CN117798968A - Velvet grabbing manipulator, working method thereof and velvet grabbing robot - Google Patents
Velvet grabbing manipulator, working method thereof and velvet grabbing robot Download PDFInfo
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- CN117798968A CN117798968A CN202410217206.3A CN202410217206A CN117798968A CN 117798968 A CN117798968 A CN 117798968A CN 202410217206 A CN202410217206 A CN 202410217206A CN 117798968 A CN117798968 A CN 117798968A
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- 238000000034 method Methods 0.000 title claims abstract description 18
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- 238000001514 detection method Methods 0.000 claims abstract description 21
- 238000005452 bending Methods 0.000 claims description 22
- 230000001681 protective effect Effects 0.000 claims description 20
- 230000033001 locomotion Effects 0.000 claims description 12
- 230000005611 electricity Effects 0.000 claims description 3
- 244000144972 livestock Species 0.000 abstract description 30
- 230000008569 process Effects 0.000 abstract description 6
- 230000009471 action Effects 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000002441 reversible effect Effects 0.000 description 3
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- 238000009395 breeding Methods 0.000 description 2
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
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Abstract
The invention provides a down grabbing manipulator, a working method thereof and a down grabbing robot, and relates to the technical field of manipulators. The nap grabbing manipulator is provided with the nap pushing plate connected with the driving mechanism and the first sensor on the nap pushing plate, the nap pushing plate is slidably arranged on the nap grabbing hook, when the nap grabbing hook is full of nap, the first sensor on the nap pushing plate can feed back detection values to the control element, the control element judges that nap pushing is needed according to the detection values, the driving mechanism can be controlled to drive the nap pushing plate to move, nap pushing on the nap grabbing hook is realized, manual participation is not needed in the whole process, the automation degree is high, the nap taking-down efficiency can be effectively improved, and further the nap grabbing and collecting efficiency of livestock nap is improved.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a down grabbing manipulator, a working method thereof and a down grabbing robot.
Background
In the livestock industry, the breeding of livestock such as goats with naps available for reprocessing is relatively large, and in the breeding process of the livestock, naps on the body of the livestock need to be grabbed and collected for reprocessing the naps later, and the livestock are used for producing articles for daily use such as clothes or carpets.
At present, for the villus grabbing of livestock such as goats, the villus is generally required to be grabbed by auxiliary equipment such as a grapple, and in the whole operation process, due to the limited accommodating space on the auxiliary equipment, after the auxiliary equipment is full of the villus, operators need to take down and place the villus on the auxiliary equipment, and the auxiliary equipment can continue the grabbing operation, so that the whole villus grabbing and collecting time is increased, and the grabbing and collecting efficiency of the livestock villus is greatly reduced.
Disclosure of Invention
The invention solves the problem of improving the grabbing and collecting efficiency of livestock fluff.
In order to solve the above problems, the present invention provides a pile grabbing manipulator, which is mounted on a mechanical arm of a pile grabbing robot, the pile grabbing manipulator includes a pile grabbing hook, a pile pushing plate, a driving mechanism, a first sensor and a control element, the pile pushing plate is slidably mounted on a straight line section of the pile grabbing hook and is in driving connection with the driving mechanism, the driving mechanism is used for driving the pile pushing plate to reciprocate along the straight line section, the first sensor is mounted on a side of the pile pushing plate facing to a curved section of the pile grabbing hook, the control element is respectively electrically connected with the driving mechanism and the first sensor, and the control element is used for:
when the mechanical arm drives the down grabbing hook to move to hook down, acquiring a detection value of the first sensor in real time, and judging whether the detection value is in a preset value range or not;
when the detection value is within the preset value range, the pile grabbing hook is judged to be full of the pile, and the driving mechanism is controlled to drive the pile pushing plate to move towards the bending section so as to push down the pile grabbing hook.
Compared with the prior art, the fleece grabbing manipulator has the beneficial effects that: the pile pushing plate is slidably mounted on the straight line section of the pile grabbing hook, meanwhile, the pile pushing plate is in driving connection with the driving mechanism, when piles exist on the straight line section, the pile pushing plate can push down the piles on the pile grabbing hook integrally, and driving force output by the driving mechanism can be kept stable all the time, so that strength and direction of the pile pushing plate when the piles are pushed are kept stable, winding of the piles on the pile grabbing hook is avoided, compared with the consumption time of manually taking down the piles by an operator, the grabbing and collecting efficiency of the livestock piles is effectively improved, the condition that scratches easily occur when the piles are manually taken down by the operator can be avoided, and the safety of grabbing and collecting the piles is effectively improved. On this basis, be equipped with the first sensor that is connected with the control element electricity in pushing away one side of fine hair board towards the bending section, first sensor can obtain in real time and can embody and push away whether be full of the detection numerical value of fine hair between fine hair board and the bending section, and control element embeds and has the preset numerical value range, when detecting the numerical value and being located the preset numerical value range, control element can judge that the fine hair on the fine hair hook of grabbing is full of, and then control actuating mechanism drive pushes away the fine hair board and accomplishes the pushing down of fine hair, whole process need not artifical the participation, degree of automation is higher, can effectively promote the efficiency of taking off of fine hair, and then promote the efficiency of collecting of grabbing of livestock fine hair. In addition, the whole nap grabbing manipulator is arranged on the manipulator, the movement of the nap grabbing manipulator on the surface of the livestock body is realized through the movement of the manipulator, the nap grabbing hook is helped to hook and collect nap, when nap collection is needed, the nap grabbing manipulator only needs to move the nap grabbing hook to the upper part of the collection area, the nap pushing plate moves to push down nap, manual participation is not needed, and the nap grabbing and collecting efficiency of the livestock nap can be further improved.
