CN110238866A - A kind of rubber tapping robot flexible mechanical arm - Google Patents
A kind of rubber tapping robot flexible mechanical arm Download PDFInfo
- Publication number
- CN110238866A CN110238866A CN201910660005.XA CN201910660005A CN110238866A CN 110238866 A CN110238866 A CN 110238866A CN 201910660005 A CN201910660005 A CN 201910660005A CN 110238866 A CN110238866 A CN 110238866A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- forearm
- postbrachium
- rubber tapping
- arm
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0055—Cutting
Abstract
The present invention discloses a kind of rubber tapping robot flexible mechanical arm, including pedestal, forearm component and rear arm component, makes mechanical arm have the working space suitable for operation of tapping rubber using two flexible freedom degrees, three rotary freedoms；And mechanical arm is hydraulically operated with enough load capacity to carry heavier execution end；It is injury-free for protection mechanical arm and rubber tree, the reaction force generated when rubber tapping operation and vibration can be effectively reduced equipped with flexure spring damping device on mechanical arm.The mechanical arm has certain flexibility, accuracy；And it ensure that the safety and stability of whole mechanical arm system；Flexible mechanical arm provided by the invention is not merely suitable for the field of tapping rubber, and some work for needing glissando can use, and only simply modify with to mechanical arm freedom degree.
Description
Technical field
The present invention relates to mechanical arm technical fields, more particularly to a kind of rubber tapping robot flexible mechanical arm.
Background technique
In recent years, with the progress of science and technology, agricultural also develops towards automation, intelligentized direction, but taps rubber
It is still that man-hour manually hand-held tapping knife carries out rubber tapping work in terms of industry, affects the production cost and production effect of entire rubber tapping industry
Rate, so the intelligent demand realized of rubber tapping industry is further urgent.A kind of packaged type rubber tapping machine equipped with mechanical arm
People is a kind of more actual settling mode, but existing mechanical arm system is not fully suitable for operation of tapping rubber, and needs needle
New mechanical arm system is further designed rubber tapping demand.
Firstly, the freedom degree design of existing machinery arm is not specifically in rubber tapping operation, the work of possible mechanical arm
Rubber tapping operation is carried out as what space was unsatisfactory for that rubber tapping requirement cannot be smooth, influences tap rubber effect and speed of tapping rubber；It may also work
Space meets rubber tapping and requires, but can generate redundant degree of freedom and make entire mechanical arm system structure more complicated, production cost
Increase.
It works secondly because mechanical arm need to carry end executive device, and the heavier-weight of end executive device, it is right
The load capacity of mechanical arm has certain requirement.
Finally, will receive biggish reaction force carrying out rubber tapping work opportunity tool arm, and while tapping rubber can generate it is larger
Vibration, existing mechanical arm all do not have damping effect substantially, this is possible to can all cause mechanical arm and rubber tree
Damage, forms unnecessary maintenance cost, and flexible structure is added into mechanical arm can substantially improve this case.
Summary of the invention
The object of the present invention is to provide a kind of rubber tapping robot flexible mechanical arm, to solve above-mentioned of the existing technology ask
Topic has enough load capacity to carry heavier execution so that mechanical arm has the working space for the operation that is suitable for tapping rubber
End, and the reaction force generated when rubber tapping operation and vibration can be effectively reduced.
To achieve the above object, the present invention provides following schemes: the present invention provides a kind of rubber tapping robot flexible mechanical
Arm, the rear arm component including pedestal, vertical forearm component and level, the pedestal are fixed on the fuselage of rubber tapping robot
Side,
The forearm component includes preceding arm hydraulic cylinder, forearm piston rod and forearm damping spring device, and the forearm is hydraulic
Cylinder is mounted on the base and constitutes revolute with the pedestal, and the preceding arm hydraulic cylinder is living by forearm described in hydraulic-driven
Stopper rod is flexible, and the end of the forearm piston rod is connected with the forearm damping spring device；
Arm component includes rear arm hydraulic cylinder, postbrachium piston rod, postbrachium damping spring device and end connectors, institute after described
It states rear arm hydraulic cylinder and is connected by right angle connecting rod with the top of the forearm component, the rear arm hydraulic cylinder passes through hydraulic-driven
The postbrachium piston rod is flexible, and the end of the postbrachium piston rod is connected with the postbrachium damping spring device, the postbrachium
The end of damping spring device is connected with rotary mount and constitutes revolute, and the end of the rotary mount is connected with
The end connectors of cutter, and act on rubber tapping main body on the end connectors have be rotated up and down freedom degree.
