CN110547093A - Arm is picked to lightweight agricultural - Google Patents
Arm is picked to lightweight agricultural Download PDFInfo
- Publication number
- CN110547093A CN110547093A CN201910799603.5A CN201910799603A CN110547093A CN 110547093 A CN110547093 A CN 110547093A CN 201910799603 A CN201910799603 A CN 201910799603A CN 110547093 A CN110547093 A CN 110547093A
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- China
- Prior art keywords
- capstan
- winch
- arm
- bearing
- encoder
- 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
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- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims abstract description 4
- 229910000831 Steel Inorganic materials 0.000 claims description 23
- 239000010959 steel Substances 0.000 claims description 23
- 230000005484 gravity Effects 0.000 abstract description 5
- 238000005265 energy consumption Methods 0.000 abstract description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 229920000742 Cotton Polymers 0.000 description 1
- 241001122767 Theaceae Species 0.000 description 1
- 229910002056 binary alloy Inorganic materials 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000009333 weeding Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
Abstract
the application discloses arm is picked to lightweight agricultural includes: the second is good is provided with one-level capstan winch bearing between each linking arm, and every level capstan winch bearing includes the odd number capstan winch that the coaxial pressfitting is together, the capstan winch has inner circle and outer lane, has the slot on the outer lane facade the ditch inslot is equipped with the copper wire, this level of linking arm is connected to the inner circle, the linking arm of next level is connected to the outer lane, realizes the rotation of linking arm through control, and the encoder passes through the encoder mount to be fixed on the capstan winch bearing inner circle, and the pivot of encoder passes through the encoder connecting rod to be fixed on the capstan winch bearing outer lane. The invention has the advantages that: the structure is simple, and the position of the center of gravity is lowered by lowering the position of the joint motor; by arranging the pre-stressed spring, the stress distribution of the joint is reduced, the flexibility is improved, and the energy consumption is reduced; the auxiliary pipeline is hidden inside, so that the system is more flexible and energy-saving, and the endurance is increased.
Description
Technical Field
the invention relates to a lightweight agricultural picking mechanical arm.
background
The agricultural field operation robot is adopted in the agricultural field, is an advanced stage of modern agricultural development, and along with the increase of human cost, the number of personnel engaged in agricultural field operation is reduced, so that the mechanized intelligent level of agricultural development needs to be continuously improved. Mainly used for picking tea, topping and forking cotton, picking fruits, weeding and the like.
Most of mechanical arms adopted in the prior art are traditional industrial mechanical arms, and the common phenomenon is that the weight is large, so that the integral gravity center is moved upwards, and the walking stability is influenced; the whole body is easy to shake during operation due to heavy weight; due to the large weight, the joint is always in a stressed state, so that the energy consumption of a joint motor is large, and the endurance of the robot taking electric power as energy is seriously influenced; the auxiliary pipeline leaks outwards and is easy to pull and touch the branches and leaves of the crops.
Disclosure of Invention
The invention aims to overcome the defects and provide a lightweight agricultural picking mechanical arm which is simple and convenient in structure and accurate in operation.
In order to achieve the above object, the present invention adopts the following technique: a lightweight agricultural picking arm, comprising:
The second is provided with one-level capstan winch bearing between each linking arm, and every level capstan winch bearing includes the odd number capstan winch of coaxial pressfitting together, the capstan winch has inner circle and outer lane, has the slot on the outer lane facade the ditch inslot is equipped with the copper wire, this level linking arm is connected to the inner circle, the linking arm of next level is connected to the outer lane, realizes the rotation of linking arm through control copper wire fixing frame, and the encoder passes through the encoder mount to be fixed on the capstan winch bearing inner circle, and the pivot of encoder passes through the encoder connecting rod to be fixed on the capstan winch bearing outer lane.