Optionally, the pile grabbing hook is provided with a plurality of pile grabbing hooks, the pile grabbing hooks are arranged in parallel, the pile pushing plate is provided with a plurality of moving channels in parallel, the straight line segments penetrate through the moving channels in a one-to-one correspondence mode, the first sensors are provided with a plurality of sensors, and the first sensors are arranged at equal intervals along the parallel arrangement direction of the pile grabbing hooks.
Optionally, the actuating mechanism includes drive division, guiding part and moving part, moving part slidable mounting is in on the guiding part, and with it is connected to push away fine hair board, the guiding part is followed the extending direction setting of straightway, drive division with moving part drive connection, and be used for the drive moving part is followed the guiding part reciprocating motion.
Optionally, the drive portion includes compressed gas supply end, cylinder and buffer, the guide portion includes limiting plate and slide rail, the removal portion includes slider and connecting plate, two the limiting plate interval sets up, the both ends of slide rail respectively with two the limiting plate is connected, slider slidable mounting is in on the slide rail, and through the connecting plate with it is connected to push away the fine hair board, compressed gas supply end with the cylinder intercommunication, the cylinder pass one the limiting plate and with slider drive connection, the buffer is installed another on the limiting plate.
Optionally, the drive portion includes rotary drive spare and lead screw, the guide part includes polished rod and bearing frame, the lead screw with the polished rod is parallel the interval setting, two the bearing frame interval sets up, just the moving part is located two between the bearing frame, the both ends of polished rod are connected with two bearing frames respectively, lead screw one end is connected with rotary drive spare drive, and the other end runs through one the bearing frame, and rotate and install on another bearing frame, be equipped with slide hole and screw on the moving part, the polished rod runs through the slide hole, the lead screw runs through the screw.
Optionally, the nap grabbing manipulator further comprises a protective shell, the protective shell is of a hollow structure with one end being open, and is installed on the mechanical arm, a fixed plate is installed on the open end of the protective shell in a covering mode, the driving mechanism is located in the protective shell and installed on the fixed plate, the nap grabbing hook and the nap pushing plate are all arranged outside the protective shell, a moving opening is formed in the fixed plate, and the nap pushing plate is in driving connection with the driving mechanism through the moving opening.
Optionally, the down grabbing manipulator further comprises a square tube and a second sensor, the square tube is installed on the fixing plate, one end of the down grabbing hook deviating from the bending section is installed on the square tube, the down pushing plate is located between the bending section and the square tube, the second sensor is installed on the square tube and is attached to the joint of the down grabbing hook and the square tube, the second sensor is electrically connected with the control element and used for acquiring a tension value of the down grabbing hook in real time and transmitting the tension value to the control element.
Optionally, the pile grabbing mechanical arm further comprises a third sensor, wherein the third sensor is installed on the fixed plate and is electrically connected with the control element, and the third sensor is used for acquiring the distance between the pile grabbing mechanical arm and the position to be grabbed in real time and transmitting the distance to the control element.
On the other hand, the invention also provides a working method of the down grabbing manipulator, which is applied to the down grabbing manipulator, and comprises the following steps:
s1, when a mechanical arm of a pile grabbing robot drives a pile grabbing hook of the pile grabbing mechanical arm to move to hook piles, acquiring a detection value of a first sensor of the pile grabbing mechanical arm in real time, and judging whether the detection value is in a preset value range;
and S2, when the detection value is within the preset value range, judging that the pile grabbing hook is full of the pile, and controlling a driving mechanism of the pile grabbing mechanical arm to drive a pile pushing plate to move towards the bending section of the pile grabbing hook so as to push down the pile grabbing hook.
Compared with the prior art, the working method of the fleece-grabbing mechanical arm has the same beneficial effects as those of the fleece-grabbing mechanical arm, and the working method is not repeated.
In still another aspect, the invention further provides a pile grabbing robot, which comprises a mechanical arm and the pile grabbing mechanical arm.
