CN111972130B - Hollow telescopic mechanical arm - Google Patents
Hollow telescopic mechanical arm Download PDFInfo
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- CN111972130B CN111972130B CN202010873994.3A CN202010873994A CN111972130B CN 111972130 B CN111972130 B CN 111972130B CN 202010873994 A CN202010873994 A CN 202010873994A CN 111972130 B CN111972130 B CN 111972130B
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- 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
- A01D46/30—Robotic devices for individually picking crops
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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Abstract
The utility model provides a cavity telescopic arm for fruit is picked, includes fixed joint, waist joint, elbow joint, shearing mechanism, the flexible section of thick bamboo of multistage inlayer cavity and the flexible section of thick bamboo of multistage skin cavity, the flexible section of thick bamboo cover of skin cavity is in the outside of the flexible section of thick bamboo of inlayer cavity, is equipped with in the elbow joint to be used for ordering about the flexible actuating mechanism of synchronous flexible of the flexible section of thick bamboo of inside and outside cavity, and shearing mechanism is used for picking the fruit. Establish the steel band in the clearance that forms between the inside and outside flexible section of thick bamboo of cavity to at whole flexible in-process, the surface of steel band is all pressed close to all the time to a plurality of matched with inside and outside draw runner, with the radial position of restriction steel band, prevents the minizone bending, improves load strength, realizes completely controllable steel band driving process. The invention can complete the automatic picking and collecting of the mechanical arm to the fruits in any direction in the working range under the coordination of the waist joint, the elbow joint, the coilable steel belt and the front shearing device, and has simple and reliable structure and wide application range.
Description
Technical Field
The invention relates to the field of fruit picking, in particular to a hollow telescopic mechanical arm.
Background
With the acceleration of agricultural mechanized footsteps, more and more automatic machines are added into agricultural production, and fruit picking is taken as one of important components and covers a plurality of technical fields.
The existing automatic picking process is mostly carried with a multi-degree-of-freedom mechanical arm with a tail end picking paw on a movable chassis for working, wherein the multi-degree-of-freedom mechanical arm is used as two important realization forms of a one-ring relative joint type and a telescopic type.
The joint type mechanical arm drives each joint to move by a motor, so that the picking paw is driven to reach the position of a fruit to realize picking; the telescopic mechanical arm realizes a large range of movement in a multi-stage sleeve mode so as to reach the fruit position. But the joint type mechanical arm needs to be driven by a plurality of motors, so that the load of the joint type mechanical arm is greatly increased; the telescopic mechanical arm usually adopts a hydraulic, pneumatic or screw structure to realize the telescopic operation, the driving process is complex and more space is occupied. And because the inner space of the mechanical arm is occupied by the driving mechanism, the picked fruits can be collected only through the additional mechanism, the overall complexity is increased, and the working efficiency is reduced. In actual work, a hollow telescopic arm which is light in weight, small in size, simple in structure and easy to operate is needed.
Disclosure of Invention
The invention aims to solve the technical problem of providing a hollow telescopic mechanical arm which is simple and reliable in structure and can move in multiple directions in a large range, and automatic picking of fruits is realized.
The technical proposal of the invention is to provide a hollow telescopic mechanical arm with the following structure, which comprises a fixed joint, a waist joint arranged at the top of the fixed joint and an elbow joint arranged on the side wall of the waist joint, a driving device I for driving the waist joint to rotate around the circumference of the vertical axis of the waist joint is arranged in the fixed joint, a driving device II for driving the elbow joint to rotate around the horizontal axis of the waist joint is arranged in the waist joint, wherein, the utility model also comprises a shearing device, a multi-stage inner layer hollow telescopic cylinder and a multi-stage outer layer hollow telescopic cylinder, the multi-stage outer layer hollow telescopic cylinder is sleeved outside the multi-stage inner layer hollow telescopic cylinder, the bottoms of the multi-stage inner layer hollow telescopic cylinder and the multi-stage outer layer hollow telescopic cylinder are both arranged on the elbow joint, a telescopic driving mechanism for driving the multistage inner-layer hollow telescopic cylinder and the multistage outer-layer hollow telescopic cylinder to synchronously stretch is arranged in the elbow joint; the shearing device is arranged at the tops of the multistage inner layer hollow telescopic cylinder and the multistage outer layer hollow telescopic cylinder and used for picking fruits, the fruits after the fruit stalks are sheared enter the inner cavity of the multistage inner layer hollow telescopic cylinder under the action of self gravity, and the fruits slide out of the lower holes of the fruits arranged on the side walls of the bottoms of the multistage inner layer hollow telescopic cylinder and the multistage outer layer hollow telescopic cylinder.