The invention has the beneficial effects that:
Simple structure includes: the steel wire winding device comprises a second connection arm, a first connection arm, a second connection arm, a third connection arm and an encoder, wherein a first-stage winch bearing is arranged between the connection arms, each stage of winch bearing comprises odd-numbered winches which are coaxially pressed together, each winch is provided with an inner ring and an outer ring, a groove is formed in the vertical surface of the outer ring, a steel wire is arranged in the groove, the inner ring is connected with the connection arm of the current stage, the outer ring is connected with the connection arm of the next stage, the connection arm is controlled to rotate, the encoder is fixed on the inner ring of the winch bearing through an encoder fixing frame, a rotating shaft of the encoder is fixed on the outer ring of the winch bearing through an encoder; the position of the center of gravity is lowered by lowering the position of the joint motor; by arranging the pre-stressed spring, the stress distribution of the joint is reduced, the flexibility is improved, and the energy consumption is reduced; the auxiliary pipeline hides the inside. Therefore, the system is more flexible and energy-saving, and the endurance is increased.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a schematic structural view of a lightweight agricultural picking arm of the present invention;
FIG. 2 is a schematic view of an embodiment of a connecting arm of the configuration shown in FIG. 1;
FIG. 3 is a side view of the embodiment shown in FIG. 2;
FIG. 4 is a schematic diagram of an encoder structure of the present invention;
FIG. 5 is a code wheel schematic of the encoder of the present invention.
Schematic of the reference numerals
11-a first gear motor, 12-a second gear motor, 13-a third gear motor,
14-second good connecting arm, 15-first connecting arm, 16-second connecting arm, 17-third connecting arm,
18-a first winch, 19-a second winch, 20-a third winch, 21-a fourth winch,
22-fifth winch, 23-sixth winch, 24-seventh winch, 25-eighth winch,
26-a ninth capstan, 27-a first spring, 28-a second spring, 29-a third spring,
31-first encoder, 32-second encoder, 33-third encoder, 34-pulley,
35-first steel wire, 36-second steel wire, 37-third steel wire,
41-outer ring of capstan bearing, 42-inner ring of capstan bearing, 43-torsion spring,
44-rolling ball, 45-steel wire, 46-encoder, 47-encoder fixing frame and 48-encoder connecting rod
Detailed Description
As used in the specification and in the claims, certain terms are used to refer to particular components. As one skilled in the art will appreciate, manufacturers may refer to a component by different names. This specification and claims do not intend to distinguish between components that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. "substantially" means within an acceptable error range, and a person skilled in the art can solve the technical problem within a certain error range to substantially achieve the technical effect. The description which follows is a preferred embodiment of the present application, but is made for the purpose of illustrating the general principles of the application and not for the purpose of limiting the scope of the application. The protection scope of the present application shall be subject to the definitions of the appended claims.
Referring to fig. 1 to 3, the present invention provides a lightweight agricultural picking manipulator, including: the connecting arm 14, first connecting arm 15, second connecting arm 16, third connecting arm 17 and three encoder are good to the second, are provided with one-level capstan winch bearing between each connecting arm, and every level capstan winch bearing includes the odd number capstan winch of coaxial pressfitting together, the capstan winch has inner circle and outer lane, has the slot on the outer lane facade the slotted steel wire that is equipped with, this level of connecting arm is connected to the inner circle, the connecting arm of next level is connected to the outer lane, realizes the rotation of connecting arm through the control steel wire, and the encoder passes through the encoder mount to be fixed on the capstan winch bearing inner circle, and the pivot of encoder passes through the encoder connecting rod to be fixed on the capstan winch bearing outer lane.
in one embodiment, a first stage capstan bearing is disposed between the second connection arm and the first connection arm, and the first stage capstan bearing includes a first capstan, a second capstan, a third capstan, a fourth capstan, and a fifth capstan that are sequentially stacked.
In one embodiment, a second stage capstan bearing is disposed between the first and second connecting arms, the second stage capstan bearing comprising a sixth capstan, a seventh capstan, and an eighth capstan that are sequentially stacked.
In one embodiment, a third stage winch bearing is provided between the second and third connecting arms, said third stage winch bearing comprising a ninth winch bearing.
In one embodiment, the inner ring is provided with positioning holes.
in one embodiment, the third capstan is connected to the second spring through the first steel wire and is connected to the second reduction motor.
in one embodiment, one end of the first winch and one end of the second winch are connected with the first spring through a third wire and are connected with the first speed reduction motor; the other end is connected with a sixth winch.
In one embodiment, one end of the fourth winch is connected with one end of the fifth winch through a second steel wire, and the fourth winch is connected with a third spring and a third speed reducing motor; the other end is connected with the seventh winch and the eighth winch.
