CN113524220A

CN113524220A - Multi-degree-of-freedom picking mechanical arm

Info

Publication number: CN113524220A
Application number: CN202110892411.6A
Authority: CN
Inventors: 敬谦
Original assignee: Longdong University
Current assignee: Longdong University
Priority date: 2021-08-04
Filing date: 2021-08-04
Publication date: 2021-10-22

Abstract

The invention belongs to the technical field of agricultural picking, and particularly relates to a multi-degree-of-freedom picking mechanical arm which comprises a first mechanical arm, a second joint and a collecting box, wherein one end of the first mechanical arm is fixed with a robot through a rivet, the other end of the first mechanical arm is fixed with the first joint, the rear end of the first joint is provided with an oil inlet pipe for conveying lubricating oil, the lower end of the first joint is provided with the first joint for returning oil, the first joint is connected with the second mechanical arm through a gear shaft, a motor drives a second connecting rod to move through the arrangement of the second joint, the second connecting rod drives a T-shaped block to stretch through the first connecting rod, the arrangement is convenient for adjusting the distance between claws according to the shape of fruits and vegetables, the picking efficiency is improved, a box sleeve is arranged in the collecting box through the arrangement of the collecting box, the lower end of the box sleeve is connected with a buffer solution through the second fixing block, and the arrangement plays a role of shock absorption, the fruit after will picking is placed in the collecting box, prevents effectively that the fruit vegetables from causing the damage because of vibrations.

Description

Multi-degree-of-freedom picking mechanical arm

Technical Field

The invention belongs to the technical field of agricultural picking, and particularly relates to a multi-degree-of-freedom picking mechanical arm.

Background

With the development of high technology, industrial robots are more and more used in production, developed countries are aware of mechanical automation devices used in agricultural production in the 70 th 20 th century, and a large amount of capital is invested to start research and development of agricultural robots, so that the agricultural robots with automation and intelligence solve the problems of labor shortage, poor labor environment and the like to a certain extent, the fruit and vegetable picking efficiency is improved, the economic benefit of fruit growers is improved, in recent years, the picking robots in China are rapidly developed, the technology is continuously improved, and products in the aspect are produced.

Original picking robot is when picking, the shrink of claw not being convenient for, the efficiency of picking is not high, and the claw adopts steel material basically, hardness is far above the fruit vegetables, and still there is not fine collection device, need the manual work to collect constantly, and the damage appears very easily in the food of fruit class, be unfavorable for selling and keeping fresh of food, because the arm is operating always, the wearing and tearing of joint department are serious, lubricated liquid rubs down for a long time, the temperature rises, and impurity is still many, further improve equipment's wearing and tearing, the life-span of using is influenced.

Disclosure of Invention

In order to solve the problems in the prior art, the invention provides a multi-degree-of-freedom picking mechanical arm which has the characteristics of simple structure, compact connection, high picking efficiency, convenience for storing fruits and vegetables and better lubricating effect.

In order to achieve the purpose, the invention provides the following technical scheme: a multi-degree-of-freedom picking mechanical arm comprises a first mechanical arm, a second joint and a collecting box, wherein one end of the first mechanical arm is fixed with a robot through a rivet, the other end of the first mechanical arm is fixed with the first joint, an oil inlet pipe for conveying lubricating oil is arranged at the rear end of the first joint, the lower end of the first joint is provided with the first joint for oil return, the first joint is connected with the second mechanical arm through a gear shaft, a first fixing block for connection transmission is arranged at the second mechanical arm and is connected with the first mechanical arm through a transmission shaft, a chute for limiting and fixing the collecting box is arranged at the lower end of the first fixing block, the first fixing block is connected with the collecting box through the chute, a box sleeve for protection is arranged in the collecting box, a buffer solution for buffering is arranged at the lower end of the box sleeve, and the other end of the second mechanical arm is connected with the second joint, be equipped with the rectangular channel that is used for a connecting rod concertina effect in No. two joints, the outer end is equipped with the square groove that is used for going out oil pipe removal effect, No. two joints are connected with No. two connecting rods through the rectangular channel, No. two connecting rods are connected with the T-shaped piece through a connecting rod, the T-shaped piece is connected with the rubber pad through the claw.

