CN112357551A - Vegetable potted seedling carrying robot - Google Patents
Vegetable potted seedling carrying robot Download PDFInfo
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- CN112357551A CN112357551A CN202011087621.XA CN202011087621A CN112357551A CN 112357551 A CN112357551 A CN 112357551A CN 202011087621 A CN202011087621 A CN 202011087621A CN 112357551 A CN112357551 A CN 112357551A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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Abstract
The invention discloses a vegetable potted seedling carrying robot, which comprises a frame; the connecting rod mechanical arm assembly controls the clamping jaw assembly to perform plane motion in a horizontal plane; the swinging component is used for controlling the clamping jaw component to swing around a rotating shaft in the vertical direction; the pitching assembly is used for controlling the clamping jaw assembly to perform pitching adjustment around a rotating shaft in the horizontal direction; the clamping jaw assembly is used for clamping potted vegetable seedlings; the frame is provided with a lifting component for controlling the connecting rod mechanical arm component to perform lifting motion. The robot has five total degrees of freedom, can satisfy the diversified needs of carrying out such as the translation in clamping jaw subassembly swing, every single move, the plane, the lift of vertical direction, and the setting of clamping jaw subassembly can realize gripping and unclamping the clamp that vegetables are cultivated in a pot simultaneously, consequently, the robot of this application can replace the artifical transport that realizes vegetables are cultivated in a pot, reduces intensity of labour, and the setting of a plurality of degrees of freedom can improve efficiency and the precision of carrying vegetables are cultivated in a pot.
Description
Technical Field
The invention belongs to the technical field of potted plant carrying, and particularly relates to a vegetable potted plant seedling carrying robot.
Background
With the continuous improvement of living standard of people, part of consumers show the needs of seeking new and special vegetables, and some novel planting modes are gradually accepted by people. Many citizens want to plant some vegetables which can be enjoyed and eaten, but the local seedling raising and soil matching are inconvenient for the citizens. Therefore, in order to meet the requirement, vegetable farmers plant vegetables in the suburb by a pot culture method and transport the vegetables to the city.
Wherein, the potted vegetable seedlings need to be carried to a transport vehicle before being transported. At present, the mode of manual handling is mostly adopted to the transport of vegetables seedling cultivated in a pot, and intensity of labour is great, work efficiency is lower.
Therefore, it is required to design a robot for transporting potted vegetable seedlings, which can replace manual transportation.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a vegetable potted seedling carrying robot.
In order to achieve the purpose, the invention adopts the following technical scheme:
a vegetable potted seedling carrying robot comprises
A frame for supporting;
the connecting rod mechanical arm assembly is used for controlling the clamping jaw assembly to perform plane motion in a horizontal plane and is arranged on the rack;
the swinging assembly is used for controlling the clamping jaw assembly to swing around a rotating shaft in the vertical direction and is arranged on the connecting rod mechanical arm assembly;
the pitching assembly is used for controlling the clamping jaw assembly to perform pitching adjustment around a rotating shaft in the horizontal direction and is connected with the swinging assembly;
the clamping jaw assembly is used for clamping potted vegetable seedlings; the clamping jaw assembly comprises a substrate, and two clamping jaws are arranged on the substrate; the base plate is provided with a driving assembly for controlling the two clamping jaws to synchronously move in the opposite direction or in the opposite direction;
and the rack is provided with a lifting assembly for controlling the connecting rod mechanical arm assembly to perform lifting motion.
Preferably, the rack comprises a base, a U-shaped support is arranged on the upper portion of the base, and the lower portions of two side plates of the U-shaped support are fixedly connected with the outer end faces of two sides of the base.
Preferably, the connecting rod mechanical arm assembly comprises four mechanical arms which are sequentially hinged, the end parts of the mechanical arms at the two ends are vertically and fixedly connected with an output shaft of the speed reducer, and an input shaft of the speed reducer is coaxially and fixedly connected with a rotating shaft of the driving motor;
the lifting assembly comprises a lifting motor, a lifting screw rod, a lifting plate and a guide shaft; the lifting motor is fixedly arranged on the base, the end part of a rotating shaft of the lifting motor is upwards coaxially and fixedly connected with the bottom end of a lifting screw rod, and the top end of the lifting screw rod is rotatably connected with a top plate of the U-shaped support; the two guide shafts are respectively arranged on two sides of the lifting screw rod, and the upper end and the lower end of each guide shaft are respectively connected with a top plate and a base of the U-shaped support;
the lifting plate is provided with a lifting nut in threaded fit with the lifting screw rod, and the lifting plate is provided with a linear bearing in sliding fit with a corresponding guide shaft;
the top end of the shell of the driving motor is connected with the bottom end of the lifting plate, and the bottom end of the shell of the speed reducer is connected with the top end of the lifting plate.
