CN202702251U - Mechanical arm of fruit-picking robot - Google Patents
Mechanical arm of fruit-picking robot Download PDFInfo
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- CN202702251U CN202702251U CN 201220431477 CN201220431477U CN202702251U CN 202702251 U CN202702251 U CN 202702251U CN 201220431477 CN201220431477 CN 201220431477 CN 201220431477 U CN201220431477 U CN 201220431477U CN 202702251 U CN202702251 U CN 202702251U
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Abstract
The utility model discloses a mechanical arm of a fruit-picking robot, wherein a large arm is composed of double connecting rods; a joint motor is arranged on a U-shaped seat; a motor output shaft is connected with a large arm straight-connecting rod through a coupler; a large arm crank-connecting rod is hinged with the U-shaped seat through a CF bearing so as to form a large arm rotating joint; a small arm joint motor is fixed on the crank connecting rod; a small synchronous belt pulley is assembled on the motor output shaft; the other ends of the double connecting rods are hinged with a joint shaft; a large synchronous belt pulley is assembled on one end of the joint shaft; a synchronous belt drives a small arm fixed on the joint shaft to rotate in a reducing transmission manner so as to form a small arm rotating joint; a slide rail, a gear rack and a motor are fixed on the small arm connecting rod; a gear and the gear rack form a small arm moving joint in a transmission manner; the end of the slide rail is hinged with a rudder mechanism so as to form a wrist joint; and a turntable is connected with the motor so as to form a rotating joint. The mechanical arm of a fruit-picking robot has five degrees of freedom, is strong in integral rigidity, is connected with a lifting platform and an end executor of the fruit-picking robot, and can mechanically pick fruits including red bayberries, loquats and the like in a man-machine coordinating manner.
Description
Technical field
The utility model relates to agriculture fruit and vegetable picking robot technical field, especially a kind of fruit picking robot mechanical arm.
Background technology
Present industrial robot kind both domestic and external is more, be widely used in the industrial manufacturing industry occasions such as welding, assembling, carrying, automatic loading/unloading, the mechanical arm of robot adopts the joint mechanical arm more, its large arm is installed on the support, big and small arms is 2 axle rotary joints, 2 driven by servomotor are namely arranged, and 2 joints rotate, and realize the pose requirement of arm end effector.The mechanical arm that is used for agriculture fruit and vegetable picking robot, external such as Japanese worker, the mechanical arm of agricultural robot at present, its structure kind is different, but many with the joint arm tool, and domestic robot arm for plucking fruit also is as main take joint arm such as " a kind of mechanical arm of Chinese walnut picking robot (CN102396326A) ".But, because operating environment and the requirement of agriculture fruit and vegetable picking robot are not quite similar, a kind of fruit and vegetable picking is generally wanted corresponding a kind of mechanical arm, aforesaid mechanical arm of Chinese walnut picking robot be suitable for plucking on the high branch that fruit is in 20 meters, and the principal arm of this mechanical arm will be longer, mechanical arm does not have Telescopic, so and be not suitable for plucking and be in the medium height of tree and following fruit, such as fruits such as red bayberry, loquats, and be not suitable for being loaded on the mobile chassis of robot.
Summary of the invention
In order to realize the Mechaniaed harvest of length fruit on higher branch, the utility model provides a kind of 5DOF mechanical arm with rotation and craspedodrome joint, this mechanical arm can be installed on robot hoistable platform or the mobile chassis, be connected with end effector of robot, finish the Mechaniaed harvest of the fruits such as red bayberry, loquat.
The technical scheme that its technical problem that solves the utility model adopts is: a kind of fruit picking robot mechanical arm, by the turntable rotation joint, large arm and forearm cradle head, the 5DOF mechanical arm that forearm linear joint and wrist joint form, it is characterized in that: the large arm be comprised of double link is placed on the both sides of U-shaped, greatly, the forearm joint motor is placed between U-shaped seat and two bar, the output shaft of large-arm joint motor is connected with shaft coupling with large arm straight connecting rod, the bent connecting rod of large arm and U-shaped seat CF bearing hinge connection, form large arm cradle head, in the close bearing of bent connecting rod vicinity, fixing forearm joint motor, small synchronous pulley is contained on this motor output shaft, fixed bearing block on the medial surface of the two bar other ends of large arm, joint shaft supports with bearing block and forms hinged with two bars, at joint shaft, stretch out the large synchronous pulley of assembling on bent connecting rod one end end, Timing Belt is assemblied in greatly, on small synchronous pulley, by the Timing Belt deceleration transmission, driving forearm rotates, form the forearm cradle head, the forearm connecting rod is fixed on the middle part of joint shaft, the slideway of fixed rack pair on the forearm connecting rod, stationary rack on the slide rail of slide rail pair, with the tooth bar meshed gears, be connected with motor shaft, with the wheel and rack transmission, drive slide rail and move to increase the forearm spread length, form the forearm linear joint, the slide rail end successively with support plate, the steering wheel support connects, steering wheel support and steering wheel are hinged, form the wrist joint, rotating disk and rotary tray motor connect and compose rotary joint with shaft coupling.
