CN206294550U - A kind of mechanical arm - Google Patents
A kind of mechanical arm Download PDFInfo
- Publication number
- CN206294550U CN206294550U CN201621184863.XU CN201621184863U CN206294550U CN 206294550 U CN206294550 U CN 206294550U CN 201621184863 U CN201621184863 U CN 201621184863U CN 206294550 U CN206294550 U CN 206294550U
- Authority
- CN
- China
- Prior art keywords
- servomotor
- controller
- arm
- clamper
- electrically connected
- 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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- Manipulator (AREA)
Abstract
The utility model discloses a kind of mechanical arm.The device includes：Crawler belt base, crawler belt base is provided with power supply and controller, power supply and controller are electrically connected, principal arm is installed on controller, principal arm side is provided with connecting seat, principal arm top is provided with servomotor two, the output shaft end of servomotor two is rotatably connected to large arm, connecting rod is connected with below large arm, the other end of connecting rod is flexibly connected with the servomotor one being arranged in connecting seat, the other end of large arm is connected with forearm by rotating shaft, rotating shaft is flexibly connected by flange with servomotor three, the other end of forearm is connected with clamper by the output shaft of servomotor four, clamper is provided with servomotor five, the output shaft of servomotor five is flexibly connected with the connecting shaft on clamper by flange；Servomotor one, servomotor two, servomotor three, servomotor four and servomotor five are electrically connected with the controller, and controller is electrically connected with the drive motor in crawler body.
Description
Technical field
The utility model is related to technical field of agricultural mechanical equipment, more particularly to a kind of mechanical arm.
Background technology
China is Production of fruit big country, and development of the Production of fruit to China's agricultural economy is significant.However, current
China's fruit picking is essentially all to carry out by hand, and picking efficiency is relatively low.In recent years, with mechanization of agriculture and automation
Development, the research of the automatic picking mechanical arm of fruit increasingly attracts attention.But majority research is concentrated in fruits picking mechanical
The one-side researchs such as arm, various end effectors, various sensors and picking mechanical arm self-navigation, adopt for fruit
The relative shortage of research of mechanical arm total system is plucked, in the market can put into the fruits picking mechanical hand arm of application in actual work
Manpower assistance is still needed in work, it is impossible to realize complete automation.
Utility model content
The utility model provides a kind of mechanical arm, can solve in the prior art, mechanical arm in real work still
Manpower is needed to assist, it is impossible to realize the problem of complete automation.
The utility model provides a kind of mechanical arm, including：Crawler body, the crawler body is provided with power supply and control
Device processed, the power supply and controller are electrically connected, and principal arm is provided with the controller, and the principal arm side is provided with connecting seat, main
Arm top is provided with servomotor two, and the output shaft end of the servomotor two is rotatably connected to large arm, connects below the large arm
Be connected to connecting rod, the other end of the connecting rod is flexibly connected with the servomotor one being arranged in connecting seat, the large arm it is another
End forearm is connected with by rotating shaft, the rotating shaft is flexibly connected by flange with servomotor three, the forearm it is another
End is provided with servomotor four, and the output shaft of the servomotor four is connected with clamper, and the clamper is provided with servo
Motor five, the output shaft of the servomotor five is flexibly connected with the connecting shaft on clamper by flange；The servomotor
First, servomotor two, servomotor three, servomotor four and servomotor five are electrically connected with the controller, the controller with
Drive motor electrical connection in crawler body.
It is preferred that being provided with collecting box on the crawler body.
It is preferred that the clamper is provided with vision sensor, the vision sensor passes through microprocessor and controller
Electrical connection.
It is preferred that the large arm is scalability armed lever.