Preferably, two sides of a top plate of the U-shaped support are respectively provided with a lifting through hole for a corresponding speed reducer to pass through.
Preferably, the swing assembly comprises a swing steering engine, and the end part of an output shaft of the swing steering engine is downwards coaxially and fixedly connected with a swing rotating shaft of which the central axis extends along the vertical direction;
the swing rotating shaft is a hinged shaft between the two middle mechanical arms;
the swing steering engine is fixedly arranged on the upper parts of the two middle mechanical arms;
the bottom end of the swing rotating shaft is connected with the pitching assembly.
Preferably, the pitching assembly comprises a pitching steering engine, and the pitching steering engine is fixedly connected with the bottom end of the swinging rotating shaft through a steering engine fixing plate; an output shaft of the pitching steering engine is coaxially and fixedly connected with a pitching rotating shaft of which the central axis extends along the horizontal direction; the end part of the pitching rotating shaft is fixedly connected with the substrate;
the extending direction of the central axis of the pitching rotating shaft is consistent with the clamping direction of the two clamping jaws.
Preferably, the driving assembly comprises a clamping motor and two clamping gears which are symmetrically arranged and are in gear engagement connection; the central shaft of the clamping gear is rotationally connected with the base plate;
the clamping motor is fixedly arranged at the upper part of the substrate, and a rotating shaft of the clamping motor is downwards coaxially and fixedly connected with one of the clamping gears;
a gear rod extending along the radial direction is arranged on the outer end face of the clamping gear;
the end part of the gear rod is hinged with one end of a V-shaped connecting rod, and the other end of the V-shaped connecting rod is connected with a corresponding clamping jaw;
the middle part of the V-shaped connecting rod is hinged with one end of the auxiliary rod, and the other end of the auxiliary rod is hinged with the base plate;
the gear rod, the V-shaped connecting rod and the auxiliary rod which are connected with one clamping gear are symmetrically arranged with the gear rod, the V-shaped connecting rod and the auxiliary rod which are connected with the other clamping gear.
Preferably, the rotation connection point of the clamping gear and the base plate, the hinge connection point of the gear rod and the V-shaped connecting rod on the clamping gear, the hinge connection point of the V-shaped connecting rod and the auxiliary rod, and the hinge connection point of the auxiliary rod and the base plate are sequentially connected to form a parallelogram.
The invention has the beneficial effects that:
the vegetable potted seedling carrying robot enables the clamping jaw assembly to perform plane motion through the connecting rod mechanical arm assembly, so that the clamping jaw assembly has two degrees of freedom; the swinging assembly enables the clamping jaw assembly to swing around the rotating shaft in the vertical direction, so that the clamping jaw assembly has a third degree of freedom; the pitching assembly enables the clamping jaw assembly to perform pitching adjustment around the rotating shaft in the horizontal direction, so that the clamping jaw assembly has a fourth degree of freedom; the lifting assembly enables the connecting rod mechanical arm assembly and the clamping jaw assembly to perform vertical lifting movement, so that the clamping jaw assembly has a fifth degree of freedom; consequently, the total five degrees of freedom of this application robot can satisfy the diversified needs of carrying out such as the lift of clamping jaw subassembly swing, every single move, translation in the plane, vertical direction, and clamping jaw assembly's setting can realize gripping and unclamping the clamp that vegetables are cultivated in a pot simultaneously, consequently this application robot can replace the artifical transport that realizes vegetables are cultivated in a pot, reduces intensity of labour, and the setting of a plurality of degrees of freedom can improve efficiency and the precision of carrying vegetables are cultivated in a pot.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a schematic perspective view of a vegetable potted seedling transfer robot according to the present invention;