Further, the forearm component is connect with rear arm component by the right angle connecting rod, and junction does not have certainly simultaneously
By spending.
Further, the forearm damping spring device includes spring one, axis mechanism, upper fixed station and lower fixed station,
The axis mechanism is provided through among the spring one, the upper and lower ends of the axis mechanism are respectively fixed with described solid
Ding Tai and lower fixed station.
Further, the top of the forearm piston rod is fixedly connected with the lower fixed station, and fixed passes through
The right angle connecting rod is connect with the rear arm hydraulic cylinder.
Further, the postbrachium damping spring device includes spring two, axis mechanism, preceding fixed station and rear fixed station,
The axis mechanism is provided through among the spring two, the rear and front end of the axis mechanism is respectively fixed with described preceding solid
Ding Tai and rear fixed station.
Further, the end of the postbrachium piston rod is fixedly connected with the rear fixed station, solid on the preceding fixed station
Surely it is provided with the rotary mount.
Further, the rotary mount is connected the end fixing piece by a groove.
Further, a horizontal rotating shaft is provided in the groove, the end fixing piece is mounted in the shaft simultaneously
The relatively described shaft is rotated up and down movement.
The present invention achieves following technical effect compared with the existing technology:
Rubber tapping robot provided by the invention flexible mechanical arm can reach rubber tapping work for the working space of mechanical arm
It is required that and having certain flexibility, accuracy；And the vibration and reaction force generated when for rubber tapping is pacified on the robotic arm
Spring-loaded damping device can effectively reduce the influence of generated vibration and reaction force to mechanical arm, ensure that entirety
The safety and stability of mechanical arm system；Flexible mechanical arm provided by the invention is not merely suitable for the field of tapping rubber, some
Needing the work of glissando can use, and only simply modify with to mechanical arm freedom degree.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is rubber tapping robot flexible mechanical arm overall structure diagram；
Fig. 2 is rubber tapping robot modeling mechanical arm freedom degree schematic diagram；
Fig. 3 is mechanical arm forearm damping spring structural schematic diagram；
Fig. 4 is mechanical arm postbrachium damping spring structural schematic diagram；
Fig. 5 is mobile rubber tapping robot integral installation schematic diagram；
Wherein, 1 pedestal；Arm hydraulic cylinder before 2；3 forearm piston rods；4 forearm damping spring devices；41 springs one；42 axis
Mechanism；Fixed station on 43；44 lower fixed stations；5 right angle connecting rods；Arm hydraulic cylinder after 6；7 postbrachium piston rods；8 postbrachium damping springs dress
It sets；81 springs two；82 axis mechanisms；Fixed station after 83；Fixed station before 84；9 rotary mounts；10 end connectors；11 pedestals
Rotary freedom；About 12 flexible freedom degrees；13 elastic freedom degrees；14 rotary freedoms；15 pitch freedoms.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The object of the present invention is to provide a kind of rubber tapping robot flexible mechanical arm, to solve above-mentioned of the existing technology ask
Topic has enough load capacity to carry heavier execution so that mechanical arm has the working space for the operation that is suitable for tapping rubber
End, and the reaction force generated when rubber tapping operation and vibration can be effectively reduced.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
As shown in Figs. 1-5, the present invention provides a kind of rubber tapping robot flexible mechanical arm, specially a kind of for the robot that taps rubber
The five degree of freedom flexible mechanical arm used has mechanical arm using two flexible freedom degrees, three rotary freedoms and is applicable in
In the working space of rubber tapping operation；And mechanical arm is hydraulically operated and heavier executes end to carry with enough load capacity
End；It is injury-free for protection mechanical arm and rubber tree, rubber tapping can be effectively reduced equipped with flexure spring damping device on mechanical arm
The reaction force generated when operation and vibration.
The invention is realized by the following technical scheme: the five degree of freedom flexible mechanical arm used for rubber tapping robot, the bottom of by
Seat 1, forearm component and rear arm component composition；
Forearm component includes preceding arm hydraulic cylinder 2, forearm piston rod 3, forearm damping spring device 4；1 end of pedestal and forearm
Hydraulic cylinder 2 connects and composes revolute, and forearm is made to have rotary freedom, which, which realizes, adjusts whole mechanical arm direction；Before
Arm hydraulic cylinder 2 makes forearm have flexible freedom degree by the movement of hydraulic-driven forearm piston rod 3, which realizes that forearm is flexible
Function adjusts mechanical arm height；3 end of forearm piston rod is connected with forearm damping spring device 4, forearm damping spring device 4
Make forearm that there is flexible nature, can reduce the vertical vibration bring generated when rubber tapping influences.