In one embodiment, the seventh capstan is connected to the ninth capstan at the other end of the eighth capstan.
in one embodiment, the system comprises 3 speed reduction motors, a second connecting arm, a first connecting arm, a second connecting arm, a third connecting arm, 5 winch bearings between the second connecting arm and the first connecting arm, 3 winch bearings between the first connecting arm and the second connecting arm, 1 winch bearing between the second connecting arm and the third connecting arm, 3 springs and 3 encoders.
As a specific example, the connection portion: the second is good the linking arm is fixed in and can follows the axis of ordinates rotation on the robot chassis, first linking arm one end and the second is good the upper end of linking arm and is connected through the capstan winch bearing (the second is good the linking arm and is fixed through the side of capstan winch bearing inner circle, first linking arm passes through capstan winch bearing outer lane side fixed, the same principle below), the one end of second linking arm and the other end of first linking arm pass through the capstan winch bearing and connect, the one end of third linking arm and the other end of second linking arm pass through the capstan winch bearing and connect, the axis of ordinates rotation of second linking arm can be followed to the third linking arm, be fixed in the right-hand member of second linking arm like the picture pulley, a transmission direction for changing the second.
As specific examples, the transmission part: the third steel wire is wound around the winch bearing for 2 circles and then wound around the first speed reducing motor for 2 circles; two steel wires which are wound by the second steel wire for 2 circles around the winch bearing are respectively wound by 1 circle around the winch bearing and then wound by 2 circles around the third speed reducing motor; after the transmission direction of the first steel wire is changed through the bearing, the first steel wire is wound for 1 circle on the next-stage winch bearing and then for 2 circles around the second speed reducing motor respectively in two sections.
as a specific embodiment, the steel wire fixing device can be in the form of clamping fixing, bolt fixing and the like, and the tension springs are arranged on the three steel wires and used for offsetting part of steel wire stress caused by gravity, so that the mechanical arm moves more flexibly, and the motor load is lower.
as a specific example, the kinematic relationship: the mechanical arm has 3 degrees of freedom, the load of the rear stage is relatively small, a servo motor can be adopted, a central hole is reserved in each winch, the movement of a line for the rear stage joint passing through the first connecting arm, the second connecting arm and the second connecting arm is provided with action power by the speed reducing motor, and position information is fed back by the encoder. The action system of the mechanical arm is realized by matching with a circuit part.
Referring to fig. 4, as a specific embodiment, the encoder 46 is fixed on the winch bearing inner race 42 through the encoder fixing frame 47, and the rotating shaft of the encoder 46 is fixed on the winch bearing outer race 41 through the encoder connecting rod 48, and by the above system, the encoder can feed back the angle between the winch bearing outer race 41 and the winch bearing inner race 42 in real time, and further feed back the angle between the two arms.
As a specific embodiment, the encoder is generally arranged in a motor to form a servo motor, the encoder in the servo motor is arranged in a mechanical arm joint, errors caused by factors such as tightness of steel wires and structural strength of the mechanical arm are avoided, and actual angle feedback is more accurate. The system input information includes: target angle, target angular velocity, actual angle fed back by the encoder, actual angular velocity information calculated by the system in combination with time parameters, accumulated error information, and the like. The forward and reverse rotation speeds of the motor to be controlled are calculated through a complex PID (proportional control, integral control and differential control) control algorithm and fed back to the motor speed regulator. Realize accurate, the high-efficient action of arm.
As a specific embodiment, the encoder is a sensor which converts mechanical geometric displacement on an output shaft into pulse or digital quantity through photoelectric conversion, and comprises a grating disc and a photoelectric detection device, and an absolute value encoder is adopted: the sensor is a sensor for directly outputting digital quantity, and its circular code disk is equipped with several concentric code channels along the radial direction, every code channel is formed from transparent and opaque fan-shaped regions, the number of the adjacent code channels is double relation, and the number of code channels on the code disk is the digit of its binary code.