Compared with the prior art, the pile grabbing robot has the same beneficial effects as the pile grabbing manipulator, and is not repeated herein.
Drawings
FIG. 1 is a schematic view of a pile grabbing manipulator according to an embodiment of the present invention;
FIG. 2 is a schematic view of a pile grabbing robot according to another embodiment of the present invention;
FIG. 3 is a schematic view of a part of a pile grabbing robot according to an embodiment of the present invention;
fig. 4 is a flowchart of a working method of the pile grabbing manipulator according to an embodiment of the present invention.
Reference numerals illustrate:
1-a fleece-grabbing hook; 11-straight line segments; 12-bending the section; 2-a velvet pushing plate; 21-a moving channel; 3-a driving mechanism; 31-a driving part; 311-a buffer; 312-a rotary drive; 313-screw rod; 32-a guide; 321-limiting plates; 322-slide rail; 323-polish rod; 324-bearing seat; 33-a moving part; 331-a slider; 332-connecting plates; 4-a first sensor; 5-protecting shell; 51-a fixed plate; 511-a moving port; 6-square tube; 7-a second sensor; 8-a third sensor; 9-mechanical arm.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
In the coordinate system XYZ provided herein, the forward direction of the X axis represents the right direction, the reverse direction of the X axis represents the left direction, the forward direction of the Y axis represents the front direction, the reverse direction of the Y axis represents the rear direction, the forward direction of the Z axis represents the upper direction, and the reverse direction of the Z axis represents the lower direction. Also, it is noted that the terms "first," "second," and the like in the description and claims of the present invention and in the above-described figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein.
In one aspect, an embodiment of the present invention provides a pile grabbing manipulator, which is mounted on a mechanical arm 9 of the pile grabbing robot, the pile grabbing manipulator includes a pile grabbing hook 1, a pile pushing plate 2, a driving mechanism 3, a first sensor 4 and a control element, the pile pushing plate 2 is slidably mounted on a straight line segment 11 of the pile grabbing hook 1 and is in driving connection with the driving mechanism 3, the driving mechanism 3 is used for driving the pile pushing plate 2 to reciprocate along the straight line segment 11, the first sensor 4 is mounted on a side of the pile pushing plate 2 facing a curved segment 12 of the pile grabbing hook 1, the control element is electrically connected with the driving mechanism 3 and the first sensor 4, and the control element is used for: when the mechanical arm 9 drives the down grabbing hook 1 to move to hook down, the detection value of the first sensor 4 is obtained in real time, and whether the detection value is in a preset value range or not is judged; when the detected value is within the preset value range, the pile grabbing hook 1 is judged to be full of piles, and the driving mechanism 3 is controlled to drive the pile pushing plate 2 to move towards the bending section 12 so as to push down the piles to the pile grabbing hook 1.
In the prior art, as shown in fig. 1, a pile grabbing hook 1 is generally provided as a working mechanism for grabbing piles, the pile grabbing hook 1 is composed of a straight line section 11 and a bending section 12, the bending section 12 can hook piles on livestock bodies, along with the increase of the number of the hooked piles, the piles move to the straight line section 11 along the bending section 12 and finally fill the whole pile grabbing hook 1, at this time, the piles on the pile grabbing hook 1 need to be taken down, when an operator takes down the piles on the pile grabbing hook 1, the piles are easy to deviate due to large fluctuation of taking down force, the piles are wound on the pile grabbing hook 1, time is required to be consumed for disassembling, the grabbing and collecting efficiency of the livestock piles is further reduced, and when the operator moves the piles by hands, the bending section 12 is easy to scratch the hands of the operator, and a certain potential safety hazard exists.