FIG. 2 is a schematic plan view of the vegetable potted seedling transfer robot according to the present invention;
FIG. 3 is an enlarged view of A in FIG. 2
FIG. 4 is a bottom view of the vegetable potted seedling transfer robot according to the present invention;
FIG. 5 is an enlarged view of B in FIG. 4;
FIG. 6 is a front view schematically showing the construction of a vegetable pot seedling carrying robot according to the present invention;
wherein the content of the first and second substances,
1-a frame, 11-a base, 12-a U-shaped bracket and 121-a lifting through hole;
2-connecting rod mechanical arm assembly, 21-mechanical arm, 22-speed reducer, 23-driving motor;
3-clamping jaw assembly, 31-base plate, 32-clamping jaw, 33-clamping motor, 34-clamping gear, 341-gear rod, 35-V-shaped connecting rod and 36-auxiliary rod;
4-a swinging component, 41-a swinging steering engine;
5-a pitching assembly, 51-a pitching steering engine, 52-a steering engine fixing plate and 53-a pitching rotating shaft;
6-lifting component, 61-lifting motor, 62-lifting screw rod, 63-lifting plate, 631-lifting screw nut, 632-linear bearing and 64-guide shaft.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In the present invention, terms such as "upper", "lower", "bottom", "top", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only terms of relationships determined for convenience in describing structural relationships of the components or elements of the present invention, and do not particularly indicate any components or elements of the present invention, and are not to be construed as limiting the present invention.
In the present invention, terms such as "connected" and "connecting" should be interpreted broadly, and mean either a fixed connection or an integral connection or a detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be determined according to specific situations by persons skilled in the relevant scientific or technical field, and are not to be construed as limiting the present invention.
The invention is further illustrated with reference to the following figures and examples.
As shown in FIG. 1, a vegetable potted seedling transfer robot comprises
A frame 1 for supporting;
the connecting rod mechanical arm assembly 2 is used for controlling the clamping jaw assembly 3 to perform plane motion in a horizontal plane, and the connecting rod mechanical arm assembly 2 is arranged on the rack 1; the connecting rod mechanical arm assembly 2 enables the clamping jaw assembly 3 to perform plane motion, so that the clamping jaw assembly 2 has two degrees of freedom;
the swing assembly 4 is used for controlling the clamping jaw assembly 3 to swing around a rotating shaft in the vertical direction, and the swing assembly 4 is arranged on the connecting rod mechanical arm assembly 2; the swing assembly 4 enables the clamping jaw assembly 3 to swing around a rotating shaft in the vertical direction, so that the clamping jaw assembly 3 has a third degree of freedom;
a pitching assembly 5 for controlling the clamping jaw assembly 3 to perform pitching adjustment around a rotating shaft in the horizontal direction, wherein the pitching assembly is connected with the swinging assembly 4; the pitching assembly 5 enables the clamping jaw assembly 3 to perform pitching adjustment around the rotating shaft in the horizontal direction, so that the clamping jaw assembly 3 has a fourth degree of freedom;
a clamping jaw assembly 3 for clamping potted vegetable seedlings; the clamping jaw assembly 3 comprises a base plate 31, and two clamping jaws 32 are arranged on the base plate 31; the base plate 31 is provided with a driving assembly for controlling the two clamping jaws 32 to synchronously move in the opposite direction or synchronously move in the opposite direction;
the rack 1 is provided with a lifting assembly 6 for controlling the connecting rod mechanical arm assembly 2 to perform lifting movement; the lifting assembly 6 enables the connecting rod mechanical arm assembly 2 and the clamping jaw assembly 3 to perform lifting movement in the vertical direction, so that the clamping jaw assembly 3 has a fifth degree of freedom.
Example 2:
on the basis of embodiment 1, the frame 1 includes a base 11, a U-shaped bracket 12 is disposed on an upper portion of the base 11, and lower portions of two side plates of the U-shaped bracket 12 are fixedly connected with outer end faces of two sides of the base 11.