The invention relates to a hollow telescopic mechanical arm, wherein a telescopic driving mechanism comprises a driving roller, a driven roller, a gear driving mechanism, a steel belt and a winding drum for winding the steel belt, a coil spring is arranged in the winding drum, one end of the steel belt is connected with the coil spring, the other end of the steel belt sequentially penetrates through a gap between the driving roller and the driven roller and a gap formed between a multi-stage inner-layer hollow telescopic drum and a multi-stage outer-layer hollow telescopic drum and then is connected with the top ends of the multi-stage inner-layer hollow telescopic drum and the multi-stage outer-layer hollow telescopic drum, the driving roller is connected with the gear driving mechanism, and the steel belt clamped between the driving roller and the driven roller is conveyed outwards or inwards by driving the rotation of the driving roller, so that the multi-stage inner-layer hollow telescopic drum and the multi-stage outer-layer hollow telescopic drum are telescopic.
The invention relates to a hollow telescopic mechanical arm, wherein an inner layer hollow telescopic cylinder and an outer layer hollow telescopic cylinder are both of three-stage telescopic structures.
The invention relates to a hollow telescopic mechanical arm, wherein an inner-layer hollow telescopic cylinder consists of an inner hollow cylinder I, an inner hollow cylinder II and an inner hollow cylinder III, the inner hollow cylinder I is positioned in the inner cavity of the inner hollow cylinder II, the inner hollow cylinder II is positioned in the inner cavity of the inner hollow cylinder III, an inner sliding strip I is arranged on the outer wall of the inner hollow cylinder I along the self axis direction, an inner sliding groove II for inserting the inner sliding strip I is formed in the side wall of the inner hollow cylinder II along the self axis direction, inner sliding strips II are arranged at two edges of the inner sliding groove II, an inner sliding groove III for inserting the inner sliding strip II is formed in the side wall of the inner hollow cylinder III along the self axis direction, and after the inner sliding strip I is inserted into the inner sliding groove II and the inner sliding strip II is inserted into the inner sliding groove III, the outer wall of the inner sliding strip I and the outer wall of the inner sliding strip II are flush with the outer wall of the inner hollow cylinder III; the outer layer hollow telescopic cylinder consists of an outer hollow cylinder I, an outer hollow cylinder II and an outer hollow cylinder III, the outer hollow cylinder III is positioned in the inner cavity of the outer hollow cylinder II, the outer hollow cylinder II is positioned in the inner cavity of the outer hollow cylinder I, an outer sliding strip I opposite to the inner sliding strip I is arranged on the inner wall of the outer hollow cylinder I along the axis direction of the outer hollow cylinder I, an outer sliding groove II for inserting the outer sliding strip I is formed in the side wall of the outer hollow cylinder II along the axis direction of the outer hollow cylinder II, an outer sliding strip II opposite to the inner sliding strip II is arranged at two edges of the outer sliding groove II, a guide groove is arranged on the inner wall of the outer hollow cylinder III along the axis direction of the inner wall, an outer sliding groove III for the outer sliding strip II to insert is arranged on the guide groove, after the outer sliding strip I is inserted into the outer sliding groove II and the outer sliding strip II is inserted into the outer sliding groove III, the inner wall of the outer sliding strip I and the inner wall of the outer sliding strip II are flush with the inner wall of the outer sliding groove III; gaps for steel belts to penetrate are formed between the inner sliding strip I and the outer sliding strip I, between the inner sliding strip II and the outer sliding strip II and between the outer wall of the inner hollow cylinder III and the guide groove; an inner fruit outlet hole III is formed in the side wall of the bottom of the inner hollow cylinder III, and an outer fruit outlet hole III opposite to the inner fruit outlet hole III is formed in the side wall of the bottom of the outer hollow cylinder III.
The invention relates to a hollow telescopic mechanical arm, wherein a steel belt is of a fan-shaped structure matched with a gap.
The hollow telescopic mechanical arm is characterized in that a plurality of clamping grooves are formed in the steel belt along the length direction of the steel belt, and a plurality of clamping blocks matched with the clamping grooves are arranged on the peripheral wall of the driving roller.
The invention relates to a hollow telescopic mechanical arm, wherein the driving roller and the driven roller are both made of elastic materials.