Therefore, in this embodiment, as shown in fig. 1, the pile pushing plate 2 is slidably installed on the straight line segment 11 of the pile grabbing hook 1, and meanwhile, the pile pushing plate 2 is in driving connection with the driving mechanism 3, the driving mechanism 3 can drive the pile pushing plate 2 to move along the straight line segment 11, so that when the pile exists on the straight line segment 11, the pile pushing plate 2 can move towards the curved segment 12, and accordingly the pile on the pile grabbing hook 1 is integrally pushed down, and the driving force output by the driving mechanism 3 can be kept stable at all times, so that the force and direction of the pile pushing plate 2 when the pile is pushed are kept stable, further, the situation that the pile is wound on the pile grabbing hook 1 is avoided, compared with the situation that an operator manually takes down the pile, the grabbing and collecting efficiency of livestock pile is effectively improved, the situation that the operator is scratched easily when the operator manually takes down the pile is avoided, and the grabbing and collecting safety of the pile is effectively improved. On this basis, be equipped with first sensor 4 in pushing away the one side of fine hair board 2 towards crooked section 12, first sensor 4 and actuating mechanism 3 all are connected with the control element electricity, wherein, first sensor 4 can obtain in real time and can embody and push away whether the detection numerical value that fills up the fine hair between fine hair board 2 and the crooked section 12, and control element embeds and presets numerical value scope, when detecting the numerical value and being located presets numerical value scope, control element can judge that the fine hair on the fine hair hook 1 is full, and then control actuating mechanism 3 drive pushes away fine hair board 2 and removes, accomplish the pushing down of fine hair, still can continue to drive and push away fine hair board 2 and reset, be convenient for follow-up fine hair snatchs, the whole process need not artifical the participation, degree of automation is higher, can effectively promote the efficiency of taking off of fine hair, and then promote the efficiency of collecting of snatching of livestock fine hair. In addition, as shown in fig. 3, the whole nap grabbing manipulator is arranged on the manipulator 9, and through the movement of the manipulator 9, the movement of the nap grabbing manipulator on the surface of the livestock body is realized, the nap grabbing hook 1 is helped to collect nap, when nap collection is needed, only the manipulator 9 is required to move the nap grabbing hook 1 to the upper part of the collection area, the nap pushing plate 2 is required to move to push down nap, manual participation is not required, and the nap grabbing and collection efficiency of the livestock nap can be further improved.
It should be noted that, in this embodiment, the first sensor 4 is an infrared sensor, the infrared sensor is a non-contact measurement detection device, which can measure infrared radiation on the surface of an object and convert the infrared radiation into an electrical signal, so as to control and sense characteristics of the distance, temperature, color, and the like of the object, correspondingly, the detection value is a distance value between the first sensor 4 and the fluff on the fluff hook 1, the preset value range is a preset distance value range, along with continuous grabbing of the fluff hook 1, the fluff on the curved section 12 continuously extrudes and moves towards the straight section 11, the distance between the first sensor 4 and the fluff gradually decreases, and when the distance between the first sensor 4 and the fluff decreases to be within the preset distance value range, the control element can determine that the fluff is full of the fluff hook 1 through the electrical signal fed back by the first sensor 4, and further drives the fluff pushing plate 2 through the driving mechanism 3 to push down the fluff.
In other embodiments of the present invention, the first sensor 4 may also be a pressure sensor, where the pressure sensor is a device or apparatus capable of sensing a pressure signal and converting the pressure signal into a usable output electrical signal according to a certain rule, and correspondingly, the detected value is a pressure value collected by the first sensor 4, and the preset value range is a preset pressure value range, and along with the extrusion movement of the fluff along the straight line segment 11, the fluff gradually approaches the first sensor 4, so that the first sensor 4 receives the pressure given by the fluff, and when the pressure value is within the preset pressure value range, it can be determined that the fluff fills the fluff capturing hook 1.
Meanwhile, in the present embodiment, the mechanical arm 9 is moved to any position in space, so that the livestock can also perform the operation of grabbing down when standing, and diseases caused by long-term lateral lying of the livestock are effectively avoided.
Optionally, the plurality of the pile grabbing hooks 1 are arranged in parallel, the plurality of moving channels 21 are arranged on the pile pushing plate 2 in parallel, the straight line segments 11 penetrate through the moving channels 21 in a one-to-one correspondence manner, the plurality of the first sensors 4 are arranged in a plurality of the first sensors 4 at equal intervals along the parallel arrangement direction of the pile grabbing hooks 1.
In this embodiment, as shown in fig. 1 and 2, the straight line segments 11 of the pile hooks 1 are arranged in parallel at intervals along the X-axis direction, and the two open ends of the moving path 21 are arranged at intervals along the Y-axis direction.
In this embodiment, as shown in fig. 1, a plurality of pile grabbing hooks 1 may be provided, where the pile grabbing hooks 1 are arranged in parallel, and when the mechanical arm 9 moves the pile grabbing mechanical arm, the pile grabbing hooks 1 operate simultaneously, so that the area of the livestock body surface that can be grabbed by one pile grabbing action is increased, the quantity of pile that can be grabbed by one pile grabbing action is further increased, and further the grabbing and collecting efficiency of the livestock pile is improved. On this basis, a plurality of moving channels 21 are arranged on the nap pushing plate 2 in parallel, the straight line sections 11 of the nap grabbing hooks 1 can penetrate through the moving channels 21 in a one-to-one correspondence mode, so that the adjacent two nap grabbing hooks 1 are divided through the side walls between the adjacent two moving channels 21, dislocation and interference between the adjacent two nap grabbing hooks 1 are avoided, hooking and winding between naps on the adjacent two nap grabbing hooks 1 are avoided, smoothness of the nap grabbing hooks 1 during nap grabbing and nap pushing is effectively improved, and the nap grabbing and collecting efficiency of livestock nap is improved. Meanwhile, the first sensors 4 are arranged in a plurality, the first sensors 4 are arranged at equal intervals along the parallel direction of the nap grabbing hooks 1, when nap is filled on the nap grabbing hooks 1, the nap grabbing hooks are in a three-dimensional structure, the sensing area of the first sensors 4 can be increased by increasing the number of the first sensors 4, when the sensing values sensed by all the first sensors 4 are in the range of the preset sensing values, the nap is fully filled on the nap grabbing hooks 1, the condition that the nap is not fully filled on the nap grabbing hooks 1 and pushed down by the nap pushing plate 2 is avoided, frequent movement of the nap pushing plate 2 can be effectively avoided, and time waste caused by the need of synchronous position adjustment of the mechanical arm 9 is avoided.