Preferably, as shown in fig. 1, the link mechanical arm assembly 2 includes four mechanical arms 21 sequentially hinged to each other, ends of the mechanical arms 21 at two ends are vertically and fixedly connected to an output shaft of a speed reducer 22, and an input shaft of the speed reducer 22 is coaxially and fixedly connected to a rotating shaft of a driving motor 23; four mechanical arms 21 are positioned at the upper part of the U-shaped bracket 12;
as shown in fig. 6, the lifting assembly 6 includes a lifting motor 61, a lifting screw 62, a lifting plate 63, and a guide shaft 64; the lifting motor 61 is fixedly arranged on the base 11, the end part of a rotating shaft of the lifting motor 61 is upwards coaxially and fixedly connected with the bottom end of the lifting screw 62, and the top end of the lifting screw 62 is rotatably connected with a top plate of the U-shaped support 12; the number of the guide shafts 64 is two, the guide shafts are respectively arranged on two sides of the lifting screw rod 62, and the upper end and the lower end of each guide shaft 64 are respectively connected with the top plate and the base 11 of the U-shaped support 12;
the lifting plate 63 is provided with a lifting nut 631 in threaded fit with the lifting screw 62, and the lifting plate 63 is provided with a linear bearing 632 in sliding fit with the corresponding guide shaft 64;
the top end of the shell of the driving motor 23 is connected with the bottom end of the lifting plate 63, and the bottom end of the shell of the speed reducer 22 is connected with the top end of the lifting plate 63.
Under the screw-thread fit of lifting screw 62, lifting nut 631 and the spacing cooperation of slip of guiding axle 64, linear bearing 632, when elevator motor 61 started, can realize the oscilaltion motion of lifter plate 63 to drive connecting rod arm component 2 and carry out elevating movement.
Preferably, the two sides of the top plate of the U-shaped bracket 12 are respectively provided with a lifting through hole 121 through which the corresponding speed reducer 22 passes.
Example 3:
on the basis of the embodiment 2, the swing assembly 4 comprises a swing steering engine 41, and the end part of an output shaft of the swing steering engine 41 is downwards coaxially and fixedly connected with a swing rotating shaft of which the central axis extends along the vertical direction;
the swing rotating shaft is a hinged shaft between the two middle mechanical arms 21;
the swing steering engine 41 is fixedly arranged at the upper parts of the two middle mechanical arms 21;
the bottom end of the swing rotating shaft is connected with the pitching assembly 5.
The swing rotating shaft is the rotating shaft in the vertical direction in embodiment 1, and when the swing steering engine 41 is started, the swing rotating shaft is driven to rotate, and the swing rotating shaft drives the pitching assembly 5 and the clamping jaw assembly 3 to perform swing motion around the swing rotating shaft.
Example 4:
on the basis of the embodiment 3, the pitching assembly 5 comprises a pitching steering engine 51, and the pitching steering engine 51 is fixedly connected with the bottom end of the swinging rotating shaft through a steering engine fixing plate 52; an output shaft of the pitching steering engine 51 is coaxially and fixedly connected with a pitching rotating shaft 53 of which the central axis extends along the horizontal direction; the end part of the pitching rotating shaft 53 is fixedly connected with the substrate 31;
the direction of extension of the central axis of the pitch rotation shaft 53 coincides with the clamping direction of the two clamping jaws 32.
Example 5:
on the basis of the embodiment 1, as shown in fig. 2 to 5, the driving assembly comprises a clamping motor 33 and two symmetrically arranged clamping gears 34 which are in gear engagement connection; the central shaft of the clamping gear 34 is rotationally connected with the base plate 31;
the clamping motor 33 is fixedly arranged at the upper part of the base plate 31, and a rotating shaft of the clamping motor 33 is downwards coaxially and fixedly connected with one of the clamping gears 34;
a gear rod 341 extending along the radial direction is arranged on the outer end surface of the clamping gear 34;
the end of the gear rod 341 is hinged with one end of a V-shaped connecting rod 35, and the other end of the V-shaped connecting rod 35 is connected with a corresponding clamping jaw 32;
the middle part of the V-shaped connecting rod 35 is hinged with one end of an auxiliary rod 36, and the other end of the auxiliary rod 36 is hinged with the base plate 31;
the gear rod 341, the V-shaped link 35, and the auxiliary rod 36 connected to one clamp gear 34 are symmetrically disposed with respect to the gear rod 341, the V-shaped link 35, and the auxiliary rod 36 connected to the other clamp gear 34.
Preferably, the rotation connection point of the clamping gear 34 and the base plate 31, the hinge connection point of the gear rod 341 and the V-shaped link 35 on the clamping gear 34, the hinge connection point of the V-shaped link 35 and the auxiliary rod 36, and the hinge connection point of the auxiliary rod 36 and the base plate 31 are sequentially connected to form a parallelogram.