Arm component includes rear arm hydraulic cylinder 6, postbrachium piston rod 7, postbrachium damping spring device 8, rotary mount 9, end afterwards
End connection 10；Arm hydraulic cylinder 6 is connected by right angle connecting rod 5 with front arm tip afterwards, so that postbrachium and forearm are at right-angle relationship
It is fixed, and rear arm hydraulic cylinder 6 makes postbrachium that there is flexible freedom degree to realize that postbrachium is stretched by the movement of hydraulic-driven postbrachium piston rod 7
The horizontal distance of contracting adjustment mechanical arm and target position；7 end of postbrachium piston rod is connected with postbrachium spring vibration damper 8, makes
Obtaining postbrachium also has flexible nature, can reduce the influence of the horizontal vibrating generated when rubber tapping；8 end of postbrachium spring vibration damper
It is connected with rotary mount 9 and constitutes revolute, realizes the rotary freedom of postbrachium；Rotary mount 9 will by a groove
End connectors 10 are fixed, and are rotated up and down freedom degree with the composition of end connectors 10, so that the adjustable end of end connectors 10
Hold vertical angle.
Forearm component is connect with rear arm component by right angle connecting rod 5, and junction does not simultaneously have freedom degree, because five in the present invention
Degree-of-freedom manipulator has met working space and the flexibility ratio requirement of rubber tapping work, and junction is fixed so that mechanical arm is integrally tied
Structure is more stable and controls simpler.If there is other needs of work to have the shock-absorbing function similar with rubber tapping work, but it is right
The working space and flexibility ratio of mechanical arm have higher requirement, can be replaced fixed revolute at right angle connecting rod as mechanical arm increase
One rotary freedom, makes mechanical arm become sixdegree-of-freedom simulation, can meet most of job requirement.
Damping spring device is made of the spring of certain rigidity, and has scalable column for whole dress among damping device
Increase stress-bearing capability is set, entirety still has enough rigidity, therefore mechanical arm control simultaneously so that mechanical arm is with flexible nature
The difficulty and control cost of method processed do not have tremendous increase, and the stability of mechanical arm can be improved, receiving larger external force and vibration
When mechanical arm can generate damping effect, guarantee the safety of mechanical arm operation.
It is hydraulically operated in the present invention and realizes each flexible freedom degree, because forearm, postbrachium overall load are heavier, hydraulic drive
The dynamic loading demand for meeting mechanical arm with good lifting capacity；It is driven by motor and realizes each rotary freedom, because of each rotation
Turn freedom degree and be accurately moved to designated position for end will to be executed, needs preferable control performance, precision and response
Speed, motor driven meet the above several points and require.
The specific working principle is as follows for rubber tapping robot flexible mechanical arm in the present invention:
Pedestal 1 is fixed on full-automatic rubber tapping machine man-machine side, pedestal 1 with it and is connected with preceding arm hydraulic cylinder 2, and pedestal 1 has
There are motor and rotating mechanism.For full-automatic rubber tapping robot rubber tapping work, three processes: rotary alignment are broadly divided into, it is horizontal
Alignment, cutter fitting.To realize that full-automatic rubber tapping robot once taps rubber process, rubber tapping robot reaches conduct in front of rubber tree
Initial position, to make mechanical arm general alignment target rubber tree, pedestal 1 and preceding arm hydraulic cylinder 2 in the collective effect of rotating mechanism
Lower realization rotation, vertical links 5 does not have freedom degree, arm assembly after mechanical arm can be driven to be rotated, and then realizes integrated machine
Tool arm is rotated, by mechanical arm general alignment target rubber tree.After alignment target rubber tree, since score height is different, it is
It is further aligned score, preceding arm hydraulic cylinder 2 and 3 collective effect of forearm piston rod, controls forearm piston rod 3 telescopic lifting, together
When, postbrachium is integrally gone up and down, and realizes that mechanical arm integral telescopic elevating control carries out horizontal score alignment.After horizontal aligument, after
Arm hydraulic cylinder 6 is applied on postbrachium piston rod 7, controls 7 horizontal stretching motion of postbrachium piston rod, and control cutter knife mechanism leans on close-target
Rubber tree, postbrachium damping spring device 8, rotary mount 9, end connectors 10 and then moves close to rubber tree, when being encountered
Target rubber tree be inclination trees, at this moment, rotary mount 9 control cutter knife mechanism, rotated, end connectors 10 have
Pitch freedom, while rotary mount 9 being cooperated to be corrected, 10 device cutter of end connectors embraces tree construction, after alignment
The work tapped rubber.10 degree are tilted as target rubber tree is tilted to the left 10 degree, while to the other side of cutter knife mechanism, then basis
Collected inclination information, control rotary mount 9 carry out rotating to the left 10 degree, and end connectors 10 are rotated down 10 degree of carries
It is directed at score.