It should be noted that, as shown in fig. 1, the moving channel 21 is a groove formed on the bottom plate of the pile pushing plate 2, and the groove penetrates through two opposite side walls of the pile pushing plate 2 along the extending direction of the straight line segment 11, so that stability of the straight line segment 11 accommodated in the moving channel 21 can be ensured, and the pile pushing plate 2 and the pile grabbing hook 1 can be conveniently matched when the pile grabbing manipulator is assembled.
Alternatively, the driving mechanism 3 includes a driving portion 31, a guiding portion 32, and a moving portion 33, the moving portion 33 is slidably mounted on the guiding portion 32 and connected to the lint pushing plate 2, the guiding portion 32 is disposed along the extending direction of the straight segment 11, and the driving portion 31 is drivingly connected to the moving portion 33 and is used for driving the moving portion 33 to reciprocate along the guiding portion 32.
In this embodiment, as shown in fig. 1, a driving part 31, a guiding part 32 and a moving part 33 are provided to form a driving mechanism 3, wherein the moving part 33 is slidably mounted on the guiding part 32, and the guiding part 32 is disposed along the extending direction of the straight line segment 11, so that the moving part 33 can move along the extending direction of the straight line segment 11 under the guiding action of the guiding part 32, on this basis, the moving part 33 is connected with the fluff pushing plate 2 and is in driving connection with the driving part 31, and the driving part 31 can drive the moving part 33 to reciprocate along the guiding part 32, so that under the guiding action of the guiding part 32, the driving part 31 can drive the fluff pushing plate 2 to reciprocate along the extending direction of the straight line segment 11 through the moving part 33, thereby effectively ensuring the moving directional stability of the fluff pushing plate 2 and further improving the fluff pushing stability.
Optionally, the driving part 31 includes a compressed gas supply end, a cylinder and a buffer 311, the guiding part 32 includes a limiting plate 321 and a sliding rail 322, the moving part 33 includes a sliding block 331 and a connecting plate 332, the two limiting plates 321 are arranged at intervals, two ends of the sliding rail 322 are respectively connected with the two limiting plates 321, the sliding block 331 is slidably mounted on the sliding rail 322 and is connected with the nap pushing plate 2 through the connecting plate 332, the compressed gas supply end is communicated with the cylinder, the cylinder passes through one limiting plate 321 and is in driving connection with the sliding block 331, and the buffer 311 is mounted on the other limiting plate 321.
In this embodiment, a pneumatic sliding table is provided as the driving mechanism 3, specifically, as shown in fig. 1, a compressed gas supply end, a cylinder and a buffer 311 are provided to form a driving part 31, a limiting plate 321 and a sliding rail 322 are provided to form a guiding part 32, and a sliding block 331 and a connecting plate 332 are provided to form a moving part 33, wherein the compressed gas supply end which can be mounted on the mechanical arm 9 is communicated with the cylinder to realize the supply of compressed gas, two ends of the sliding rail 322 are respectively connected with two limiting plates 321, the sliding block 331 is slidably mounted on the sliding rail 322, the cylinder is in driving connection with the sliding block 331 through one limiting plate 321, the sliding block 331 can be driven to move along the sliding rail 322, the sliding block 331 is connected with a velvet pushing plate 2 through the connecting plate 332, the buffer 311 is arranged on the other limiting plate 321, and the impact force generated by the sliding block 331 is absorbed when the sliding block 331 moves along the sliding rail 322 and impacts on the limiting plate 321, so that the moving stability of the sliding block 331 is ensured.
In this embodiment, as shown in fig. 1, the connecting plate 332 has an L-shaped structure, two inner walls of adjacent straight plates are respectively connected with two outer walls of adjacent slide blocks 331, and the straight plates extend to the pile pushing plate 2 and are connected with the pile pushing plate 2, and the connecting plate 332 has two connecting plates symmetrically arranged at two opposite sides of the slide blocks 331 and are respectively connected with two opposite sides of the pile pushing plate 2.