The clamping motor 33 is started to drive one of the clamping gears 34 to rotate, and the two clamping gears 34 rotate in opposite directions due to meshing connection between the two clamping gears 34; as shown in fig. 5, when the clamp motor 33 is started to rotate the left clamp gear 34 clockwise and the right clamp gear 34 counterclockwise, the gear rod 341 on the left clamp gear 34 rotates clockwise around the rotation axis of the left clamp gear 34, so that the auxiliary rod 36 on the side rotates clockwise around the hinge axis of the auxiliary rod 36 and the base plate 31, thereby drawing the left V-shaped link 35 and the clamping jaw 32 thereon to move to the right; meanwhile, the gear rod 341 on the right clamping gear 34 rotates counterclockwise around the rotation axis of the right clamping gear 34, so that the auxiliary rod 36 on the side rotates counterclockwise around the hinge axis of the auxiliary rod 36 and the base plate 31, thereby dragging the right V-shaped link 35 and the clamping jaws 32 thereon to move leftward, thereby realizing the synchronous opposite movement of the two clamping jaws 32, so as to clamp the vegetable pot. Similarly, when the clamping motor 33 is activated in reverse, a synchronous back-to-back movement of the two jaws 32 is achieved to release the vegetable pot.
The vegetable potted seedling carrying robot enables the clamping jaw assembly 3 to perform plane motion through the connecting rod mechanical arm assembly 2, so that the clamping jaw assembly 2 has two degrees of freedom; the swing assembly 4 enables the clamping jaw assembly 3 to swing around a rotating shaft in the vertical direction, so that the clamping jaw assembly 3 has a third degree of freedom; the pitching assembly 5 enables the clamping jaw assembly 3 to perform pitching adjustment around the rotating shaft in the horizontal direction, so that the clamping jaw assembly 3 has a fourth degree of freedom; the lifting assembly 6 enables the connecting rod mechanical arm assembly 2 and the clamping jaw assembly 3 to perform vertical lifting movement, so that the clamping jaw assembly 3 has a fifth degree of freedom; consequently, the total five degrees of freedom of this application robot can satisfy the diversified needs of carrying out such as the lift of 3 swings of clamping jaw assembly, every single move, translation in the plane, vertical direction, and clamping jaw assembly 3's setting simultaneously can realize gripping and unclamping the clamp of vegetables cultivated in a pot, consequently this application robot can replace the artifical transport that realizes vegetables cultivated in a pot, reduces intensity of labour, and the setting of a plurality of degrees of freedom can improve efficiency and the precision of carrying vegetables cultivated in a pot.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the present invention, and it should be understood by those skilled in the art that various modifications and changes may be made without inventive efforts based on the technical solutions of the present invention.
Claims (8)
1. A vegetable potted seedling carrying robot is characterized by comprising
A frame for supporting;
the connecting rod mechanical arm assembly is used for controlling the clamping jaw assembly to perform plane motion in a horizontal plane and is arranged on the rack;
the swinging assembly is used for controlling the clamping jaw assembly to swing around a rotating shaft in the vertical direction and is arranged on the connecting rod mechanical arm assembly;
the pitching assembly is used for controlling the clamping jaw assembly to perform pitching adjustment around a rotating shaft in the horizontal direction and is connected with the swinging assembly;
the clamping jaw assembly is used for clamping potted vegetable seedlings; the clamping jaw assembly comprises a substrate, and two clamping jaws are arranged on the substrate; the base plate is provided with a driving assembly for controlling the two clamping jaws to synchronously move in the opposite direction or in the opposite direction;
and the rack is provided with a lifting assembly for controlling the connecting rod mechanical arm assembly to perform lifting motion.
2. The robot for transferring potted vegetable seedlings as claimed in claim 1, wherein the frame comprises a base, a U-shaped bracket is arranged on the upper part of the base, and the lower parts of two side plates of the U-shaped bracket are fixedly connected with the outer end faces of two sides of the base.