Referring to Fig. 2, for freedom degree range needed for meeting rubber tapping, the present invention totally five freedom degrees, including pedestal rotation from
By degree 11, forearm piston rod 3 has flexible freedom degree 12 up and down, and it is elastic that rear arm hydraulic cylinder 6 cooperates postbrachium piston rod 7 to have
Freedom degree 13, rotary mount 9 have rotary freedom 14, and end connectors 10 have pitch freedom 15.
Referring to Fig. 3-4, end effector mechanism-tree-cohesion mechanism carries out embracing tree movement, and internal cutter carries out the cutting of rubber tree,
In cutting process, due to reaction force, has a large amount of high-frequency vibration and generate, standard machinery arm is rigid, in high frequency vibrating
Under the action of dynamic, irreversible mechanical damage is caused to mechanical arm.The present invention designs shock mitigation system, is subtracted by the forearm in mechanical arm
It shakes spring arrangement 4 and postbrachium damping spring device 8 is constituted, there is the ability for absorbing high-frequency vibration, mechanical arm is protected, it is suitable
Benefit completes rubber tapping work, while having longer service life.The structure of reference Fig. 3 forearm damping spring device 4 is by upper fixation
Platform 43, lower fixed station 44, spring 1, axis mechanism 42 are constituted, referring to the 8 analogy forearm damping of Fig. 4 postbrachium damping spring device
Spring arrangement 4 is made of preceding fixed station 84, rear fixed station 83, spring 2 81, axis mechanism 82.It receives in mechanical arm and is cut by front
When the high-frequency vibration that glue generates, vibration will successively be conducted by mechanical part, when vibration is transmitted to damping spring, the damping of spring
System can be carried out absorbing to vibration from front or so and up and down, since there are two-stage damping spring, greatly weakenings
Vibration is damaged caused by mechanical arm, while side improves cutting efficiency.
Referring to Fig. 5, installed in such a way that mobile platform carries mechanical arm in the implementation case, mounting means is as schemed.By moving
Moving platform carries mechanical arm, and mechanical arm tail end is equipped with armful tree execution end for carrying out rubber tapping operation.
Starting point of the present invention is designing a kind of flexible mechanical arm used for rubber tapping robot, but mechanical arm tail end connector
On can connect different end executive devices, including but not limited to rubber tapping tool, i.e., the present invention may also apply to other career fields.
The mechanical arm simplifies structure compared to existing machinery arm, so that mechanical arm reduces mechanical arm in the case where ensure that working effect
Volume size and weight, so that this mechanical arm can be mounted on moveable platform, further expansion use space.
Specific examples are applied in the present invention, and principle and implementation of the present invention are described, above embodiments
Illustrate to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, according to
According to thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification
It should not be construed as limiting the invention.
Claims (8)
1. a kind of rubber tapping robot flexible mechanical arm, it is characterised in that: the postbrachium including pedestal, vertical forearm component and level
Component, the pedestal are fixed on the body upper of rubber tapping robot,
The forearm component includes preceding arm hydraulic cylinder, forearm piston rod and forearm damping spring device, the preceding arm hydraulic cylinder peace
Dress constitutes revolute on the base and with the pedestal, and the preceding arm hydraulic cylinder passes through forearm piston rod described in hydraulic-driven
Flexible, the end of the forearm piston rod is connected with the forearm damping spring device；
Arm component includes rear arm hydraulic cylinder, postbrachium piston rod, postbrachium damping spring device and end connectors after described, after described
Arm hydraulic cylinder is connected by right angle connecting rod with the top of the forearm component, and the rear arm hydraulic cylinder passes through described in hydraulic-driven
Postbrachium piston rod is flexible, and the end of the postbrachium piston rod is connected with the postbrachium damping spring device, the postbrachium damping
The end of spring arrangement is connected with rotary mount and constitutes revolute, and the end of the rotary mount is connected with cutter
The end connectors, and act on rubber tapping main body on the end connectors have be rotated up and down freedom degree.
2. rubber tapping robot according to claim 1 flexible mechanical arm, it is characterised in that: the forearm component and postbrachium group
Part is connected by the right angle connecting rod, and junction does not simultaneously have freedom degree.