Referring to FIG. 5, as a specific embodiment, a light source is disposed on one side of the code wheel, and a photosensitive element is disposed on each code channel corresponding to the other side; when the code wheel is in different positions, each photosensitive element is converted into a corresponding level signal according to the illumination or not to form binary numbers. A fixed digital code corresponding to the position can be directly read at any position of the rotating shaft without a counter. I.e. the absolute value of the angular coordinate can be read directly without accumulated error. The position information is not lost after the power supply is cut off. However, the resolution is determined by the number of bits in the binary system, i.e., the accuracy depends on the number of bits.
As a specific example, the code disc is binary, and the blank part in the figure is transparent and is indicated by '0'; the blackened portion is opaque and is denoted by "1". The circles that make up the code are often referred to as code tracks, each representing one bit of a binary number, with the lowest bit on the outermost side and the highest bit on the innermost side. If the code disc has 4 code tracks, the code tracks from inside to outside are represented as binary 23, 22, 21 and 20, respectively, and the 4-bit binary can form 16 binary numbers, so that the disc is divided into 16 sectors, each sector corresponding to a 4-bit binary number, such as 0000, 0001, …, 1111. Such as: a 12-track code wheel has a resolution of 4096, i.e. 360 °/4096 ═ 0.088 °, which is quite accurate.
The invention has the beneficial effects that:
Simple structure includes: the steel wire winding device comprises a second connection arm, a first connection arm, a second connection arm, a third connection arm and an encoder, wherein a first-stage winch bearing is arranged between the connection arms, each stage of winch bearing comprises odd-numbered winches which are coaxially pressed together, each winch is provided with an inner ring and an outer ring, a groove is formed in the vertical surface of the outer ring, a steel wire is arranged in the groove, the inner ring is connected with the connection arm of the current stage, the outer ring is connected with the connection arm of the next stage, the connection arm is controlled to rotate, the encoder is fixed on the inner ring of the winch bearing through an encoder fixing frame, a rotating shaft of the encoder is fixed on the outer ring of the winch bearing through an encoder; the position of the center of gravity is lowered by lowering the position of the joint motor; by arranging the pre-stressed spring, the stress distribution of the joint is reduced, the flexibility is improved, and the energy consumption is reduced; the auxiliary pipeline hides the inside. Therefore, the system is more flexible and energy-saving, and the endurance is increased.
The foregoing description shows and describes several preferred embodiments of the present application, but as aforementioned, it is to be understood that the application is not limited to the forms disclosed herein, but is not to be construed as excluding other embodiments and is capable of use in various other combinations, modifications, and environments and is capable of changes within the scope of the application as described herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the application, which is to be protected by the claims appended hereto.
Claims (10)
1. a lightweight agricultural picking arm, comprising:
the second is good is provided with one-level capstan winch bearing between each linking arm, and every level capstan winch bearing includes the odd number capstan winch that the coaxial pressfitting is together, the capstan winch has inner circle and outer lane, has the slot on the outer lane facade the ditch inslot is equipped with the copper wire, this level of linking arm is connected to the inner circle, the linking arm of next level is connected to the outer lane, realizes the rotation of linking arm through control, and the encoder passes through the encoder mount to be fixed on the capstan winch bearing inner circle, and the pivot of encoder passes through the encoder connecting rod to be fixed on the capstan winch bearing outer lane.
2. the lightweight agricultural picking manipulator of claim 1, wherein a first stage capstan bearing is disposed between the second good connecting arm and the first connecting arm, the first stage capstan bearing comprising a first capstan, a second capstan, a third capstan, a fourth capstan, and a fifth capstan that are sequentially stacked.
3. The lightweight agricultural picking arm of claim 2, wherein a second stage capstan bearing is disposed between the first and second connecting arms, the second stage capstan bearing comprising a sixth capstan, a seventh capstan, and an eighth capstan that are sequentially stacked.
4. The lightweight agricultural picking arm of claim 3, wherein a third stage winch bearing is disposed between the second and third connecting arms, the third stage winch bearing comprising a ninth winch bearing.
5. The lightweight agricultural picking arm of claim 4, wherein the inner ring is provided with locating holes.
6. The lightweight agricultural picking arm of claim 5, wherein the third capstan is connected to a second spring through a first steel wire and to a second gear motor.