The invention relates to a hollow telescopic mechanical arm, wherein a shearing device comprises a base, a left arc-shaped cutting edge, a right arc-shaped cutting edge, a left shearing motor and a right shearing motor, a fruit inserting hole communicated with an inner cavity of an inner layer hollow telescopic cylinder is formed in the center of the base, the end parts of the left arc-shaped cutting edge and the right arc-shaped cutting edge are arranged at the edge of the fruit inserting hole, and the left shearing motor and the right shearing motor are arranged on the base and are respectively used for driving the left arc-shaped cutting edge and the right arc-shaped cutting edge to rotate for 180 degrees, so that fruit stalks are sheared at staggered positions.
The invention relates to a hollow telescopic mechanical arm, wherein a circle of comb teeth perpendicular to the front surface of a base are arranged at the edge of a fruit insertion hole.
After the structure is adopted, compared with the prior art, the hollow telescopic mechanical arm has the following advantages: the designed fixed joint, the waist joint, the elbow joint, the driving device I and the driving device II can realize the deflection and pitching motion of the hollow telescopic cylinder when picking fruits, thereby finishing the picking and the collection of the fruits in any direction within the working range of the mechanical arm; the fruits after the fruit stalks are cut fall into the inner cavity of the multi-stage inner layer hollow telescopic cylinder and slide out of the fruit falling holes formed in the side walls of the bottoms of the multi-stage inner layer hollow telescopic cylinder and the multi-stage outer layer hollow telescopic cylinder, so that the fruits are picked automatically. The fruit picker has the advantages of fewer parts, relatively simple and reliable structure, capability of moving in multiple directions in a large range when picking fruits, flexible action and high picking efficiency.
Drawings
FIG. 1 is a perspective view of a hollow, retractable arm of the present invention;
FIG. 2 is an enlarged perspective view of the telescopic drive mechanism of FIG. 1;
FIG. 3 is an enlarged perspective view of the steel strip hidden in FIG. 2;
FIG. 4 is an enlarged perspective view of the multi-stage inner hollow telescopic cylinder of FIG. 1;
FIG. 5 is a longitudinal sectional structural view of FIG. 4;
FIG. 6 is an enlarged perspective view of the multi-stage outer hollow telescopic cylinder of FIG. 1;
FIG. 7 is a longitudinal sectional structural view of FIG. 6;
FIG. 8 is a longitudinal cross-sectional view of the multi-stage inner hollow telescopic cylinder of FIG. 1 positioned in the inner chamber of the multi-stage outer hollow telescopic cylinder;
fig. 9 is an enlarged perspective view of the shearing apparatus of fig. 1.
Detailed Description
The hollow telescopic robot arm of the present invention will be described in further detail with reference to the accompanying drawings and the following detailed description:
as shown in fig. 1 to 7, in the present embodiment, the hollow telescopic robot arm of the present invention includes a fixed joint 1, a waist joint 2 mounted on the top of the fixed joint 1, and an elbow joint 3 mounted on the side wall of the waist joint 2, and further includes a shearing device 5, a multi-stage inner layer hollow telescopic cylinder 7, and a multi-stage outer layer hollow telescopic cylinder 4.
The multistage outer layer hollow telescopic cylinder 4 is sleeved outside the multistage inner layer hollow telescopic cylinder 7; the bottoms of the multistage inner layer hollow telescopic cylinder 7 and the multistage outer layer hollow telescopic cylinder 4 are both arranged on the elbow joint 3. A telescopic driving mechanism 6 for driving the multistage inner layer hollow telescopic cylinder 7 and the multistage outer layer hollow telescopic cylinder 4 to synchronously extend and retract is arranged in the elbow joint 3; a driving device I for driving the waist joint 2 to rotate around the circumference of the vertical axis of the waist joint is arranged in the fixed joint 1; a driving device II for driving the elbow joint 3 to rotate around the horizontal axis of the driving device II is arranged in the waist joint 2.
The driving device I and the driving device II are both the prior conventional technology and generally comprise a servo motor, a speed reducer and the like. When the telescopic device works, the driving device I acts to drive the waist joint 2 to move, so that the deflection of the hollow telescopic cylinder is realized; the driving device II acts to drive the elbow joint 3 to move, and pitching of the front part of the hollow telescopic cylinder is realized.