As a preferred technical scheme of the multi-degree-of-freedom picking mechanical arm, one end of the second connecting rod is electrically connected with the motor, the other end of the second connecting rod is connected with the first connecting rod through the rotating shaft, the first connecting rod is connected with the T-shaped block through the rotating shaft, the outer end of the T-shaped block is fixedly connected with the claw, a limiting groove used for the telescopic action of the connecting pipe is arranged at the claw, a connecting spring used for the reset action is arranged in the limiting groove, and the connecting spring is connected with the rubber pad through the connecting pipe.

As the multi-degree-of-freedom picking mechanical arm optimization technical scheme, a box sleeve is sleeved in a collecting box, soft rubber for buffering is sleeved on the outer layer of the box sleeve, the lower end of the box sleeve is fixedly connected with a second fixing block, a sealing sleeve for sealing is arranged at the joint of the second fixing block and the collecting box, and the lower end of the second fixing block is connected with a buffer solution.

According to the preferable technical scheme of the multi-degree-of-freedom picking mechanical arm, the oil outlet pipe is connected with the connecting groove through the first joint, an outer gear mechanism used for being in meshing transmission with the inner gear mechanism is arranged in the connecting groove, the outer gear mechanism is connected with the gear shaft through the inner gear mechanism, the middle of the gear shaft is fixed with the second mechanical arm through welding, and the lower end of the connecting groove is connected with the oil outlet pipe.

As a preferred technical scheme of the multi-degree-of-freedom picking mechanical arm, the rubber pad is fixed with the connecting pipe through gluing, is in a rectangular arc shape and is made of rubber materials.

As a preferred technical scheme of the multi-degree-of-freedom picking mechanical arm, the upper end of the sealing sleeve is fixed with the collecting box through gluing, the lower end of the sealing sleeve is fixed with the second fixing block through gluing, and the sealing sleeve is made of rubber with elasticity.

As a preferred technical scheme of the multi-degree-of-freedom picking mechanical arm, the buffer solution is made of silicone oil.

Compared with the prior art, the invention has the beneficial effects that: through the arrangement of the second joint, the motor drives the second connecting rod to move, the second connecting rod drives the T-shaped block to stretch through the first connecting rod, the arrangement is convenient for adjusting the distance between the claws according to the shape of fruits and vegetables, the picking efficiency is improved, through the arrangement of the collecting box, a box sleeve is arranged in the collecting box, the lower end of the box sleeve is connected with a buffer solution through the second fixing block, the arrangement plays a role of buffering and absorbing shock, picked fruits are placed in the collecting box, the fruits and vegetables are effectively prevented from being damaged due to shock, through the arrangement of the first joint, an oil inlet pipe and an oil outlet pipe are arranged at the first joint, the arrangement enables lubricating oil to form a loop, the cleanness of the internal lubricating oil is ensured, the abrasion caused by impurities is reduced, the service life of equipment is prolonged, through the arrangement of a rubber pad, the rubber pad is connected with the claws through limiting grooves, the arrangement is in the picking process, reduce the hard damage to the fruits and the vegetables and improve the storage time of the fruits and the vegetables.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a side view of the present invention;

FIG. 3 is a schematic structural view of the joint II of the present invention;

FIG. 4 is a schematic view of the structure inside the collection box of the present invention;

FIG. 5 is a schematic structural view of the first joint of the present invention;

in the figure: 1. a first robot arm; 2. an oil inlet pipe; 3. a first joint; 4. a second mechanical arm; 5. a rubber pad; 6. a claw; 7. joint II; 8. a collection box; 9. a first fixed block; 10. a drive shaft; 11. an oil outlet pipe; 12. a T-shaped block; 13. a connecting pipe; 14. a connecting spring; 15. a limiting groove; 16. a first connecting rod; 17. a second connecting rod; 18. a box sleeve; 19. a second fixed block; 20. a buffer solution; 21. sealing sleeves; 22. connecting grooves; 23. an external gear mechanism; 24. an internal gear mechanism; 25. and fixing the shaft.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Examples