3. rubber tapping robot according to claim 1 flexible mechanical arm, it is characterised in that: the forearm damping spring device
Including spring one, axis mechanism, upper fixed station and lower fixed station, it is provided through the axis mechanism among the spring one,
The upper and lower ends of the axis mechanism are respectively fixed with fixed and lower fixed station.
4. rubber tapping robot according to claim 3 flexible mechanical arm, it is characterised in that: the top of the forearm piston rod
It is fixedly connected with the lower fixed station, fixed is connect by the right angle connecting rod with the rear arm hydraulic cylinder.
5. rubber tapping robot according to claim 1 flexible mechanical arm, it is characterised in that: the postbrachium damping spring device
Including spring two, axis mechanism, preceding fixed station and rear fixed station, the axis mechanism is provided through among the spring two,
The rear and front end of the axis mechanism is respectively fixed with the preceding fixed station and rear fixed station.
6. rubber tapping robot according to claim 5 flexible mechanical arm, it is characterised in that: the end of the postbrachium piston rod
It is fixedly connected with the rear fixed station, is fixedly installed the rotary mount on the preceding fixed station.
7. rubber tapping robot according to claim 1 flexible mechanical arm, it is characterised in that: the rotary mount passes through one
Groove connects the end fixing piece.
8. rubber tapping robot according to claim 7 flexible mechanical arm, it is characterised in that: be provided with a water in the groove
Flat turn axis, the end fixing piece is mounted in the shaft and the relatively described shaft is rotated up and down movement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910660005.XA CN110238866A (en) | 2019-07-22 | 2019-07-22 | A kind of rubber tapping robot flexible mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910660005.XA CN110238866A (en) | 2019-07-22 | 2019-07-22 | A kind of rubber tapping robot flexible mechanical arm |
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| CN110238866A true CN110238866A (en) | 2019-09-17 |
Family
ID=67892967
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201910660005.XA Pending CN110238866A (en) | 2019-07-22 | 2019-07-22 | A kind of rubber tapping robot flexible mechanical arm |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111448967A (en) * | 2020-04-26 | 2020-07-28 | 北京金自能源科技发展有限公司 | Movable rubber tapping robot |
| CN111972252A (en) * | 2020-09-02 | 2020-11-24 | 中国计量大学 | Active and passive self-adaptive rubber tapping device based on parallel actuator |
| CN113172547A (en) * | 2021-03-31 | 2021-07-27 | 上海工程技术大学 | Flexible grinding device of industry arm constant force |
| CN113524146A (en) * | 2021-07-28 | 2021-10-22 | 上海大学 | Three-degree-of-freedom parallel mechanical arm with large expansion ratio based on tape spring |
| CN113715042A (en) * | 2021-10-10 | 2021-11-30 | 北京工业大学 | Spiral coiling type multi-section flexible robot |
| CN114850681A (en) * | 2022-06-22 | 2022-08-05 | 中国原子能科学研究院 | Mechanical arm for laser sodium removal and laser sodium removal system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111448967A (en) * | 2020-04-26 | 2020-07-28 | 北京金自能源科技发展有限公司 | Movable rubber tapping robot |
| CN111972252A (en) * | 2020-09-02 | 2020-11-24 | 中国计量大学 | Active and passive self-adaptive rubber tapping device based on parallel actuator |
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| CN113172547A (en) * | 2021-03-31 | 2021-07-27 | 上海工程技术大学 | Flexible grinding device of industry arm constant force |
| CN113172547B (en) * | 2021-03-31 | 2022-03-25 | 上海工程技术大学 | Flexible grinding device of industry arm constant force |
| CN113524146A (en) * | 2021-07-28 | 2021-10-22 | 上海大学 | Three-degree-of-freedom parallel mechanical arm with large expansion ratio based on tape spring |
| CN113524146B (en) * | 2021-07-28 | 2022-04-22 | 上海大学 | Three-degree-of-freedom parallel mechanical arm with large expansion ratio based on tape spring |
| CN113715042A (en) * | 2021-10-10 | 2021-11-30 | 北京工业大学 | Spiral coiling type multi-section flexible robot |
| CN113715042B (en) * | 2021-10-10 | 2023-07-21 | 北京工业大学 | Spiral coiling type multi-section flexible robot |
| CN114850681A (en) * | 2022-06-22 | 2022-08-05 | 中国原子能科学研究院 | Mechanical arm for laser sodium removal and laser sodium removal system |
| CN114850681B (en) * | 2022-06-22 | 2023-09-29 | 中国原子能科学研究院 | A arm and laser remove sodium system for laser removes sodium |
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