The shearing device 5 is arranged at the tops of the multistage inner layer hollow telescopic cylinder 7 and the multistage outer layer hollow telescopic cylinder 4 and is used for picking fruits. The fruit with the cut fruit stalks enters the inner cavity of the multi-stage inner layer hollow telescopic cylinder 7 under the action of self gravity and slides out of fruit falling holes 47 formed in the bottom side walls of the multi-stage inner layer hollow telescopic cylinder 7 and the multi-stage outer layer hollow telescopic cylinder 4.
Referring to fig. 2 and 3, the telescopic drive mechanism 6 includes a driving roller 64, a driven roller 63, a gear drive mechanism 66, a steel belt 61, and a reel 67 for winding up the steel belt 61. The winding drum 67 is internally provided with a coil spring, one end of the steel belt 61 is connected with the coil spring, and the other end of the steel belt 61 passes through a gap between the driving roller 64 and the driven roller 63 and a gap formed between the multi-stage inner layer hollow telescopic cylinder 7 and the multi-stage outer layer hollow telescopic cylinder 4 in sequence and then is connected with the top ends of the multi-stage inner layer hollow telescopic cylinder 7 and the multi-stage outer layer hollow telescopic cylinder 4.
The gear driving mechanism 66 comprises a driving gear 66-1, a driven gear 66-2, a bevel gear I66-3, a bevel gear II 66-4 and a transmission shaft 66-5. The driving gear 66-1 is connected with a rotating shaft of the speed reducing motor, the driven gear 66-2 is meshed with the driving gear 66-1, the bevel gear I66-3 is arranged on the driven gear 66-2, the bevel gear I66-3 is meshed with the bevel gear II 66-4, and the bevel gear II 66-4 and the driving roller 64 are both arranged on the transmission shaft 66-5. When the multi-stage outer layer hollow telescopic cylinder works, the power of the speed reducing motor is transmitted to the driving roller 64 through the driving gear 66-1, the driven gear 66-2, the bevel gear I66-3, the bevel gear II 66-4 and the transmission shaft 66-5 in sequence to rotate, so that the steel belt 61 clamped between the driving roller 64 and the driven roller 63 is conveyed outwards or inwards, and the multi-stage inner layer hollow telescopic cylinder 7 and the multi-stage outer layer hollow telescopic cylinder 4 are stretched.
In order to improve the stability of the multistage inner layer hollow telescopic cylinder 7 and the multistage outer layer hollow telescopic cylinder 4 during extension and retraction, the steel belts 61 are designed into three groups and evenly distributed along the circumference of the axial line of the multistage inner layer hollow telescopic cylinder 7 and the axis of the multistage outer layer hollow telescopic cylinder 4 at equal intervals, and correspondingly, the driving roller 64, the driven roller 63, the transmission shaft 66-5, the bevel gear II 66-4, the bevel gear I66-3 and the driven gear 66-2 are also designed into three groups so as to correspond to the three groups of steel belts 61. During operation, the driving gear 66-1 rotates forward and backward, so that the three groups of steel belts 61 stretch and retract simultaneously.
In this embodiment, the inner hollow telescopic cylinder 7 and the outer hollow telescopic cylinder 4 are both designed to be three-stage telescopic structures.
Referring to fig. 4 and 5, the inner hollow telescopic cylinder 7 is composed of an inner hollow cylinder i 71, an inner hollow cylinder ii 72 and an inner hollow cylinder iii 73. The inner hollow cylinder I71 is positioned in the inner cavity of the inner hollow cylinder II 72, and the inner hollow cylinder II 72 is positioned in the inner cavity of the inner hollow cylinder III 73; an inner sliding strip I711 is arranged on the outer wall of the inner hollow cylinder I71 along the self axis direction, an inner sliding groove II 722 for the inner sliding strip I711 to insert is formed in the side wall of the inner hollow cylinder II 72 along the self axis direction, inner sliding strips II 721 are arranged at two edges of the inner sliding groove II 722, and an inner sliding groove III 733 for the inner sliding strips II 721 to insert is formed in the side wall of the inner hollow cylinder III 73 along the self axis direction; after the inner sliding strip I711 is inserted into the inner sliding groove II 722 and the inner sliding strip II 721 is inserted into the inner sliding groove III 733, the outer wall of the inner sliding strip I711 and the outer wall of the inner sliding strip II 721 are flush with the outer wall of the inner hollow cylinder III 73.