Referring to fig. 1-5, the present invention provides the following technical solutions: a multi-degree-of-freedom picking mechanical arm comprises a first mechanical arm 1, a second joint 7 and a collecting box 8, wherein one end of the first mechanical arm 1 is fixed with a robot through a rivet, the other end of the first mechanical arm is fixed with the first joint 3, an oil inlet pipe 2 for conveying lubricating oil is arranged at the rear end of the first joint 3, the lower end of the first joint 3 is provided with the first joint 3 for returning oil, the first joint 3 is connected with a second mechanical arm 4 through a gear shaft 25, a first fixing block 9 for connecting transmission is arranged at the position of the second mechanical arm 4, the first fixing block 9 is connected with the first mechanical arm 1 through a transmission shaft 10, the lower end of the first fixing block 9 is provided with a chute for limiting and fixing the collecting box 8, the first fixing block 9 is connected with the collecting box 8 through the chute, a box sleeve 18 for protection is arranged in the collecting box 8, and a buffer solution 20 for buffering is arranged at the lower end of the box sleeve 18, the other end of second arm 4 is connected with No. two joints 7, is equipped with the rectangular channel that is used for the flexible effect of connecting rod 16 in No. two joints 7, and the outer end is equipped with the square groove that is used for play oil pipe 11 removal effect, and No. two joints 7 are connected with No. two connecting rods 17 through the rectangular channel, and No. two connecting rods 17 are connected with T-shaped piece 12 through connecting rod 16, and T-shaped piece 12 is connected with rubber pad 5 through claw 6.

It is specific, No. two connecting rod 17 one end and motor electric connection, the other end is connected with connecting rod 16 through the pivot, connecting rod 16 is connected with T-shaped block 12 through the pivot, 12 outer ends of T-shaped block and 6 fixed connection of claw, 6 departments of claw are equipped with the spacing groove 15 that is used for the flexible effect of connecting pipe 13, be equipped with the coupling spring 14 that is used for the reset action in the spacing groove 15, coupling spring 14 is connected with rubber pad 5 through connecting pipe 13, the size of being convenient for according to the fruit vegetables shape is played in the connection of No. two joints 7 departments in this embodiment, adjust the interval between each other claw 6, the efficiency of picking is improved.

It is specific, the case cover 18 is equipped with to the collecting box 8 endotheca, the outer cover of case cover 18 is equipped with the flexible glue that is used for the cushioning effect, 18 lower extremes of case cover and No. two fixed block 19 fixed connection, No. two fixed block 19 are equipped with the seal cover 21 that is used for sealed effect with the collecting box 8 junction, No. two fixed block 19 lower extremes are connected with buffer solution 20, the structure setting in the collecting box 8 in this embodiment plays the effect of buffering and inhaling, the fruit after will picking is placed in collecting box 8, effectively prevent the fruit vegetables because of vibrations cause the damage.

It is specific, go out oil pipe 11 and be connected with spread groove 22 through a joint 3, be equipped with in the spread groove 22 and be used for the outer gear mechanism 23 with the 24 meshing transmission of inner gear mechanism, outer gear mechanism 23 is connected with gear shaft 25 through inner gear mechanism 24, it is fixed mutually with second arm 4 through the welding in the middle of the gear shaft 25, spread groove 22 lower extreme is connected with play oil pipe 11, spread groove 22 plays the lubricating oil of being convenient for and forms the return circuit in this embodiment, guarantee the cleanness of inside lubricating oil, reduce the wearing and tearing that impurity caused, improve equipment's life.

Specifically, fixed mutually through veneer and connecting pipe 13 in the rubber pad 5, rubber pad 5 is that rectangle is circular-arc, and adopts the rubber material, and rubber pad 5 plays in this embodiment is plucking the in-process, reduces the hard injury to the fruit vegetables, improves the storage time of fruit vegetables.

Specifically, the upper end of the sealing sleeve 21 is fixed to the collecting box 8 through gluing, the lower end of the sealing sleeve 21 is fixed to the second fixing block 19 through gluing, the sealing sleeve 21 is made of rubber with telescopic elasticity, and the sealing sleeve 21 plays a role in sealing the buffer solution 20 in the embodiment.

Specifically, the buffer solution 20 is made of silicone oil, and in this embodiment, the buffer solution 20 plays a role in buffering and absorbing shock for the case 18 through density.