Unlike the above embodiment, the driving part 31 includes the rotary driving member 312 and the screw rod 313, the guiding part 32 includes the polish rod 323 and the bearing seat 324, the screw rod 313 and the polish rod 323 are arranged in parallel at intervals, the two bearing seats 324 are arranged at intervals, the moving part 33 is located between the two bearing seats 324, two ends of the polish rod 323 are respectively connected with the two bearing seats 324, one end of the screw rod 313 is in driving connection with the rotary driving member 312, the other end penetrates through one bearing seat 324 and is rotatably mounted on the other bearing seat 324, the moving part 33 is provided with a sliding hole and a screw hole, the polish rod 323 penetrates through the sliding hole, and the screw rod 313 penetrates through the screw hole.
In this embodiment, as shown in fig. 2, a driving part 31 is formed by a rotation driving member 312 and a screw rod 313, a guiding part 32 is formed by a polish rod 323 and a bearing seat 324, wherein the screw rod 313 and the polish rod 323 are arranged in parallel at intervals, both ends of the screw rod 313 are respectively connected with two bearing seats 324 arranged at intervals, the screw rod 313 rotates relative to the bearing seats 324 through bearings, one end of the screw rod passes through the bearing seats 324 to be in driving connection with the rotation driving member 312, a sliding hole for the polish rod 323 to pass through and a screw hole for the screw rod 313 to pass through are formed in the moving part 33, when the rotation driving member 312 outputs driving force, the screw rod 313 can be driven to rotate, then the moving part 33 is driven to stably move along the extending direction of the straight line segment 11 under the guiding action of the polish rod 323 through meshing transmission, and the reciprocating movement is realized through forward rotation and backward rotation, and meanwhile, the two bearing seats 324 limit the movement of the moving part 33, so that the movement stability of the moving part 33 is ensured, and the movement stability of the nap pushing plate 2 is ensured.
In the present embodiment, the rotary driving member 312 is a rotary driving motor, specifically a servo motor.
In the present embodiment, as shown in fig. 2, the moving part 33 and the lint pushing plate 2 are integrally formed.
Optionally, the pile grabbing mechanical arm further comprises a protective shell 5, the protective shell 5 is of a hollow structure with one end open, the protective shell is mounted on the mechanical arm 9, a fixed plate 51 is mounted on the open end of the protective shell 5 in a covering mode, the driving mechanism 3 is located in the protective shell 5 and mounted on the fixed plate 51, the pile grabbing hooks 1 and the pile pushing plate 2 are arranged outside the protective shell 5, a moving opening 511 is formed in the fixed plate 51, and the pile pushing plate 2 is in driving connection with the driving mechanism 3 through the moving opening 511.
In this embodiment, as shown in fig. 3, a hollow structure with one end open is provided as the protective housing 5, wherein the driving mechanism 3 is located in the protective housing 5, and the driving mechanism 3 is protected by the protective housing 5, so as to ensure the working stability of the driving mechanism 3. On this basis, the protecting shell 5 is arranged on the mechanical arm 9, the fixed plate 51 is arranged at the opening end of the protecting shell 5 in a covering manner, the pile grabbing hook 1 and the pile pushing plate 2 are arranged outside the protecting shell 5, as shown in fig. 1 and 2, the moving opening 511 is arranged on the fixed plate 51, the pile pushing plate 2 is in driving connection with the driving mechanism 3 arranged on the fixed plate 51 through the moving opening 511, and therefore stable driving of the mechanical arm 9 to the whole pile grabbing mechanical arm in the pile grabbing process can be guaranteed, and stability of grabbing the pile of livestock by the pile grabbing hook 1 can be guaranteed.
Optionally, the pile grabbing mechanical arm further comprises a square pipe 6 and a second sensor 7, the square pipe 6 is arranged on the fixing plate 51, one end, deviating from the bending section 12, of the pile grabbing hook 1 is arranged on the square pipe 6, the pile pushing plate 2 is located between the bending section 12 and the square pipe 6, the second sensor 7 is arranged on the square pipe 6 and is attached to the joint of the pile grabbing hook 1 and the square pipe 6, the second sensor 7 is electrically connected with the control element and used for acquiring a tension value of the pile grabbing hook 1 in real time and transmitting the tension value to the control element.
In the prior art, when operators grasp down manually through auxiliary equipment such as grapples, the down grabbing force and the down grabbing speed are easy to fluctuate, and the down grabbing force and the down grabbing speed required by the down at different positions are different, so that the fluctuation of the down grabbing force and the down grabbing speed is easy to cause damage to the fur of livestock or the down of the down is not grabbed.