An inner limiting round platform I712 is arranged at the bottom edge of the outer wall of the inner hollow cylinder I71, an inner limiting block II 723 used for preventing the inner limiting round platform I712 from being separated from the cavity of the inner hollow cylinder II 72 is arranged at the top edge of the inner wall of the inner hollow cylinder II 72, and the inner limiting block II 723 is installed on the inner hollow cylinder II 72 through a fastening screw, namely the detachable connecting structure. An inner limiting round table II 724 is arranged at the bottom edge of the outer wall of the inner hollow cylinder II 72, an inner limiting block III 734 for preventing the inner limiting round table II 724 from being separated from the cavity of the inner hollow cylinder III 73 is arranged at the top edge of the inner wall of the inner hollow cylinder III 73, and the inner limiting block III 734 is arranged on the inner hollow cylinder III 73 through fastening screws, namely the detachable connecting structure.
Referring to fig. 6 and 7, the outer layer hollow telescopic cylinder 4 is composed of an outer hollow cylinder i 41, an outer hollow cylinder ii 42 and an outer hollow cylinder iii 43. The outer hollow cylinder II 42 is positioned in the inner cavity of the outer hollow cylinder II 42, and the outer hollow cylinder II 42 is positioned in the inner cavity of the outer hollow cylinder I41; an outer sliding strip I411 opposite to the inner sliding strip I711 is arranged on the inner wall of the outer hollow cylinder I41 along the self axis direction, an outer sliding groove II 422 for the outer sliding strip I411 to insert is formed in the side wall of the outer hollow cylinder II 42 along the self axis direction, an outer sliding strip II 421 opposite to the inner sliding strip II 721 is arranged at two edges of the outer sliding groove II 422, a guide groove 435 is formed in the inner wall of the outer hollow cylinder III 43 along the self axis direction, and an outer sliding groove III 433 for the outer sliding strip II 421 to insert is formed in the guide groove 435; after the outer slide I411 is inserted into the outer slide groove II 422 and the outer slide II 421 is inserted into the outer slide groove III 433, the inner wall of the outer slide I411 and the inner wall of the outer slide II 421 are flush with the inner wall of the outer slide groove III 433.
Outer wall top border of outer cavity section of thick bamboo II 42 is equipped with outer spacing round platform II 423, and the inner wall bottom border of outer cavity section of thick bamboo I41 is equipped with the outer stopper I412 that is arranged in preventing that outer spacing round platform II 423 deviates from in the cavity of outer cavity section of thick bamboo I41, and outer stopper I412 is adorned on outer cavity section of thick bamboo I41 through fastening screw, promptly detachable connection structure. The outer wall top border of outer cavity section of thick bamboo III 43 is equipped with outer spacing round platform III 434, and the inner wall bottom border of outer cavity section of thick bamboo II 42 is equipped with and is used for preventing outer spacing round platform III 434 from following outer cavity II 424 of spacing stopper II 424 that deviate from in the cavity of outer cavity section of thick bamboo II 42, and outer stopper II 424 is adorned on outer cavity section of thick bamboo II 42 through fastening screw, promptly detachable connection structure.
With reference to fig. 8, gaps 610 for the steel belt 61 to penetrate are formed between the inner sliding strip i 711 and the outer sliding strip i 411, between the inner sliding strip ii 721 and the outer sliding strip ii 421, and between the outer wall of the inner hollow cylinder iii 73 and the guide groove 435, so that the radial bending of the steel belt 61 in a small range is limited, the load strength of the steel belt 61 is improved, and the stability of power transmission is guaranteed.
An inner fruit outlet hole III 731 is formed in the side wall of the bottom of the inner hollow cylinder III 73, an outer fruit outlet hole III 431 opposite to the inner fruit outlet hole III 731 is formed in the side wall of the bottom of the outer hollow cylinder III 43, and the inner fruit outlet hole III 731 and the outer fruit outlet hole III 431 jointly form a fruit falling hole 47.
An outer flange 432 used for being connected with the elbow joint 3 is arranged at the edge of the outer ring at the bottom of the outer hollow cylinder III 43, and an inner flange 732 used for being connected with the elbow joint 3 is arranged at the edge of the inner ring at the bottom of the inner hollow cylinder III 73.
Referring to fig. 2 and 3, the steel strip 61 has a fan-shaped structure that fits the gap 610, i.e., a structure that is convex on the outer side and concave on the inner side. The steel belt 61 is provided with a plurality of clamping grooves 62 along the length direction thereof, and the peripheral wall of the driving roller 64 is provided with a plurality of clamping blocks 65 matched with the clamping grooves 62. The driving roller 64 and the driven roller 63 are both made of elastic materials, so that the steel belt 61 is conveniently clamped for transmission, and slipping is avoided.