The motor of big and small arms cradle head, turntable rotation joint and forearm linear joint adopts DC speed-reducing.
The secondary drawer sliding rail that adopts of forearm slide rail, the tooth bar on the forearm slide rail adopts Timing Belt, and gear adopts synchronous pulley, and the Timing Belt tooth bar is pasted with glue with screw with slide rail and is fixedly connected with.
Synchronous pulley is fixedly connected with holding screw with motor shaft, joint shaft.
The large-arm joint motor is fixed on U-shaped seat and the rotating disk successively, and rotary tray motor is fixed on the landing slab, and mobile motor is fixed on motor support plate and the forearm connecting rod successively.
In order to improve mechanical arm overall structure rigidity, large arm double link connects with some stiffeners.
In order effectively to alleviate the weight of robot arm, except motor, Timing Belt and screw connector, remaining parts all adopts aluminum alloy materials.
The operation principle of this mechanical arm and structure are: the mechanical arm overall structure drives and can rotate around vertical axis by rotary tray motor, can 360 ° of rotations pluck fruit to adapt to robot arm, the rotational freedom of large-arm joint and little shoulder joint, and the linear joint free degree of forearm, mechanical arm is rotated in perpendicular and move, mechanical arm is stretched and contraction, to adapt to the picking fruit that is in differing heights, and the forearm end is provided with the wrist cradle head, can connect and compose the wrist free degree of rotating up and down with picking end effector, can realize better the harvesting pose requirement of end effector.Because large arm setting is longer, the joint motor quality is large, so adopt large arm double-rod structure, the big and small arms joint motor is placed on rotating disk and large arm connecting rod lower end, places stiffener between two bars, and the mechanical arm integral rigidity is strengthened.
The beneficial effects of the utility model are, this mechanical arm has 4 rotational freedoms, 1 one-movement-freedom-degree, be the 5DOF mechanical arm, large arm double-rod structure, integral rigidity is strong, this mechanical arm can with the other parts of fruit picking robot, such as hoistable platform or mobile chassis and end effector connection, finish the Mechaniaed harvest of the fruits such as red bayberry, loquat with the man-machine harmony Softening.
Description of drawings
Below in conjunction with drawings and Examples the utility model is further specified.
Fig. 1 is the utility model unitary construction axonometric drawing.
Fig. 2 is fruit picking robot mechanical arm unitary construction top view
Fig. 3 is large arm and the rotating disk partial front elevation view of fruit picking robot mechanical arm.
1. rotary tray motors among the figure, 2.U type seat, 3.CF bearing, 4. bent connecting rod, 5. small synchronous pulley of large arm, 6. motor backing plate, 7. forearm joint motor, 8. Timing Belt, 9. stiffener, 10. large synchronous pulley, 11. joint shaft, 12. forearm connecting rods, 13. slide rails are secondary, 14. tooth bars, 15. support plates, 16. the steering wheel support, 17. steering wheels, 18. linear joint motors, 19. motor support plates, 20. gear, 21. bearing blocks, 22. large arm straight connecting rods, 23. coupled axle-pins, 24. the large-arm joint motor, 25. rotating disks, 26. landing slabs, 27. shaft couplings
The specific embodiment
In Fig. 1 and Fig. 2, large-arm joint motor (24) is placed in the U-shaped seat (2), motor is connected with screw with U-shaped seat, motor (24) output shaft is connected with coupled axle-pin (23) with large arm straight connecting rod (22), large arm energy flexible rotating when making electric machine rotation, the large bent connecting rod of arm (4) is hinged with CF bearing (3) with U-shaped seat, when making electric machine rotation, the bent connecting rod of large arm can rotate synchronously with straight connecting rod, add some stiffeners (9) between two large arm connecting rods and connect with screw, strengthen the rigidity of large arm connecting rod.
