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810163556.0A CN108381536A (en) | 2018-02-27 | 2018-02-27 | A kind of gardens Green Machine manual task equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810163556.0A CN108381536A (en) | 2018-02-27 | 2018-02-27 | A kind of gardens Green Machine manual task equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108381536A true CN108381536A (en) | 2018-08-10 |
Family
ID=63070004
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810163556.0A Pending CN108381536A (en) | 2018-02-27 | 2018-02-27 | A kind of gardens Green Machine manual task equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108381536A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2250218Y (en) * | 1995-12-05 | 1997-03-26 | 鞍山钢铁公司 | Hand-held automatic magnetic force fixing saw machine |
| CN102928305A (en) * | 2012-11-14 | 2013-02-13 | 中国建筑第八工程局有限公司 | Resonant mode composite material sheet fatigue tester |
| CN203417464U (en) * | 2013-07-02 | 2014-02-05 | 广东澄星航模科技有限公司 | Model airplane of single-airscrew multi-connecting-rod structure |
| CN103644273A (en) * | 2013-11-25 | 2014-03-19 | 重庆市璧山爱华有限责任公司 | Assembly machine speed change rotating mechanism |
| CN205388031U (en) * | 2016-03-09 | 2016-07-20 | 西南石油大学 | Adjustable electric fan angle of oscillation device |
| CN206023922U (en) * | 2016-07-26 | 2017-03-15 | 红河州福安电子科技有限公司 | Camera monitoring device |
| CN206045102U (en) * | 2016-07-21 | 2017-03-29 | 翁建森 | A kind of automated injection device with safety protection mechanism scalable dosage |
| CN107660935A (en) * | 2017-10-30 | 2018-02-06 | 宁波景珍堂生物科技有限公司 | Multifunctional baby health bed |
-
2018
- 2018-02-27 CN CN201810163556.0A patent/CN108381536A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2250218Y (en) * | 1995-12-05 | 1997-03-26 | 鞍山钢铁公司 | Hand-held automatic magnetic force fixing saw machine |
| CN102928305A (en) * | 2012-11-14 | 2013-02-13 | 中国建筑第八工程局有限公司 | Resonant mode composite material sheet fatigue tester |
| CN203417464U (en) * | 2013-07-02 | 2014-02-05 | 广东澄星航模科技有限公司 | Model airplane of single-airscrew multi-connecting-rod structure |
| CN103644273A (en) * | 2013-11-25 | 2014-03-19 | 重庆市璧山爱华有限责任公司 | Assembly machine speed change rotating mechanism |
| CN205388031U (en) * | 2016-03-09 | 2016-07-20 | 西南石油大学 | Adjustable electric fan angle of oscillation device |
| CN206045102U (en) * | 2016-07-21 | 2017-03-29 | 翁建森 | A kind of automated injection device with safety protection mechanism scalable dosage |
| CN206023922U (en) * | 2016-07-26 | 2017-03-15 | 红河州福安电子科技有限公司 | Camera monitoring device |
| CN107660935A (en) * | 2017-10-30 | 2018-02-06 | 宁波景珍堂生物科技有限公司 | Multifunctional baby health bed |
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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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180810 |