Referring to fig. 9, the shearing device 5 includes a base 56, a left arc blade 52, a right arc blade 51, a left shearing motor 54, and a right shearing motor 53. A fruit insertion hole 561 communicated with the inner cavity of the inner layer hollow telescopic cylinder 7 is formed in the center of the base 56, and the ends of the left arc-shaped cutting edge 52 and the right arc-shaped cutting edge 51 are arranged at the edge of the fruit insertion hole 561; the left cutting motor 54 and the right cutting motor 53 are arranged on the base 56 and are respectively used for driving the left arc-shaped cutting edge 52 and the right arc-shaped cutting edge 51 to rotate for 180 degrees, so that the fruit stalks of the fruits are cut at the staggered parts.
The edge of the fruit insertion hole 561 is provided with a circle of comb teeth 55 vertical to the front surface of the base 56, so that when picking fruits, the fruit stalks can be conveniently inserted, more areas of the fruits enter the inner cavity of the inner layer hollow telescopic cylinder 7, and the fruits with the fruit stalks cut off are prevented from sliding out of the inner layer hollow telescopic cylinder 7 and falling to the ground.
According to the invention, the steel belt 61 is arranged in the gap 610 formed between the inner and outer hollow telescopic cylinders, so that a plurality of matched inner and outer sliding strips I711 and 411 are always close to the surface of the steel belt 61 in the whole telescopic process of the hollow telescopic cylinder, the radial position of the steel belt 61 is limited, the steel belt is prevented from being bent in a small range, the load strength is improved, and the fully controllable steel belt driving process is realized. The shearing device 5 adopts two arc-shaped cutting edges which can respectively complete 180-degree rotation, so that the fruit stalks can be sheared at any position in a hemispherical surface in a matched manner. The whole mechanical arm can finish picking and collecting fruits in any direction within the working range by the mechanical arm under the coordination of the waist joint 2, the elbow joint 3, the three groups of steel belts 61 which can be coiled and the front shearing device 5. In addition, the invention can be applied to other scenes by replacing the front device, such as replacing a high-definition camera for pipeline monitoring shooting and the like, and has wide application range.
The working principle of the invention is as follows:
when the hollow telescopic cylinder is driven by the waist joint 2 and the elbow joint 3 to point to a certain preset direction, the speed reducing motor in the gear driving mechanism 66 rotates positively to drive the driving gear 66-1 to rotate clockwise, the driving roller 64 rotates clockwise after passing through each stage of transmission gears, the driven roller 63 rotates anticlockwise, under the clamping friction force between the two rollers and the meshing action of the clamping block 65 on the driving roller 64 and the clamping groove 62 on the steel belt 61, the three groups of steel belts 61 simultaneously extend out of the three winding drums 67, and the three-stage inner-layer hollow telescopic cylinder 7 and the three-stage outer-layer hollow telescopic cylinder 4 connected with the steel belts 61 extend simultaneously.
When the fruit is positioned in the fruit inserting hole 561 of the shearing device 5, the left and right shearing motors 54 and 53 drive the left and right arc-shaped blades 52 and 51 to rotate for 180 degrees respectively, so that the fruit stem is sheared, the fallen fruit enters the inner cavity of the inner layer hollow telescopic cylinder 7, slides out of the fruit falling hole 47 and reaches a fruit collecting position, and then the mechanical arm moves to the next position to pick other fruits.
After picking, the gear motor rotates reversely, the driving gear 66-1 and the driving roller 64 rotate anticlockwise, and the steel belt 61 is driven to shrink downwards until the steel belt returns to the initial state.
In the whole telescopic process, the steel belt 61 is always positioned in the gaps 610 formed between the inner slide bar I711 and the outer slide bar I411, between the inner slide bar II 721 and the outer slide bar II 421 and between the outer wall of the inner hollow cylinder III 73 and the guide groove 435, so that the steel belt cannot radially move due to local bending.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solutions of the present invention by those skilled in the art should fall within the protection scope of the present invention without departing from the design spirit of the present invention.