At the medial surface assembling forearm joint motor (7) of the large bent connecting rod of arm (4) near the lower end; forearm joint motor and bent connecting rod (4), motor backing plate (6) use screw fastening on bent connecting rod; assemble small synchronous pulley (5) on motor (7) output shaft, make the circumferential and axial of small synchronous pulley (5) with holding screw, packing ring and axle sleeve and fix.On the medial surface of straight connecting rod (22) and bent connecting rod (4) other end, be fixed with respectively bearing block (21), joint shaft (11) is assemblied in two bearing blocks, joint shaft and straight connecting rod, bent connecting rod forms hinged, joint shaft stretches out assembling large synchronous pulley (10) on bent connecting rod one end, use holding screw, packing ring and nut are made the circumferential and axial of large synchronous pulley (10) and are fixed, Timing Belt (8) is assemblied in greatly, small synchronous pulley (10,5) on, by the Timing Belt deceleration transmission, forearm joint shaft (11) is rotated.
Forearm connecting rod (12) one ends are connected with screw in the middle part with joint shaft (11), be screwed the track of drawer sliding rail pair (13) at connecting rod (12), the slide rail of Timing Belt tooth bar (14) and slide rail secondary (13) adopts screw to paste with glue and is fixedly connected with.Linear joint motor (18) is screwed on motor support plate (19), the motor support plate is screwed at forearm connecting rod (12) near on the front position, synchronizing belt gear (20) is assemblied on the output shaft of motor (18), fix as circumferential and axial with holding screw, packing ring and nut, and cooperate with Timing Belt tooth bar (14), motor is done the forward and backward motion, by the rack-and-pinion transmission, realizes elongation and the contraction of forearm.On the slide rail of slide rail secondary (13), be screwed successively support plate (15) and steering wheel support (16), steering wheel (17) output shaft and steering wheel support (16) are hinged, consist of the wrist joint, carrying connecting hole and can be connected with end effector of robot on the steering wheel.
In Fig. 3, U-shaped seat (2) is connected with screw with rotating disk (25), rotary tray motor (1) is installed on the landing slab (26), landing slab can be the moving platform plate of robot hoistable platform, also can be the landing slab of mobile underpan, rotary tray motor (1) output shaft be connected with shaft coupling (27) with rotating disk (25), consists of the rotating disk joint, when rotary tray motor (1) rotated, the mechanical arm overall structure can be with dial rotation.
Claims (7)
1. fruit picking robot mechanical arm, by the turntable rotation joint, large arm and forearm cradle head, the 5DOF mechanical arm that forearm linear joint and wrist joint form, it is characterized in that: the large arm be comprised of double link is placed on the both sides of U-shaped, greatly, the forearm joint motor is placed between U-shaped seat and two bar, the output shaft of large-arm joint motor is connected with shaft coupling with large arm straight connecting rod, the bent connecting rod of large arm and U-shaped seat CF bearing hinge connection, form large arm cradle head, in the close bearing of bent connecting rod vicinity, fixing forearm joint motor, small synchronous pulley is contained on this motor output shaft, fixed bearing block on the medial surface of the two bar other ends of large arm, joint shaft supports with bearing block and forms hinged with two bars, at joint shaft, stretch out the large synchronous pulley of assembling on bent connecting rod one end end, Timing Belt is assemblied in greatly, on small synchronous pulley, by the Timing Belt deceleration transmission, driving forearm rotates, form the forearm cradle head, the forearm connecting rod is fixed on the middle part of joint shaft, the slideway of fixed rack pair on the forearm connecting rod, stationary rack on the slide rail of slide rail pair, with the tooth bar meshed gears, be connected with motor shaft, with the wheel and rack transmission, drive slide rail and move to increase the forearm spread length, form the forearm linear joint, the slide rail end successively with support plate, the steering wheel support connects, steering wheel support and steering wheel are hinged, form the wrist joint, rotating disk and rotary tray motor connect and compose rotary joint with shaft coupling.
2. fruit picking robot mechanical arm according to claim 1 is characterized in that: the motor employing DC speed-reducing of big and small arms cradle head, turntable rotation joint and forearm linear joint.
3. fruit picking robot mechanical arm according to claim 1, it is characterized in that: the secondary drawer sliding rail that adopts of forearm slide rail; the tooth bar on the forearm slide rail adopts Timing Belt, and gear adopts synchronous pulley, Timing Belt tooth bar are pasted with glue with screw with slide rail and are fixedly connected with.
4. fruit picking robot mechanical arm according to claim 1, it is characterized in that: synchronous pulley is fixedly connected with holding screw with motor shaft, joint shaft.
5. fruit picking robot mechanical arm according to claim 1 is characterized in that: the large-arm joint motor is fixed on U-shaped seat and the rotating disk successively, and rotary tray motor is fixed on the landing slab, and mobile motor is fixed on motor support plate and the forearm connecting rod successively.
6. fruit picking robot mechanical arm according to claim 1 is characterized in that: large arm double link connects with some stiffeners.
7. fruit picking robot mechanical arm according to claim 1, it is characterized in that: except motor, Timing Belt and screw connector, remaining parts all adopts aluminum alloy materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220431477 CN202702251U (en) | 2012-08-24 | 2012-08-24 | Mechanical arm of fruit-picking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220431477 CN202702251U (en) | 2012-08-24 | 2012-08-24 | Mechanical arm of fruit-picking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202702251U true CN202702251U (en) | 2013-01-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220431477 Withdrawn - After Issue CN202702251U (en) | 2012-08-24 | 2012-08-24 | Mechanical arm of fruit-picking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202702251U (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102806565A (en) * | 2012-08-24 | 2012-12-05 | 衢州学院 | Fruit picking robot manipulator |
| CN103858599A (en) * | 2014-02-26 | 2014-06-18 | 浙江机电职业技术学院 | Greenhouse cultivated vegetable harvesting rotary platform |
| CN104157205A (en) * | 2014-08-21 | 2014-11-19 | 浙江工业职业技术学院 | Multi-freedom manipulator teaching aid |
| CN108858171A (en) * | 2018-08-27 | 2018-11-23 | 中冶华天工程技术有限公司 | It is packed for manipulator |
| CN108908324A (en) * | 2018-08-14 | 2018-11-30 | 浩科机器人（苏州）有限公司 | A kind of compact belt driven type small-sized four axis robot |
| CN109927022A (en) * | 2019-04-09 | 2019-06-25 | 合肥伟达智能科技有限公司 | A kind of multi-joint mechanical arm and its adjusting method of precision positioning |
| CN110178529A (en) * | 2019-05-22 | 2019-08-30 | 兰溪市立顺生物有限公司 | A kind of cucumber picking tool arm |
| CN111034465A (en) * | 2020-01-14 | 2020-04-21 | 邵志远 | Efficient apple picking robot |
| CN111991086A (en) * | 2020-08-20 | 2020-11-27 | 河北工业大学 | Medical minimally invasive surgery robot and control method |
| CN115005106A (en) * | 2022-05-30 | 2022-09-06 | 北京工业大学 | Active following type rigid-flexible coupling milking mechanical device |
-
2012
- 2012-08-24 CN CN 201220431477 patent/CN202702251U/en not_active Withdrawn - After Issue
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102806565A (en) * | 2012-08-24 | 2012-12-05 | 衢州学院 | Fruit picking robot manipulator |
| CN102806565B (en) * | 2012-08-24 | 2015-02-25 | 衢州学院 | Fruit picking robot manipulator |
| CN103858599A (en) * | 2014-02-26 | 2014-06-18 | 浙江机电职业技术学院 | Greenhouse cultivated vegetable harvesting rotary platform |
| CN104157205A (en) * | 2014-08-21 | 2014-11-19 | 浙江工业职业技术学院 | Multi-freedom manipulator teaching aid |
| CN108908324A (en) * | 2018-08-14 | 2018-11-30 | 浩科机器人（苏州）有限公司 | A kind of compact belt driven type small-sized four axis robot |
| CN108858171A (en) * | 2018-08-27 | 2018-11-23 | 中冶华天工程技术有限公司 | It is packed for manipulator |
| CN109927022A (en) * | 2019-04-09 | 2019-06-25 | 合肥伟达智能科技有限公司 | A kind of multi-joint mechanical arm and its adjusting method of precision positioning |
| CN110178529A (en) * | 2019-05-22 | 2019-08-30 | 兰溪市立顺生物有限公司 | A kind of cucumber picking tool arm |
| CN110178529B (en) * | 2019-05-22 | 2021-03-19 | 西安石油大学 | Cucumber picking mechanical arm |
| CN111034465A (en) * | 2020-01-14 | 2020-04-21 | 邵志远 | Efficient apple picking robot |
| CN111034465B (en) * | 2020-01-14 | 2021-05-18 | 芜湖挺优机电技术有限公司 | Apple picking robot |
| CN111991086A (en) * | 2020-08-20 | 2020-11-27 | 河北工业大学 | Medical minimally invasive surgery robot and control method |
| CN115005106A (en) * | 2022-05-30 | 2022-09-06 | 北京工业大学 | Active following type rigid-flexible coupling milking mechanical device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20130130 Effective date of abandoning: 20150225 |
|
| RGAV | Abandon patent right to avoid regrant |