3. The robot for carrying potted vegetable seedlings as claimed in claim 2, wherein the link arm assembly comprises four arms hinged in sequence, the ends of the arms at both ends are vertically and fixedly connected with the output shaft of the reducer, and the input shaft of the reducer is coaxially and fixedly connected with the rotating shaft of the driving motor;
the lifting assembly comprises a lifting motor, a lifting screw rod, a lifting plate and a guide shaft; the lifting motor is fixedly arranged on the base, the end part of a rotating shaft of the lifting motor is upwards coaxially and fixedly connected with the bottom end of a lifting screw rod, and the top end of the lifting screw rod is rotatably connected with a top plate of the U-shaped support; the two guide shafts are respectively arranged on two sides of the lifting screw rod, and the upper end and the lower end of each guide shaft are respectively connected with a top plate and a base of the U-shaped support;
the lifting plate is provided with a lifting nut in threaded fit with the lifting screw rod, and the lifting plate is provided with a linear bearing in sliding fit with a corresponding guide shaft;
the top end of the shell of the driving motor is connected with the bottom end of the lifting plate, and the bottom end of the shell of the speed reducer is connected with the top end of the lifting plate.
4. The robot for transferring potted vegetable seedlings as claimed in claim 3, wherein the U-shaped frame has lifting through holes through which the corresponding speed reducer passes, respectively provided at both sides of a top plate thereof.
5. The vegetable pot seedling carrying robot as claimed in claim 3, wherein the swinging assembly comprises a swinging steering engine, and the end part of an output shaft of the swinging steering engine is downwards coaxially and fixedly connected with a swinging rotating shaft of which the central axis extends along the vertical direction;
the swing rotating shaft is a hinged shaft between the two middle mechanical arms;
the swing steering engine is fixedly arranged on the upper parts of the two middle mechanical arms;
the bottom end of the swing rotating shaft is connected with the pitching assembly.
6. The vegetable pot seedling carrying robot as claimed in claim 5, wherein the pitching assembly comprises a pitching steering engine, and the pitching steering engine is fixedly connected with the bottom end of the swinging rotating shaft through a steering engine fixing plate; an output shaft of the pitching steering engine is coaxially and fixedly connected with a pitching rotating shaft of which the central axis extends along the horizontal direction; the end part of the pitching rotating shaft is fixedly connected with the substrate;
the extending direction of the central axis of the pitching rotating shaft is consistent with the clamping direction of the two clamping jaws.
7. The vegetable pot seedling transfer robot as claimed in claim 1, wherein the driving assembly comprises a clamping motor and two symmetrically arranged clamping gears in gear engagement connection; the central shaft of the clamping gear is rotationally connected with the base plate;
the clamping motor is fixedly arranged at the upper part of the substrate, and a rotating shaft of the clamping motor is downwards coaxially and fixedly connected with one of the clamping gears;
a gear rod extending along the radial direction is arranged on the outer end face of the clamping gear;
the end part of the gear rod is hinged with one end of a V-shaped connecting rod, and the other end of the V-shaped connecting rod is connected with a corresponding clamping jaw;
the middle part of the V-shaped connecting rod is hinged with one end of the auxiliary rod, and the other end of the auxiliary rod is hinged with the base plate;
the gear rod, the V-shaped connecting rod and the auxiliary rod which are connected with one clamping gear are symmetrically arranged with the gear rod, the V-shaped connecting rod and the auxiliary rod which are connected with the other clamping gear.
8. The robot for transferring potted vegetable seedlings as set forth in claim 7, wherein the pivot connection point of the clamp gear to the base plate, the hinge connection point of the gear rod to the V-shaped link on the clamp gear, the hinge connection point of the V-shaped link to the auxiliary rod, and the hinge connection point of the auxiliary rod to the base plate are connected in sequence to form a parallelogram.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202011087621.XA CN112357551A (en) | 2020-10-13 | 2020-10-13 | Vegetable potted seedling carrying robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011087621.XA CN112357551A (en) | 2020-10-13 | 2020-10-13 | Vegetable potted seedling carrying robot |
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| CN112357551A true CN112357551A (en) | 2021-02-12 |
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| CN202011087621.XA Pending CN112357551A (en) | 2020-10-13 | 2020-10-13 | Vegetable potted seedling carrying robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113581311A (en) * | 2021-07-09 | 2021-11-02 | 佛山科学技术学院 | Holding type automatic lifting manipulator |
| CN116852398A (en) * | 2023-09-04 | 2023-10-10 | 广东电网有限责任公司东莞供电局 | Multifunctional mobile robot for cable pit inspection operation |
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Application publication date: 20210212 |