Claims (7)
1. The utility model provides a cavity telescopic arm, includes fixed joint (1), installs waist joint (2) at fixed joint (1) top and installs elbow joint (3) on waist joint (2) lateral wall, install in fixed joint (1) and be used for driving waist joint (2) around self vertical axis circumference pivoted drive arrangement I, install in waist joint (2) and be used for driving elbow joint (3) around self horizontal axis circumference pivoted drive arrangement II, its characterized in that:
the device comprises a shearing device (5), a multi-stage inner layer hollow telescopic cylinder (7) and a multi-stage outer layer hollow telescopic cylinder (4), wherein the multi-stage outer layer hollow telescopic cylinder (4) is sleeved outside the multi-stage inner layer hollow telescopic cylinder (7), the bottoms of the multi-stage inner layer hollow telescopic cylinder (7) and the multi-stage outer layer hollow telescopic cylinder (4) are both arranged on an elbow joint (3), and a telescopic driving mechanism (6) for driving the multi-stage inner layer hollow telescopic cylinder (7) and the multi-stage outer layer hollow telescopic cylinder (4) to synchronously telescope is arranged in the elbow joint (3);
the shearing device (5) is arranged at the tops of the multistage inner layer hollow telescopic cylinder (7) and the multistage outer layer hollow telescopic cylinder (4) and is used for picking fruits, the fruits with the cut fruit stalks enter the inner cavity of the multistage inner layer hollow telescopic cylinder (7) under the action of self gravity and slide out of a fruit falling hole (47) formed in the bottom side wall of the multistage inner layer hollow telescopic cylinder (7) and the multistage outer layer hollow telescopic cylinder (4);
the telescopic driving mechanism (6) comprises a driving roller (64), a driven roller (63), a gear driving mechanism (66), a steel belt (61) and a winding drum (67) for winding the steel belt (61), wherein a coil spring is arranged in the winding drum (67), one end of the steel belt (61) is connected with the coil spring, the other end of the steel belt (61) sequentially passes through a gap between the driving roller (64) and the driven roller (63) and a gap formed between the multi-stage inner-layer hollow telescopic cylinder (7) and the multi-stage outer-layer hollow telescopic cylinder (4) and then is connected with the top ends of the multi-stage inner-layer hollow telescopic cylinder (7) and the multi-stage outer-layer hollow telescopic cylinder (4), the driving roller (64) is connected with the gear driving mechanism (66), and the steel belt (61) clamped between the driving roller (64) and the driven roller (63) is conveyed outwards or inwards by driving the driving rotation of the driving roller (64), the extension and retraction of the multi-stage inner layer hollow telescopic cylinder (7) and the multi-stage outer layer hollow telescopic cylinder (4) are realized;
the inner layer hollow telescopic cylinder (7) consists of an inner hollow cylinder I (71), an inner hollow cylinder II (72) and an inner hollow cylinder III (73), the inner hollow cylinder I (71) is positioned in the inner cavity of the inner hollow cylinder II (72), the inner hollow cylinder II (72) is positioned in the inner cavity of the inner hollow cylinder III (73), an inner sliding strip I (711) is arranged on the outer wall of the inner hollow cylinder I (71) along the self axis direction, an inner sliding groove II (722) for inserting the inner sliding strip I (711) is arranged on the side wall of the inner hollow cylinder II (72) along the self axis direction, inner sliding grooves II (721) are arranged at two edges of the inner sliding groove II (722), an inner sliding groove III (733) for inserting the inner sliding strip II (721) is arranged on the side wall of the inner hollow cylinder III (73) along the self axis direction, and when the inner sliding strip I (711) is inserted into the inner sliding groove II (722) and the inner sliding groove II (721) is inserted into the inner sliding groove II (721), the outer wall of the inner sliding strip I (711) and the outer wall of the inner sliding strip II (721) are flush with the outer wall of the inner hollow cylinder III (73);
the outer layer hollow telescopic cylinder (4) consists of an outer hollow cylinder I (41), an outer hollow cylinder II (42) and an outer hollow cylinder III (43), the outer hollow cylinder III (43) is positioned in the inner cavity of the outer hollow cylinder II (42), the outer hollow cylinder II (42) is positioned in the inner cavity of the outer hollow cylinder I (41), an outer sliding strip I (411) opposite to the inner sliding strip I (711) is arranged on the inner wall of the outer hollow cylinder I (41) along the self axis direction, an outer sliding groove II (422) for inserting the outer sliding strip I (411) is arranged on the side wall of the outer hollow cylinder II (42) along the self axis direction, outer sliding strips II (421) opposite to the inner sliding strips II (721) are arranged at two edge positions of the outer sliding groove II (422), a guide groove (435) is formed on the inner wall of the outer hollow cylinder III (43) along the self axis direction, an outer sliding groove III (433) for inserting the outer sliding strips (421) is formed on the guide groove (435), after the outer sliding strip I (411) is inserted into the outer sliding groove II (422) and the outer sliding strip II (421) is inserted into the outer sliding groove III (433), the inner wall of the outer sliding strip I (411) and the inner wall of the outer sliding strip II (421) are both level with the inner wall of the outer sliding groove III (433);
gaps (610) for the steel belt (61) to penetrate through are formed between the inner sliding strip I (711) and the outer sliding strip I (411), between the inner sliding strip II (721) and the outer sliding strip II (421) and between the outer wall of the inner hollow cylinder III (73) and the guide groove (435);
an inner fruit outlet hole III (731) is formed in the side wall of the bottom of the inner hollow cylinder III (73), and an outer fruit outlet hole III (431) opposite to the inner fruit outlet hole III (731) is formed in the side wall of the bottom of the outer hollow cylinder III (43).