In this embodiment, as shown in fig. 1 and 2, a square tube 6 is further installed on a fixing plate 51, one end of a pile grabbing hook 1, which is far away from a bending section 12, is installed on the square tube 6, and a pile pushing plate 2 is located between the bending section 12 and the square tube 6, so that the pile pushing plate 2 can move along a straight line section 11 to push piles, a second sensor 7 is attached to the joint of the square tube 6 and the pile grabbing hook 1, specifically, the second sensor 7 is a tension sensor and is electrically connected with a control element, the control element can obtain a tension value of the pile grabbing hook 1 through the second sensor 7, and then adjusts the moving speed and the force of a mechanical arm 9, so that the pile grabbing force and the speed can be adjusted, the health of livestock can be ensured, and meanwhile, stable grabbing of the piles can be realized.
It should be noted that, as shown in fig. 1, in order to ensure the connection stability of the pile hook 1 and the square tube 6, one end of the pile hook 1 facing away from the bending section 12 is bent and penetrates through two adjacent side walls of the square tube 6 in sequence.
Optionally, the pile grabbing mechanical arm further comprises a third sensor 8, wherein the third sensor 8 is mounted on the fixed plate 51 and is electrically connected with the control element, and the third sensor 8 is used for acquiring the distance between the pile grabbing mechanical arm and the position to be grabbed in real time and transmitting the distance to the control element.
In this embodiment, as shown in fig. 1, a third sensor 8 electrically connected to a control element is disposed on the fixing plate 51, specifically, the third sensor 8 is a ranging sensor, and the control element can obtain the distance between the whole pile grabbing manipulator and the pile grabbing position on the livestock body through the third sensor 8, so as to control the distance between the pile grabbing hook 1 and the livestock, effectively control the pile grabbing force, ensure the pile grabbing stability and avoid the injury of the livestock.
In this embodiment, as shown in fig. 1 and 3, the third sensor 8 is located outside the protective housing 5 and between the curved section 12 of the pile hook 1 and the fixing plate 51.
On the other hand, an embodiment of the present invention provides a working method of a pile grabbing manipulator, which is applied to the pile grabbing manipulator, and the working method of the pile grabbing manipulator includes: s1, when a mechanical arm 9 of a pile grabbing robot drives a pile grabbing hook 1 of the pile grabbing mechanical arm to move to hook piles, acquiring a detection value of a first sensor 4 of the pile grabbing mechanical arm in real time, and judging whether the detection value is in a preset value range; and S2, when the detection value is within the preset value range, judging that the pile grabbing hook 1 is full of piles, and controlling the driving mechanism 3 of the pile grabbing manipulator to drive the pile pushing plate 2 to move towards the bending section 12 of the pile grabbing hook 1 so as to push down the piles to the pile grabbing hook 1.
As shown in S1 and S2 in fig. 4, the technical effects of the working method of the pile grabbing manipulator in this embodiment are similar to those of the pile grabbing manipulator described above, and will not be described again.
In yet another aspect, an embodiment of the present invention provides a pile grabbing robot, including the mechanical arm 9 and the pile grabbing mechanical arm described above.
As shown in fig. 3, the technical effects of the pile grabbing robot in this embodiment are similar to those of the pile grabbing manipulator described above, and will not be described again here.
Although the invention is disclosed above, the scope of the invention is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications will fall within the scope of the invention.
Claims (10)
1. The utility model provides a grab fine hair manipulator, its characterized in that installs on grab fine hair robot's arm (9), grab fine hair manipulator includes grab fine hair hook (1), pushes away fine hair board (2), actuating mechanism (3), first sensor (4) and control element, push away fine hair board (2) slidable mounting grab fine hair hook (1) straightway (11), and with actuating mechanism (3) drive connection, actuating mechanism (3) are used for the drive push away fine hair board (2) along straightway (11) reciprocating motion, first sensor (4) are installed push away fine hair board (2) towards on the one side of the curved section (12) of grabbing fine hair hook (1), control element respectively with actuating mechanism (3) and first sensor (4) electricity are connected, control element is used for:
when the mechanical arm (9) drives the down grabbing hook (1) to move for down grabbing, detecting values of the first sensor (4) are obtained in real time, and whether the detecting values are in a preset value range or not is judged;
when the detection value is within the preset value range, the pile grabbing hook (1) is judged to be full of the pile, and the driving mechanism (3) is controlled to drive the pile pushing plate (2) to move towards the bending section (12) so as to push down the pile grabbing hook (1).
2. The down grabbing mechanical arm according to claim 1, wherein the down grabbing hooks (1) are multiple, the down grabbing hooks (1) are arranged in parallel, a plurality of moving channels (21) are arranged on the down pushing plate (2) in parallel, the straight line segments (11) penetrate through the moving channels (21) in a one-to-one correspondence mode, the first sensors (4) are multiple, and the first sensors (4) are arranged at equal intervals along the parallel arrangement direction of the down grabbing hooks (1).
