CN204076247U - A kind of frame for movement of crops carrying - Google Patents
A kind of frame for movement of crops carrying Download PDFInfo
- Publication number
- CN204076247U CN204076247U CN201420556726.9U CN201420556726U CN204076247U CN 204076247 U CN204076247 U CN 204076247U CN 201420556726 U CN201420556726 U CN 201420556726U CN 204076247 U CN204076247 U CN 204076247U
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- China
- Prior art keywords
- synchronous pulley
- frame
- mechanical arm
- movement
- telescopic machine
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Abstract
The utility model relates to the frame for movement of a kind of crops carrying, comprise frame, it is characterized in that: side in described frame is longitudinally provided with one can the splined shaft of gantry rotation relatively, the opposite side of described frame is longitudinally provided with a rhizoid bar, described screw mandrel is equipped with a lifting nut, described lifting nut is fixed with a lifting platform that can be slidably connected with splined shaft, described lifting platform is provided with turning arm, described turning arm is hinged with a telescopic machine mechanical arm, described telescopic machine mechanical arm is hinged with an end mechanical arm, described end mechanical arm is hinged with one in order to carry the end effector of crops.The utility model structure is simple, and simple operation, reduces the labour that peasant carries these article, accelerate the operating efficiency of farmland operation process, is conducive to the entire mechanization and the automation that advance farmland production.
Description
Technical field
The utility model relates to the frame for movement of a kind of crops carrying, is applicable to farmland transfer robot.
Background technology
In farmland operation process, a lot of operation all relates to carrying, but in traditional farmland operation, major part is all based on manual operation, the whole-course automation of crops or fertilizer transport operation process is not well realized, comparatively large to labour demand, and these operation process are that to belong to working environment poor and labour-intensive mostly, are not suitable for peasant and carry out long period of operation.
Although there is the agricultural robot of many multi-functional, diversification on the market, but the price of its great number, with high maintenance expense, all that general peasant is burdensome, so all the time China to realize entire mechanization agriculturally the short time and automation also quite very long, so in farmland operation process, introduce the small-sized, cheap of novel suitable farmland production and the professional farmland transfer robot that can satisfy the demands again is inexorable trend.
At present, great majority apply to transfer robot controller in farmland operation process and mainly contain following a few class: be first take PLC as a class transfer robot of control core, such robot work is more stable, harsh environments can be adapted to, but to build with PLC be the control system of controller, need to connect the peripheral operational module of polytype, and need many PLC Collaborative Control, thus increase cost and the complexity of control system; Next take motion control card as the control system of core, and the control system integration degree of such transfer robot is high, multiple functional, but domestic motion control card unstable properties, quality is uneven, is difficult to meet Transport Robot Control System for Punch requirement, then the external motion control card produced, programming is started with comparatively complicated, cost is high, brings certain difficulty to robot control system designer, and once after damaging, be difficult to maintenance, can only integral replacing; Last class is independent research transfer robot controller, and such control system is more loaded down with trivial details for user's maintenance, and be difficult to carry out secondary development, versatility is poor.
Utility model content
In view of the deficiencies in the prior art, the purpose of this utility model is the frame for movement providing a kind of crops to carry.
The technical solution of the utility model is:
A kind of frame for movement of crops carrying, comprise frame, it is characterized in that: side in described frame is longitudinally provided with one can the splined shaft of gantry rotation relatively, the opposite side of described frame is longitudinally provided with a rhizoid bar, described screw mandrel is equipped with a lifting nut, described lifting nut is fixed with a lifting platform that can be slidably connected with splined shaft, the lifting platform bottom being positioned at splined shaft side is provided with a U-lag, the bottom of described splined shaft is fixed with one second synchronous pulley, the middle part warp beam upper spline of described splined shaft slidably connects one and is installed in the 3rd synchronous pulley in U-lag, the 3rd described synchronous pulley drives one to be horizontally disposed with it through Timing Belt and is positioned at the 4th synchronous pulley of lifting platform bottom side, the output shaft upper end of described 4th synchronous pulley is fixed with one and is positioned at toothed disc on the upside of lifting platform, the upper surface of described toothed disc is fixed with a turning arm, described turning arm is hinged with a telescopic machine mechanical arm, described telescopic machine mechanical arm is hinged with an end mechanical arm, described end mechanical arm is hinged with one in order to carry the end effector of crops, the second motor that an output shaft is longitudinally arranged is provided with in described turning arm, described second motor is connected through a side of the second decelerator and telescopic machine mechanical arm, the interior side that is connected with decelerator of described telescopic machine mechanical arm is provided with one the 5th synchronous pulley, opposite side is provided with the 6th synchronous pulley be connected with the 5th synchronous pulley through Timing Belt, the 5th described synchronous pulley and the upper end of turning arm are connected, one side of described 6th synchronous pulley and end mechanical arm is connected, the interior side that is connected with the 6th synchronous pulley of described end mechanical arm is provided with one the 7th synchronous pulley, opposite side is provided with the 8th synchronous pulley be connected with the 7th synchronous pulley through Timing Belt, described 8th synchronous pulley and end effector are connected, another side of described 7th synchronous pulley and telescopic machine mechanical arm is connected, described second synchronous pulley is driven by the first synchronous pulley be located in frame on side.
Wherein, described first synchronous pulley is driven through the first decelerator by the first motor be located in frame.
Opposite side in described frame is provided with the 3rd motor, and the output shaft of described 3rd motor is connected with the 9th synchronous pulley, and described 9th synchronous pulley to drive with the tenth synchronous pulley being fixed on screw mandrel lower end through Timing Belt and is connected.
The gear ratio of first and second synchronous pulley described is 1:1; The gear ratio of the described 3rd and the 4th synchronous pulley is 1:2; The gear ratio of the described 5th and the 6th synchronous pulley is 2:1; The gear ratio of the described 7th and the 8th synchronous pulley is 1:2; The gear ratio of the described 9th and the tenth synchronous pulley is 5:4.
Described frame bottom side is provided with universal wheel.
Bottom in described frame is also provided with radiator fan.
The utility model has the advantage of: the utility model structure is simple, and simple operation, reduces the labour that peasant carries these article, accelerate the operating efficiency of farmland operation process, be conducive to the entire mechanization and the automation that advance farmland production.
Accompanying drawing explanation
Fig. 1 is the structural representation of the utility model embodiment.
Fig. 2 is the end effector rectilinear motion schematic diagram of the utility model embodiment.
Detailed description of the invention
For above-mentioned feature and advantage of the present utility model can be become apparent, special embodiment below, and coordinate accompanying drawing, be described in detail below.
Referring to figs. 1 to Fig. 2, the utility model relates to the frame for movement of a kind of crops carrying, comprise frame 1, side in described frame is longitudinally provided with one can the splined shaft 2 of gantry rotation relatively, the opposite side of described frame is longitudinally provided with a rhizoid bar 3, described screw mandrel is equipped with a lifting nut 4, described lifting nut is fixed with a lifting platform 5 that can be slidably connected with splined shaft, the lifting platform bottom being positioned at splined shaft side is provided with a U-lag, the bottom of described splined shaft is fixed with one second synchronous pulley 6, the middle part warp beam upper spline of described splined shaft slidably connects one and is installed in the 3rd synchronous pulley 7 in U-lag, the 3rd described synchronous pulley drives one to be horizontally disposed with it through Timing Belt and is positioned at the 4th synchronous pulley 8 of lifting platform bottom side, the output shaft upper end of described 4th synchronous pulley is fixed with one and is positioned at toothed disc 9 on the upside of lifting platform, the upper surface of described toothed disc is fixed with a turning arm 10, described turning arm is hinged with a telescopic machine mechanical arm 11, described telescopic machine mechanical arm is hinged with an end mechanical arm 12, described end mechanical arm is hinged with one in order to carry the end effector 13 of crops, the second motor 14 that an output shaft is longitudinally arranged is provided with in described turning arm, described second motor is connected with a side of telescopic machine mechanical arm through the second decelerator 15, the interior side that is connected with decelerator of described telescopic machine mechanical arm is provided with one the 5th synchronous pulley 16, opposite side is provided with the 6th synchronous pulley 17 be connected with the 5th synchronous pulley through Timing Belt, the 5th described synchronous pulley and the upper end of turning arm are connected, one side of described 6th synchronous pulley and end mechanical arm is connected, the interior side that is connected with the 6th synchronous pulley of described end mechanical arm is provided with one the 7th synchronous pulley 18, opposite side is provided with the 8th synchronous pulley 19 be connected with the 7th synchronous pulley through Timing Belt, described 8th synchronous pulley and end effector are connected, another side of described 7th synchronous pulley and telescopic machine mechanical arm is connected, described second synchronous pulley is driven by the first synchronous pulley 20 be located in frame on side.
Above-mentioned first synchronous pulley is driven through the first decelerator 22 by the first motor 21 be located in frame.
Opposite side in above-mentioned frame is provided with the 3rd motor 23, and the output shaft of described 3rd motor is connected with the 9th synchronous pulley 24, and described 9th synchronous pulley to drive with the tenth synchronous pulley 25 being fixed on screw mandrel lower end through Timing Belt and is connected.
The gear ratio of first and second synchronous pulley above-mentioned is 1:1; The gear ratio of the described 3rd and the 4th synchronous pulley is 1:2; The gear ratio of the described 5th and the 6th synchronous pulley is 2:1; The gear ratio of the described 7th and the 8th synchronous pulley is 1:2; The gear ratio of the described 9th and the tenth synchronous pulley is 5:4.
Above-mentioned frame bottom side is provided with universal wheel 26.
Bottom in above-mentioned frame is also provided with radiator fan 27.
In implementation process, the principle that this frame for movement realizes farmland transfer robot is as follows:
5th synchronous pulley is fixed in turning arm, so the relative turning arm of the 5th synchronous pulley is fixed, when the second driven by motor telescopic machine mechanical arm is rotated, 6th synchronous pulley will be formed relative to the revolution of turning arm and autobiography, because end mechanical arm is fixed in the 6th synchronous pulley, so the rotation synchronous axial system of end mechanical arm and the 6th synchronous pulley, then end mechanical arm rotates relative to telescopic machine mechanical arm, and direction of rotation is contrary relative to the direction of rotation of turning arm with telescopic machine mechanical arm, corner value is 2 times (gear ratio of the 5th synchronous pulley and the 6th synchronous pulley is Z5:Z6=2:1) of telescopic machine mechanical arm corner.7th synchronous pulley is fixed in telescopic machine mechanical arm, when end mechanical arm relative telescopic mechanical arm rotates, 8th synchronous pulley will be formed relative to the revolution of telescopic machine mechanical arm and autobiography, because end effector is fixed in the 8th synchronous pulley, then end effector opposing end portions mechanical arm rotates, and direction of rotation is contrary with the direction of rotation of end mechanical arm relative telescopic mechanical arm, corner value is 1/2(the 7th synchronous pulley of end mechanical arm corner and the gear ratio of the 8th synchronous pulley is Z7:Z8=1:2).According to the calculating of corner vector, end effector is relative to the corner of turning arm
for telescopic machine mechanical arm corner
, end mechanical arm corner
with end effector corner
vector
, therefore when the second motor drives telescopic machine mechanical arm to rotate through the second decelerator, end effector does not rotate relative to turning arm all the time.
As shown in Figure 2, as we know from the figure C point all the time linearly AC limit move, and there is not rotation relative to turning arm in end effector, draws end effector in the plane all the time along rectilinear motion during final second stepping electric machine rotation.First stepping motor belt motor end effector and is rotated in the horizontal plane.3rd stepper motor draws end effector and moves up and down on a vertical plane, and in sum, the motion between three cooperates cooperation mutually, farmland transfer robot movement locus required for formation.
In sum, the farmland transfer robot frame for movement of various embodiments of the present invention, organizes synchronous belt drive mechanism owing to comprising, reducing gear more, three groups of five phase step motors and driver, screw mechanism, end mechanical arm, telescopic machine mechanical arm and turning arm, end effector, universal wheel travel mechanism.Thus realize the automation farmland transport operation of farmland transfer robot, save manpower, raise labour efficiency.
Described many groups synchronous belt drive mechanism comprises following 5 groups: 1, the first synchronous pulley and the second synchronous pulley, 2, the 3rd synchronous pulley and the 4th synchronous pulley, 3, the 5th synchronous pulley and the 6th synchronous pulley, 4, the 7th synchronous pulley and the 8th synchronous pulley, the 5, the 9th synchronous pulley and the tenth synchronous pulley.1st group: the rotation rotation of the first step motor shaft being converted to splined shaft, gearratio is Z1:Z2=1:1; 2nd group: the rotation of splined shaft is converted to turning arm and rotates, gearratio is Z3:Z4=1:2; 3rd group: the rotation rotation of telescopic machine mechanical arm being converted to end mechanical arm, gearratio is Z5:Z6=2:1; 4th group: the rotation rotation of end mechanical arm being converted to end effector, gearratio is Z7:Z8=1:2; 5th group: the rotation rotation of the 3rd stepper motor being converted to screw mandrel, gearratio is Z9:Z10=5:4; Described reducing gear comprises: the first decelerator and the second decelerator, realizes the deceleration of first, second stepper motor respectively and increases moment.Three groups of described five phase step motors comprise: the first motor, the second motor, the 3rd motor, respectively driving mechanical arm do rotate, stretch, elevating movement.Described cooling mechanism is: radiator fan, when robot runs, dispels the heat to its inside.Described screw mechanism comprises: screw mandrel, feed screw nut, the rotation of screw mandrel is converted to the lifting of turning arm.Described end mechanical arm, telescopic machine mechanical arm, turning arm, their motor coordinations coordinate, and jointly complete farmland transfer robot transport operation.Described end effector is grafter, holds up crops.Described gear mechanism comprises: the first gear and the second gear 28, be converted to the rotation of turning arm the rotation of encoder axle.Described universal wheel travel mechanism comprises: three universal wheels, are arranged on bottom robot, facilitate robot to move at any time.
The foregoing is only preferred embodiment of the present utility model, all equalizations done according to the utility model claim change and modify, and all should belong to covering scope of the present utility model.
Claims (6)
1. the frame for movement of a crops carrying, comprise frame, it is characterized in that: side in described frame is longitudinally provided with one can the splined shaft of gantry rotation relatively, the opposite side of described frame is longitudinally provided with a rhizoid bar, described screw mandrel is equipped with a lifting nut, described lifting nut is fixed with a lifting platform that can be slidably connected with splined shaft, the lifting platform bottom being positioned at splined shaft side is provided with a U-lag, the bottom of described splined shaft is fixed with one second synchronous pulley, the middle part warp beam upper spline of described splined shaft slidably connects one and is installed in the 3rd synchronous pulley in U-lag, the 3rd described synchronous pulley drives one to be horizontally disposed with it through Timing Belt and is positioned at the 4th synchronous pulley of lifting platform bottom side, the output shaft upper end of described 4th synchronous pulley is fixed with one and is positioned at toothed disc on the upside of lifting platform, the upper surface of described toothed disc is fixed with a turning arm, described turning arm is hinged with a telescopic machine mechanical arm, described telescopic machine mechanical arm is hinged with an end mechanical arm, described end mechanical arm is hinged with one in order to carry the end effector of crops, the second motor that an output shaft is longitudinally arranged is provided with in described turning arm, described second motor is connected through a side of the second decelerator and telescopic machine mechanical arm, the interior side that is connected with decelerator of described telescopic machine mechanical arm is provided with one the 5th synchronous pulley, opposite side is provided with the 6th synchronous pulley be connected with the 5th synchronous pulley through Timing Belt, the 5th described synchronous pulley and the upper end of turning arm are connected, one side of described 6th synchronous pulley and end mechanical arm is connected, the interior side that is connected with the 6th synchronous pulley of described end mechanical arm is provided with one the 7th synchronous pulley, opposite side is provided with the 8th synchronous pulley be connected with the 7th synchronous pulley through Timing Belt, described 8th synchronous pulley and end effector are connected, another side of described 7th synchronous pulley and telescopic machine mechanical arm is connected, described second synchronous pulley is driven by the first synchronous pulley be located in frame on side.
2. the frame for movement of a kind of crops carrying according to claim 1, is characterized in that: described first synchronous pulley is driven through the first decelerator by the first motor be located in frame.
3. the frame for movement of a kind of crops carrying according to claim 2, it is characterized in that: the opposite side in described frame is provided with the 3rd motor, the output shaft of described 3rd motor is connected with the 9th synchronous pulley, and described 9th synchronous pulley to drive with the tenth synchronous pulley being fixed on screw mandrel lower end through Timing Belt and is connected.