2. A hollow telescopic robot arm as claimed in claim 1, further comprising: the inner layer hollow telescopic cylinder (7) and the outer layer hollow telescopic cylinder (4) are both of three-stage telescopic structures.
3. A hollow telescopic robot arm as claimed in claim 2, further comprising: the steel belt (61) is of a fan-shaped structure matched with the gap (610).
4. A hollow telescopic robot arm as claimed in any one of claims 1 to 3, further comprising: the steel belt (61) is provided with a plurality of clamping grooves (62) along the length direction, and the peripheral wall of the driving roller (64) is provided with a plurality of clamping blocks (65) matched with the clamping grooves (62).
5. A hollow telescopic robot arm as claimed in claim 4, wherein: the driving roller (64) and the driven roller (63) are both made of elastic materials.
6. A hollow telescopic robot arm as claimed in any one of claims 1 to 3, further comprising: shearing mechanism (5) are including base (56), left arc cutting edge (52), right arc cutting edge (51), left shearing motor (54) and right shearing motor (53), the communicating fruit patchhole (561) of inner chamber with inlayer cavity telescopic cylinder (7) is seted up in the central point department of base (56), the border department at fruit patchhole (561) is adorned to the tip of left arc cutting edge (52) and right arc cutting edge (51), left side shearing motor (54) and right shearing motor (53) dress are on base (56), are used for driving respectively left and right arc cutting edge (52, 51) and carry out 180 rotations to cut fruit stalk at crisscross position.
7. A hollow telescopic robot arm as claimed in claim 6, further comprising: the edge of the fruit inserting hole (561) is provided with a circle of comb teeth (55) which are vertical to the front surface of the base (56).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010873994.3A CN111972130B (en) | 2020-08-26 | 2020-08-26 | Hollow telescopic mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010873994.3A CN111972130B (en) | 2020-08-26 | 2020-08-26 | Hollow telescopic mechanical arm |
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| CN111972130A CN111972130A (en) | 2020-11-24 |
| CN111972130B true CN111972130B (en) | 2022-07-01 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| EP4288249A1 (en) * | 2022-03-29 | 2023-12-13 | Srivastava, Sudhir Prem | A telescopic column assembly in a robotic arm system |
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| CN105082177A (en) * | 2015-07-31 | 2015-11-25 | 广东省自动化研究所 | Multi-section position self-detection mechanical arm |
| CN107787679A (en) * | 2017-12-08 | 2018-03-13 | 大连海洋大学 | Portable telescopic fruits picking mechanical hand |
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| JP2001300883A (en) * | 2000-04-20 | 2001-10-30 | Kawasaki Heavy Ind Ltd | Robot |
| JP6723366B2 (en) * | 2016-11-10 | 2020-07-15 | シェンチェン マイルボット ロボティクス カンパニー リミテッド | Flexible actuators, robot joints, robots and exoskeleton robots |
| CN108401674B (en) * | 2018-05-30 | 2023-11-03 | 湖北第二师范学院 | Self-triggering electric fruit-shearing fruit picking device |
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| WO1994001254A1 (en) * | 1992-07-13 | 1994-01-20 | Friedman, Mark, M. | Extendible and retractable device |
| CN105082177A (en) * | 2015-07-31 | 2015-11-25 | 广东省自动化研究所 | Multi-section position self-detection mechanical arm |
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