3. The fleece grabbing manipulator according to claim 1, wherein the driving mechanism (3) comprises a driving part (31), a guiding part (32) and a moving part (33), the moving part (33) is slidably mounted on the guiding part (32) and is connected with the fleece pushing plate (2), the guiding part (32) is arranged along the extending direction of the straight line segment (11), and the driving part (31) is in driving connection with the moving part (33) and is used for driving the moving part (33) to reciprocate along the guiding part (32).
4. A fleece-grabbing manipulator according to claim 3, wherein the driving part (31) comprises a compressed gas supply end, a cylinder and a buffer (311), the guiding part (32) comprises a limiting plate (321) and a sliding rail (322), the moving part (33) comprises a sliding block (331) and a connecting plate (332), the two limiting plates (321) are arranged at intervals, two ends of the sliding rail (322) are respectively connected with the two limiting plates (321), the sliding block (331) is slidably mounted on the sliding rail (322), and is connected with the fleece-pushing plate (2) through the connecting plate (332), the compressed gas supply end is communicated with the cylinder, and the cylinder penetrates one limiting plate (321) and is in driving connection with the sliding block (331), and the buffer (311) is mounted on the other limiting plate (321).
5. A fleece-grabbing manipulator according to claim 3, wherein the driving part (31) comprises a rotary driving part (312) and a screw rod (313), the guiding part (32) comprises a polish rod (323) and bearing blocks (324), the screw rod (313) and the polish rod (323) are arranged at intervals in parallel, two bearing blocks (324) are arranged at intervals, the moving part (33) is arranged between the two bearing blocks (324), two ends of the polish rod (323) are respectively connected with the two bearing blocks (324), one end of the screw rod (313) is in driving connection with the rotary driving part (312), the other end of the screw rod (313) penetrates through one bearing block (324) and is rotatably arranged on the other bearing block (324), a sliding hole and a screw hole are arranged on the moving part (33), the polish rod (323) penetrates through the sliding hole, and the screw rod (313) penetrates through the screw hole.
6. The fleece-grabbing mechanical arm according to any of claims 1 to 5, further comprising a protective housing (5), wherein the protective housing (5) is of a hollow structure with one end open and is mounted on the mechanical arm (9), a fixed plate (51) is mounted on the open end of the protective housing (5) in a covering manner, the driving mechanism (3) is located in the protective housing (5) and mounted on the fixed plate (51), the fleece-grabbing hooks (1) and the fleece-pushing plates (2) are all arranged outside the protective housing (5), a moving opening (511) is formed in the fixed plate (51), and the fleece-pushing plates (2) are in driving connection with the driving mechanism (3) through the moving opening (511).
7. The fleece-grabbing manipulator according to claim 6, further comprising a square tube (6) and a second sensor (7), wherein the square tube (6) is mounted on the fixed plate (51), one end of the fleece-grabbing hook (1) deviating from the bending section (12) is mounted on the square tube (6), the fleece-pushing plate (2) is located between the bending section (12) and the square tube (6), the second sensor (7) is mounted on the square tube (6) and is attached to a joint of the fleece-grabbing hook (1) and the square tube (6), and the second sensor (7) is electrically connected with the control element and is used for acquiring a tension value of the fleece-grabbing hook (1) in real time and transmitting the tension value to the control element.
8. The fleece grabbing manipulator according to claim 6, further comprising a third sensor (8), the third sensor (8) being mounted on the fixed plate (51) and being electrically connected to the control element, the third sensor (8) being adapted to acquire the distance to the position to be grabbed in real time and to transmit it to the control element.
9. A working method of a pile grabbing manipulator, characterized in that it is applied to a pile grabbing manipulator as claimed in any one of claims 1 to 8, and comprising:
s1, when a mechanical arm (9) of a fleece grabbing robot drives a fleece grabbing hook (1) of the fleece grabbing mechanical arm to move to hook down, acquiring a detection value of a first sensor (4) of the fleece grabbing mechanical arm in real time, and judging whether the detection value is in a preset value range;
s2, when the detection value is within the preset value range, judging that the pile grabbing hook (1) is full of the pile, and controlling a driving mechanism (3) of the pile grabbing mechanical arm to drive a pile pushing plate (2) to move towards a bending section (12) of the pile grabbing hook (1) so as to push down the pile grabbing hook (1).
10. A pile gripping robot, characterized by comprising a robot arm (9) and a pile gripping robot arm according to any of claims 1-8.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410217206.3A CN117798968A (en) | 2024-02-28 | 2024-02-28 | Velvet grabbing manipulator, working method thereof and velvet grabbing robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410217206.3A CN117798968A (en) | 2024-02-28 | 2024-02-28 | Velvet grabbing manipulator, working method thereof and velvet grabbing robot |
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| CN117798968A true CN117798968A (en) | 2024-04-02 |
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| CN202410217206.3A Pending CN117798968A (en) | 2024-02-28 | 2024-02-28 | Velvet grabbing manipulator, working method thereof and velvet grabbing robot |
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