The working principle and the using process of the invention are as follows: according to the invention, a collecting box 8 is fixed at a first fixing block 9 through a sliding groove at the first fixing block 9, an oil supply system is started, lubricating oil flows into a first joint 3 through an oil inlet pipe 2 and then flows back into the system through an oil outlet pipe 11, a motor drives a second mechanical arm 4 to move through a transmission shaft 10, the second mechanical arm 4 is in meshing transmission with an external gear mechanism 23 through an internal gear mechanism 24 to realize rotation, a second connecting rod 17 is driven to move through the motor, the first connecting rod 16 is driven to move through a rotating shaft by the second connecting rod 17, a T-shaped block 12 is driven to move in the sliding groove through the rotating shaft, the T-shaped block 12 fixes fruits and vegetables through the second mechanical arm 4, the fruits and vegetables are picked, the fruits and vegetables are placed in the collecting box 8 through the rotation of the second mechanical arm 4, and the fruits and vegetables are buffered and absorbed through a buffer solution 20, so that damage is reduced.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A multi freedom's harvesting arm which characterized in that: the automatic oil return device comprises a first mechanical arm (1), a second joint (7) and a collecting box (8), wherein one end of the first mechanical arm (1) is fixed with a robot through a rivet, the other end of the first mechanical arm is fixed with the first joint (3), an oil inlet pipe (2) used for conveying lubricating oil is arranged at the rear end of the first joint (3), the first joint (3) used for oil return is arranged at the lower end of the first joint (3), the first joint (3) is connected with a second mechanical arm (4) through a gear shaft (25), a first fixing block (9) used for connecting transmission is arranged at the position of the second mechanical arm (4), the first fixing block (9) is connected with the first mechanical arm (1) through a transmission shaft (10), a sliding chute used for limiting and fixing the collecting box (8) is arranged at the lower end of the first fixing block (9), and the first fixing block (9) is connected with the collecting box (8) through the sliding chute, be equipped with case cover (18) that are used for the guard action in collecting box (8), case cover (18) lower extreme is equipped with buffer solution (20) that are used for cushioning effect, the other end of second arm (4) is connected with No. two joints (7), be equipped with the rectangular channel that is used for a connecting rod (16) concertina effect in No. two joints (7), the outer end is equipped with the square groove that is used for going out oil pipe (11) removal effect, No. two joints (7) are connected with No. two connecting rod (17) through the rectangular channel, No. two connecting rod (17) are connected with T-shaped piece (12) through connecting rod (16), T-shaped piece (12) are connected with rubber pad (5) through claw (6).

2. The picking manipulator arm of claim 1, wherein the arm comprises: no. two connecting rod (17) one end and motor electric connection, the other end is connected with connecting rod (16) through the pivot, connecting rod (16) are connected with T-shaped piece (12) through the pivot, T-shaped piece (12) outer end and claw (6) fixed connection, claw (6) department is equipped with spacing groove (15) that are used for connecting pipe (13) concertina effect, be equipped with connecting spring (14) that are used for the reset action in spacing groove (15), connecting spring (14) are connected with rubber pad (5) through connecting pipe (13).

3. The picking manipulator arm of claim 1, wherein the arm comprises: case cover (18) are equipped with to collecting box (8) endotheca, the outer cover of case cover (18) is equipped with the flexible glue that is used for the cushioning effect, case cover (18) lower extreme and No. two fixed block (19) fixed connection, No. two fixed block (19) are equipped with seal cover (21) that are used for the sealed effect with collecting box (8) junction, No. two fixed block (19) lower extreme is connected with buffer solution (20).

4. The picking manipulator arm of claim 1, wherein the arm comprises: go out oil pipe (11) and be connected with spread groove (22) through a joint (3), be equipped with in spread groove (22) and be used for outer gear mechanism (23) with inner gear mechanism (24) meshing transmission effect, outer gear mechanism (23) are connected with gear shaft (25) through inner gear mechanism (24), it is fixed mutually with second arm (4) through the welding in the middle of gear shaft (25), spread groove (22) lower extreme is connected with play oil pipe (11).

5. The picking manipulator arm of claim 1, wherein the arm comprises: the rubber pad (5) is fixed with the connecting pipe (13) through gluing, and the rubber pad (5) is rectangular and arc-shaped and is made of rubber.

6. The picking robot arm of multiple degrees of freedom of claim 3, wherein: the upper end of the sealing sleeve (21) is fixed with the collecting box (8) through gluing, the lower end of the sealing sleeve is fixed with the second fixing block (19) through gluing, and the sealing sleeve (21) is made of rubber with telescopic elasticity.

7. The picking manipulator arm of claim 1, wherein the arm comprises: the buffer solution (20) is made of silicone oil.