In the utility model embodiment, there is provided a kind of mechanical arm, including crawler belt base, the crawler belt base are provided with electricity
Source and controller, the power supply and controller are electrically connected, and principal arm is provided with the controller, and the principal arm side is provided with connection
Seat, principal arm top is provided with servomotor two, and the output shaft end of the servomotor two is rotatably connected to large arm, under the large arm
Side is connected with connecting rod, and the other end of the connecting rod is flexibly connected with the servomotor one being arranged in connecting seat, the large arm
The other end is connected with forearm by rotating shaft, and the rotating shaft is flexibly connected by flange with servomotor three, the forearm
The other end is connected with clamper by the output shaft of servomotor four, and the clamper is provided with servomotor five, described
Servomotor one, servomotor two, servomotor three, servomotor four and servomotor five are electrically connected with the controller, described
Controller is electrically connected with the drive motor in crawler body.The utility model mechanical arm, drastically increases picking efficiency, drop
The low cost of fruit picking；The independent navigation function of fruits picking mechanical hand arm is realized, the labor of orchard worker is reduce further
Fatigue resistance, improves productivity ratio.
Brief description of the drawings
A kind of mechanical arm structural representation that Fig. 1 is provided for the utility model.
Description of reference numerals：
1st, crawler body；2nd, power supply；3rd, controller；4th, principal arm；5th, connecting seat；6th, servomotor one；7th, servomotor two；
8th, large arm；9th, connecting rod；10th, servomotor three；11st, forearm；12nd, servomotor four；13rd, servomotor five；14th, clamper；15、
Collecting box.
Specific embodiment
Below in conjunction with the accompanying drawings, a specific embodiment of the present utility model is described in detail, it is to be understood that this
The protection domain of utility model is not limited by specific embodiment.
As shown in figure 1, the utility model embodiment provides a kind of mechanical arm, including crawler body 1, the track bottom
Disk 1 is provided with power supply 2 and controller 3, and the power supply 2 and controller 3 are electrically connected, and principal arm 4, institute are provided with the controller 3
State the side of principal arm 4 and be provided with connecting seat 5, the top of principal arm 4 is provided with servomotor 27, and the output shaft end of the servomotor 27 is rotated
Be connected with large arm 8, the lower section of the large arm 8 is connected with connecting rod 9, the other end of the connecting rod 9 be arranged on watching in connecting seat 5
The flexible connection of motor 1 is taken, the other end of the large arm 8 is connected with forearm 11 by rotating shaft, and the rotating shaft passes through flange
It is flexibly connected with servomotor 3 10, the other end of the forearm 11 is provided with servomotor 4 12, the servomotor 4 12
Output shaft is connected with clamper 14, and the clamper 14 is provided with servomotor 5 13, the servomotor 5 13 it is defeated
Shaft is flexibly connected with the connecting shaft on clamper 14 by flange；The servomotor 1, servomotor 27, servomotor
3 10, servomotor 4 12 and servomotor 5 13 are electrically connected with controller 3, the drive in the controller 3 and crawler body 1
Dynamic motor electrical connection.The utility model mechanical arm, controls each servomotor to rotate by controller, so as to reach control folder
The motion of holder, drastically increases picking efficiency, reduces the cost of fruit picking.
Further, collecting box 15 is installed on the crawler body 1.
Further, the clamper 14 is provided with vision sensor, and the vision sensor is by microprocessor and control
Device processed 3 is electrically connected；The setting of vision sensor, is conducive to clamper preferably to pluck.
Further, the large arm 8 is scalability armed lever.
In sum, a kind of mechanical arm that the utility model embodiment is provided, including crawler belt base, the crawler belt base
Power supply and controller are provided with, the power supply and controller are electrically connected, and principal arm, the principal arm side are provided with the controller
Connecting seat is provided with, principal arm top is provided with servomotor two, and the output shaft end of the servomotor two is rotatably connected to large arm, described
Connecting rod is connected with below large arm, the other end of the connecting rod is flexibly connected with the servomotor one being arranged in connecting seat, institute
The other end for stating large arm is connected with forearm by rotating shaft, and the rotating shaft is flexibly connected by flange with servomotor three, institute
The other end for stating forearm is connected with clamper by the output shaft of servomotor four, and the clamper is provided with servomotor
Five, the output shaft of the servomotor five is flexibly connected with the connecting shaft on clamper by flange；The servomotor one, watch
Take motor two, servomotor three, servomotor four and servomotor five to be electrically connected with the controller, the controller and track bottom
Drive motor electrical connection in disk.