4. the frame for movement of a kind of crops carrying according to claim 3, is characterized in that: the gear ratio of first and second synchronous pulley described is 1:1; The gear ratio of the described 3rd and the 4th synchronous pulley is 1:2; The gear ratio of the described 5th and the 6th synchronous pulley is 2:1; The gear ratio of the described 7th and the 8th synchronous pulley is 1:2; The gear ratio of the described 9th and the tenth synchronous pulley is 5:4.
5. the frame for movement of a kind of crops carrying according to claim 1, is characterized in that: described frame bottom side is provided with universal wheel.
6. the frame for movement of a kind of crops carrying according to claim 1, is characterized in that: the bottom in described frame is also provided with radiator fan.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420556726.9U CN204076247U (en) | 2014-09-26 | 2014-09-26 | A kind of frame for movement of crops carrying |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420556726.9U CN204076247U (en) | 2014-09-26 | 2014-09-26 | A kind of frame for movement of crops carrying |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204076247U true CN204076247U (en) | 2015-01-07 |
Family
ID=52169008
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420556726.9U Expired - Fee Related CN204076247U (en) | 2014-09-26 | 2014-09-26 | A kind of frame for movement of crops carrying |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204076247U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104549858A (en) * | 2013-10-29 | 2015-04-29 | 沈阳芯源微电子设备有限公司 | Swinging arm device used for chemical fluid spraying and spraying method thereof |
| CN106003009A (en) * | 2016-06-15 | 2016-10-12 | 广东工业大学 | Separation shaft synchronous driving manipulator |
| CN108748076A (en) * | 2018-06-21 | 2018-11-06 | 泉州摩科索达科技有限公司 | A kind of automatic Jie Duan water robot |
| CN110340868A (en) * | 2018-04-08 | 2019-10-18 | AIrobot株式会社 | Mechanical arm, Working mechanism and autonomous transfer robot |
| CN110754675A (en) * | 2019-11-13 | 2020-02-07 | 三门罗荣机械科技有限公司 | Automatic drying device that dries of red hot pepper |
| CN114571215A (en) * | 2022-03-08 | 2022-06-03 | 安徽科技学院 | Scrapped vehicle door body dismounting device |
| US11839981B2 (en) | 2018-04-08 | 2023-12-12 | Airobot Co., Ltd. | Autonomous moving transfer robot |
-
2014
- 2014-09-26 CN CN201420556726.9U patent/CN204076247U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104549858A (en) * | 2013-10-29 | 2015-04-29 | 沈阳芯源微电子设备有限公司 | Swinging arm device used for chemical fluid spraying and spraying method thereof |
| CN104549858B (en) * | 2013-10-29 | 2017-04-19 | 沈阳芯源微电子设备有限公司 | Swinging arm device used for chemical fluid spraying and spraying method thereof |
| CN106003009A (en) * | 2016-06-15 | 2016-10-12 | 广东工业大学 | Separation shaft synchronous driving manipulator |
| CN106003009B (en) * | 2016-06-15 | 2018-05-18 | 广东工业大学 | A kind of separated axis synchrodrive tool hand |
| CN110340868A (en) * | 2018-04-08 | 2019-10-18 | AIrobot株式会社 | Mechanical arm, Working mechanism and autonomous transfer robot |
| TWI718518B (en) * | 2018-04-08 | 2021-02-11 | 日商Ａｉｒｏｂｏｔ股份有限公司 | Manipulator, operating mechanism and autonomous mobile handling robot |
| US11839981B2 (en) | 2018-04-08 | 2023-12-12 | Airobot Co., Ltd. | Autonomous moving transfer robot |
| CN108748076A (en) * | 2018-06-21 | 2018-11-06 | 泉州摩科索达科技有限公司 | A kind of automatic Jie Duan water robot |
| CN108748076B (en) * | 2018-06-21 | 2021-10-01 | 山东拓步教育科技有限公司 | Automatic connect end water robot |
| CN110754675A (en) * | 2019-11-13 | 2020-02-07 | 三门罗荣机械科技有限公司 | Automatic drying device that dries of red hot pepper |
| CN114571215A (en) * | 2022-03-08 | 2022-06-03 | 安徽科技学院 | Scrapped vehicle door body dismounting device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150107 Termination date: 20180926 |