7. The lightweight agricultural picking manipulator according to claim 6, wherein one end of the first winch and one end of the second winch are connected with the first spring through a third wire and connected with the first speed reduction motor; the other end is connected with a sixth winch.
8. The lightweight agricultural picking manipulator according to claim 7, wherein one end of the fourth winch and one end of the fifth winch are connected with a third spring through a second steel wire and connected with a third speed reduction motor; the other end is connected with the seventh winch and the eighth winch.
9. The lightweight agricultural picking arm of claim 8, wherein the seventh capstan and the eighth capstan are connected at their other ends to a ninth capstan.
10. The lightweight agricultural picking arm of claim 1, wherein the encoder is an absolute value encoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910799603.5A CN110547093A (en) | 2019-08-28 | 2019-08-28 | Arm is picked to lightweight agricultural |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910799603.5A CN110547093A (en) | 2019-08-28 | 2019-08-28 | Arm is picked to lightweight agricultural |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110547093A true CN110547093A (en) | 2019-12-10 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201910799603.5A Pending CN110547093A (en) | 2019-08-28 | 2019-08-28 | Arm is picked to lightweight agricultural |
Country Status (1)
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| CN (1) | CN110547093A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201986396U (en) * | 2011-02-15 | 2011-09-28 | 无锡市华鹰移动照明有限公司 | Mechanical arm of palm fruit picker |
| CN105835050A (en) * | 2016-05-23 | 2016-08-10 | 西安电子科技大学 | Three-degree-of-freedom rope driven series robot device |
| US20160375577A1 (en) * | 2015-06-26 | 2016-12-29 | Haption | Motor-driven articulated arm with cable capstan including a brake |
| CN206967474U (en) * | 2017-06-26 | 2018-02-06 | 南京航空航天大学 | Rope driving multiple degrees of freedom series connection mechanical arm |
| CN108247622A (en) * | 2017-12-30 | 2018-07-06 | 哈尔滨工业大学深圳研究生院 | A kind of modularized joint and seven freedom modularization rope drive mechanical arm |
| CN108393920A (en) * | 2018-03-30 | 2018-08-14 | 深圳市丞辉威世智能科技有限公司 | bionic joint and robot |
| US20190142531A1 (en) * | 2017-11-13 | 2019-05-16 | Vicarious Surgical Inc. | Virtual reality wrist assembly |
| CN110116402A (en) * | 2019-06-06 | 2019-08-13 | 哈尔滨工业大学 | Three-freedom mechanical arm based on coupling wire rope gearing |
| CN110154045A (en) * | 2019-04-29 | 2019-08-23 | 合肥工业大学 | A kind of Wire driven robot series connection four-degree-of-freedom spray coating mechanical arm |
-
2019
- 2019-08-28 CN CN201910799603.5A patent/CN110547093A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201986396U (en) * | 2011-02-15 | 2011-09-28 | 无锡市华鹰移动照明有限公司 | Mechanical arm of palm fruit picker |
| US20160375577A1 (en) * | 2015-06-26 | 2016-12-29 | Haption | Motor-driven articulated arm with cable capstan including a brake |
| CN105835050A (en) * | 2016-05-23 | 2016-08-10 | 西安电子科技大学 | Three-degree-of-freedom rope driven series robot device |
| CN206967474U (en) * | 2017-06-26 | 2018-02-06 | 南京航空航天大学 | Rope driving multiple degrees of freedom series connection mechanical arm |
| US20190142531A1 (en) * | 2017-11-13 | 2019-05-16 | Vicarious Surgical Inc. | Virtual reality wrist assembly |
| CN108247622A (en) * | 2017-12-30 | 2018-07-06 | 哈尔滨工业大学深圳研究生院 | A kind of modularized joint and seven freedom modularization rope drive mechanical arm |
| CN108393920A (en) * | 2018-03-30 | 2018-08-14 | 深圳市丞辉威世智能科技有限公司 | bionic joint and robot |
| CN110154045A (en) * | 2019-04-29 | 2019-08-23 | 合肥工业大学 | A kind of Wire driven robot series connection four-degree-of-freedom spray coating mechanical arm |
| CN110116402A (en) * | 2019-06-06 | 2019-08-13 | 哈尔滨工业大学 | Three-freedom mechanical arm based on coupling wire rope gearing |
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