Disclosed above is only several specific embodiments of the present utility model, but, the utility model embodiment not office
It is limited to this, the changes that any person skilled in the art can think of should all fall into protection domain of the present utility model.
Claims (4)
1. a kind of mechanical arm, including：Crawler body (1), it is characterised in that the crawler body (1) be provided with power supply (2) and
Controller (3), the power supply (2) and controller (3) are electrically connected, and principal arm (4), the principal arm are provided with the controller (3)
(4) side is provided with connecting seat (5), and principal arm (4) top is provided with servomotor two (7), the output shaft end of the servomotor two (7)
Be rotatably connected to large arm (8), be connected with connecting rod (9) below the large arm (8), the other end of the connecting rod (9) be arranged on
Servomotor one (6) in connecting seat (5) is flexibly connected by flange, and the other end of the large arm (8) is connected by rotating shaft activity
Forearm (11) is connected to, the rotating shaft is flexibly connected by flange with servomotor three (10), and the other end of the forearm (11) sets
The output shaft for having servomotor four (12), the servomotor four (12) is connected with clamper (14), the clamper
(14) servomotor five (13) is provided with, output shaft and the connecting shaft on clamper (14) of the servomotor five (13) pass through
Flange is flexibly connected；The servomotor one (6), servomotor two (7), servomotor three (10), servomotor four (12) and
Servomotor five (13) is electrically connected with controller (3), and the controller (3) is electrically connected with the drive motor in crawler body (1)
Connect.
2. a kind of mechanical arm as claimed in claim 1, it is characterised in that be provided with collecting box on the crawler body (1)
(15)。
3. a kind of mechanical arm as claimed in claim 1, it is characterised in that the clamper (14) is provided with visual sensing
Device, the vision sensor is electrically connected by microprocessor with controller (3).
4. a kind of mechanical arm as claimed in claim 1, it is characterised in that the large arm (8) is scalability armed lever.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621184863.XU CN206294550U (en) | 2016-10-26 | 2016-10-26 | A kind of mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621184863.XU CN206294550U (en) | 2016-10-26 | 2016-10-26 | A kind of mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206294550U true CN206294550U (en) | 2017-07-04 |
Family
ID=59203680
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621184863.XU Expired - Fee Related CN206294550U (en) | 2016-10-26 | 2016-10-26 | A kind of mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206294550U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107457790A (en) * | 2017-08-16 | 2017-12-12 | 潘灵灵 | A kind of multifunctional domestic sweeping robot |
| CN107969221A (en) * | 2018-01-12 | 2018-05-01 | 浙江师范大学 | A kind of full-automatic watermelon picking machine |
| CN110366952A (en) * | 2019-08-23 | 2019-10-25 | 重庆市经贸中等专业学校 | A kind of miniature tracked agricultural robot |
| CN111656960A (en) * | 2020-07-20 | 2020-09-15 | 湖南翰坤实业有限公司 | Picking mechanical arm and intelligent fruit picking machine |
-
2016
- 2016-10-26 CN CN201621184863.XU patent/CN206294550U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107457790A (en) * | 2017-08-16 | 2017-12-12 | 潘灵灵 | A kind of multifunctional domestic sweeping robot |
| CN107969221A (en) * | 2018-01-12 | 2018-05-01 | 浙江师范大学 | A kind of full-automatic watermelon picking machine |
| CN110366952A (en) * | 2019-08-23 | 2019-10-25 | 重庆市经贸中等专业学校 | A kind of miniature tracked agricultural robot |
| CN111656960A (en) * | 2020-07-20 | 2020-09-15 | 湖南翰坤实业有限公司 | Picking mechanical arm and intelligent fruit 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 |
Granted publication date: 20170704 Termination date: 20181026 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |