CN206078123U - Arm device of watermelon picking machine - Google Patents
Arm device of watermelon picking machine Download PDFInfo
- Publication number
- CN206078123U CN206078123U CN201621111432.0U CN201621111432U CN206078123U CN 206078123 U CN206078123 U CN 206078123U CN 201621111432 U CN201621111432 U CN 201621111432U CN 206078123 U CN206078123 U CN 206078123U
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- CN
- China
- Prior art keywords
- hinged
- arm
- quarter butt
- armed
- long
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
The utility model provides an arm device of watermelon picking machine, is equipped with the moving platform as running gear last motor, reduction gear and the carousel installed of moving platform, the motor passes through reduction gear drive turntable and rotates, articulated on the carousel have a mechanical long arm, and quarter butt and supplementary stock are assisted with moving down to be connected with to the articulated arm that moves down of mechanical long arm, mechanical long arm between the arm, the one end and the articulated and supplementary quarter butt of mechanical long arm of supplementary quarter butt can rotate around central line of this articulated department, and the other end of supplementary quarter butt with the one end of supplementary stock is articulated, and supplementary quarter butt and supplementary stock all can rotate around the central line of this articulated department, the other end of supplementary stock with move down mechanical arm hinged and supplementary stock and can rotate around central line of this articulated department, it has the harvesting terminal to move down the terminal articulated of arm. The utility model discloses an arm that has four degrees of freedom is plucked flexible and efficiently, has the characteristics that the practicality is strong.
Description
Technical field
A kind of robot arm device plucked for Citrullus vulgariss of this utility model design, relates generally to accurately to pluck Citrullus vulgariss, efficiently
Flexible four-degree-of-freedom mechanical arm..
Background technology
As summer people increase the demand of Citrullus vulgariss, the yield of Citrullus vulgariss rises every year.For in terms of the market economy,
Its market price is considerable as one of important fruit for Citrullus vulgariss, has very big consumption potentiality in domestic and international market.With people
The demand of Citrullus vulgariss is continuously increased, the cultivated area and yield of Citrullus vulgariss increase year by year, already at fruits output first, west
The period of maturation of melon is that during the broiling summer, the harvesting of Citrullus vulgariss is wasted time and energy, and realizes that agricultural robot harvesting Citrullus vulgariss are imperative, its
In, the mechanical arm design of Citrullus vulgariss seed harvester just seems and is even more important.
The content of the invention
This utility model aims to provide a kind of four-degree-of-freedom robot arm device of Citrullus vulgariss picking machine, to realize the height to Citrullus vulgariss
Effect is plucked.
The technical solution of the utility model is：A kind of robot arm device of Citrullus vulgariss picking machine, it is characterised in that be provided with conduct
The mobile platform of walking mechanism, is provided with motor, decelerator and rotating disk on the mobile platform, and the motor passes through decelerator
Driving rotating disk is rotated；Machinery is hinged with the rotating disk long-armed, mechanical long-armed being hinged moves down mechanical arm, machinery is long-armed with lower telephone-moving
Auxiliary quarter butt and auxiliary stock are connected between tool arm；One end of the auxiliary quarter butt is long-armed with machinery to be hinged and aids in the quarter butt can
Around the hinged place centrage rotate, and aid in quarter butt the other end and it is described auxiliary stock one end be hinged, auxiliary quarter butt and
Auxiliary stock can be rotated around the centrage of the hinged place；The other end of the auxiliary stock is hinged and aids in mechanical arm is moved down
Stock can be rotated around the centrage of the hinged place；The end for moving down mechanical arm is hinged with picking end.This utility model is
Mechanical arm with four-degree-of-freedom, pluck it is flexible and efficient, with it is practical the characteristics of.
Motor and decelerator are installed in the machinery is long-armed, for drive machinery it is long-armed around it with rotating disk hinged place in
Heart line is rotated.
Described moving down be provided with mechanical arm motor and decelerator, and mechanical arm is moved down around itself and mechanical long-armed hinge for driving
The centrage for meeting place is rotated.
Motor and train of reduction gears are installed, the motor drives picking end by train of reduction gears in the picking end
Rotate with the centrage for moving down mechanical arm hinged place around it.
Description of the drawings
Below in conjunction with the accompanying drawings the utility model is described in further detail with embodiment.
Fig. 1 is three-dimensional blanking illustraton of model of the present utility model.
Fig. 2 is side-looking blanking illustraton of model of the present utility model.
In Fig. 1, Fig. 2,1. mobile platform, 2. decelerator, 3. motor, 4. rotating disk, 5. machinery is long-armed, 6. aids in quarter butt,
7. stock is aided in, mechanical arm is 8. moved down, 9. picking end.
Specific embodiment
With reference to Fig. 1,2, a kind of robot arm device of Citrullus vulgariss picking machine, it is characterised in that be provided with the shifting as walking mechanism
Moving platform 1, is provided with decelerator 2, motor 3 and rotating disk 4 on the mobile platform, and the motor 3 is driven by decelerator 2 and turned
Disk 4 is rotated；Machinery long-armed 5 is hinged with the rotating disk 4, machinery long-armed 5 is hinged and moves down mechanical arm 8, and the machinery long-armed 5 is with
Move and auxiliary quarter butt 6 and auxiliary stock 7 are connected between mechanical arm 8；It is described auxiliary quarter butt 6 one end with machinery long-armed 5 be hinged and
Auxiliary quarter butt 6 can be rotated around the centrage of the hinged place, and aid in the other end of quarter butt 6 and one end hinge of the auxiliary stock 7
Connect, aid in quarter butt 6 and auxiliary stock 7 can rotate around the centrage of the hinged place；It is described to aid in the other end of stock 7 and move down
Mechanical arm 8 is hinged and aids in stock 7 to rotate around the centrage of the hinged place；The end for moving down mechanical arm 8 is hinged with adopts
Pluck end 9.
Motor and decelerator are installed in the machinery long-armed 5, for driving machinery long-armed 5 around itself and the hinged place of rotating disk 4
Centrage rotate.
Described moving down in mechanical arm 8 is provided with motor and decelerator, moves down mechanical arm 8 for driving long-armed with machinery around it
The centrage of 5 hinged places is rotated.
Motor and train of reduction gears are installed in the picking end 9, the motor is driven by train of reduction gears and plucks end
End 9 rotates around it with the centrage for moving down the hinged place of mechanical arm 8.
Claims (2)
1. a kind of robot arm device of Citrullus vulgariss picking machine, it is characterised in that the robot arm device of the Citrullus vulgariss picking machine is provided with work
For the mobile platform of walking mechanism, motor, decelerator and rotating disk are installed on the mobile platform, the motor is by slowing down
Device driving rotating disk is rotated；Machinery is hinged with the rotating disk long-armed, mechanical long-armed being hinged moves down mechanical arm, machinery it is long-armed with move down
Auxiliary quarter butt and auxiliary stock are connected between mechanical arm；One end of the auxiliary quarter butt is long-armed with machinery to be hinged and aids in quarter butt
Can rotate around the centrage of the hinged place, and aid in the other end of quarter butt and one end of the auxiliary stock to be hinged, aid in quarter butt
Can rotate around the centrage of the hinged place with auxiliary stock；The other end of the auxiliary stock is hinged and auxiliary with mechanical arm is moved down
Encouraging bar can rotate around the centrage of the hinged place；The end for moving down mechanical arm is hinged with picking end.
2. the robot arm device of a kind of Citrullus vulgariss picking machine according to claim 1, it is characterised in that the machinery is long-armed
Motor and decelerator are inside installed, are rotated with the centrage of rotating disk hinged place around it for driving machinery long-armed；The lower telephone-moving
Motor and decelerator are installed in tool arm, mechanical arm is moved down around its centrage rotation with mechanical long-armed hinged place for driving；
Motor and train of reduction gears are installed, the motor drives picking end around it with by train of reduction gears in the picking end
The centrage for moving mechanical arm hinged place is rotated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621111432.0U CN206078123U (en) | 2016-10-11 | 2016-10-11 | Arm device of watermelon picking machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621111432.0U CN206078123U (en) | 2016-10-11 | 2016-10-11 | Arm device of watermelon picking machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206078123U true CN206078123U (en) | 2017-04-12 |
Family
ID=60414016
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621111432.0U Expired - Fee Related CN206078123U (en) | 2016-10-11 | 2016-10-11 | Arm device of watermelon picking machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206078123U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109699300A (en) * | 2019-02-22 | 2019-05-03 | 四川农业大学 | A kind of control system and its control method of intelligence citrus picking machine |
-
2016
- 2016-10-11 CN CN201621111432.0U patent/CN206078123U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109699300A (en) * | 2019-02-22 | 2019-05-03 | 四川农业大学 | A kind of control system and its control method of intelligence citrus picking machine |
| CN109699300B (en) * | 2019-02-22 | 2022-02-15 | 四川农业大学 | Control system and control method of intelligent citrus picking machine |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20170412 Termination date: 20171011 |