CN207824913U - A kind of manipulator for agricultural robot changes the outfit structure - Google Patents
A kind of manipulator for agricultural robot changes the outfit structure Download PDFInfo
- Publication number
- CN207824913U CN207824913U CN201721572120.4U CN201721572120U CN207824913U CN 207824913 U CN207824913 U CN 207824913U CN 201721572120 U CN201721572120 U CN 201721572120U CN 207824913 U CN207824913 U CN 207824913U
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- CN
- China
- Prior art keywords
- abutment shaft
- manipulator
- docking
- outfit
- agricultural robot
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Abstract
The utility model is related to the technical fields of agricultural robot, a kind of manipulator for agricultural robot is disclosed to change the outfit structure, the location structure arranged including the first abutment shaft, the second abutment shaft and activity and docked with the second abutment shaft for positioning the first abutment shaft, there is first abutment shaft the first docking end, the second abutment shaft to have the second docking end；First docking end is equipped with sunk structure, and the second docking end is equipped with the projective structure for being embedded in sunk structure；First abutment shaft and the second abutment shaft are threaded through in location structure respectively, the location structure has locking structure, in practice, manipulator is connected on an abutment shaft, another abutment shaft is as line shaft, and after the first abutment shaft is docked with the second abutment shaft, locking structure locks location structure, to realize effect that manipulator changes the outfit, and achievees the effect that simple in structure and reduce cost.
Description
Technical field
The utility model is related to the technical field of agricultural robot, especially a kind of manipulators for agricultural robot to change
Assembling structure.
Background technology
Agricultural robot is the development trend of the future of agriculture automation, and using agricultural robot, needing will be traditional various
Tillage implement, such as arable land, sowing, watering, fertilising, weeding, harvesting are designed to the manipulator of various functions, are mounted on robot
Upper realization farming.To improve efficiency and reducing hand labor, need to realize various arable lands, sowing, watering, fertilising, weeding, harvesting
The quick-replaceable of equal manipulators, the manipulator of industrial circle change the outfit the accurate connection structure of needs, it is complicated, make and safeguard at
This height, and it is poor to the tolerance of agricultural tillage environment.
Manipulator is mounted on abutment shaft, when needing to realize the replacement of manipulator, directly by the abutment shaft on manipulator
It is docked with another abutment shaft, wherein rotary shaft of the abutment shaft as power output, in this way, two abutment shafts are carried out
After docking, so as to using the rotation of one of abutment shaft, drive the rotation of another abutment shaft, realize the power of manipulator
Transmit connection.
In the prior art, it will realize and dock between two abutment shafts, it will usually is real using keyway or other fixed forms etc.
It now docks, during docking, the positioning and fixation of abutment shaft are cumbersome, especially are needing automatically and rapidly to dock
In the case of, then there is complicated, the higher defect of cost, is unsatisfactory for requiring to dock convenient and inexpensive demand.
Utility model content
The purpose of this utility model is to provide a kind of manipulator Quick universal structures for agricultural robot, it is intended to solve
Certainly in the prior art, the manipulator of agricultural robot changes the outfit that there are the higher problems of complicated and cost.
The structure the utility model is realized in this way a kind of manipulator for agricultural robot changes the outfit, including first pair
Spindle, the second abutment shaft and activity arrange and are used to position the location structure that the first abutment shaft is docked with the second abutment shaft, institute
The first abutment shaft is stated with the first docking end, second abutment shaft has the second couple for docking end docking with described first
Connect end；First docking end is equipped with sunk structure, and second docking end, which is equipped with, is embedded in the sunk structure
Projective structure；First abutment shaft and the second abutment shaft are threaded through in location structure respectively, and the location structure has lock
Determine structure, after the first abutment shaft is docked with the second abutment shaft, the locking structure locks the location structure.
Further, the sunk structure is in the docking groove being evenly spaced on, and the projective structure is between uniformly
Raised line is docked every distribution and with the docking groove corresponding matching.
Further, first docking end is formed with multiple the first tapers towards second docking end protrusion
Structure, second docking end are formed with multiple the second pyramidal structures towards first docking end protrusion.
Further, the inclination angle of multiple first pyramidal structures is different, the inclination of multiple second pyramidal structures
Angle is different.
Further, the location structure includes the first locating piece and the second locating piece, and first abutment shaft is worn
In first locating piece, first locating piece, which has towards the first of second locating piece, positions end, and described the
One positioning end is equipped with locating slot；Second locating piece, which has towards the second of first locating piece, positions end, described
Second positioning end has the positioning head that corresponding matching is embedded in the locating slot.
Further, the locating slot and positioning head are in non-circular shape.
Further, the locking structure includes rotating pin and is arranged locking groove bar in the positioning head side wall,
The locking groove bar runs through the side of the positioning head, and the side wall of the locating slot is equipped with transition groove bar, the transition groove bar with
The locking groove bar is positioned opposite；It is equipped in the locating piece and is connected to the locating slot and is passed through for the rotating pin logical
Hole, the rotating pin have the lock segments being placed in the locating slot, and the side wall of the lock segments is equipped with notch groove bar, described
The length of notch groove bar is more than the length of the locking groove bar.
Further, the fixation of the rotational power mechanism for connecting the rotating pin is equipped in the rotating pin
Hole.
Further, the positioning head is equipped with the end for covering first locating piece away from the end of the locating slot
Cover plate.
Further, the end of the rotating pin is equipped with the end being connected to outside first locating piece.
Compared with prior art, a kind of manipulator for agricultural robot provided by the utility model changes the outfit structure,
In practice, manipulator is connected on an abutment shaft, another abutment shaft as line shaft, using be threaded through the first abutment shaft with
The location structure of second abutment shaft, realize between the first abutment shaft and the second abutment shaft it is accurate, automatic and it is quick dock, it is right
After connecing, the projective structure of the second abutment shaft is embedded in the sunk structure of the first abutment shaft, and utilizes the locking in location structure
Structure so that position locks between the first abutment shaft and the second abutment shaft, to the effect that manipulator changes the outfit, and reaches structure letter
List and the effect for reducing cost.
Description of the drawings
Fig. 1 be the utility model embodiment provide a kind of manipulator for agricultural robot change the outfit structure explosion stand
Body schematic diagram；
Fig. 2 is the stereoscopic schematic diagram for the first abutment shaft that the utility model embodiment provides；
Fig. 3 is the stereoscopic schematic diagram for the second abutment shaft that the utility model embodiment provides；
Fig. 4 is the stereoscopic schematic diagram for the first locating piece that the utility model embodiment provides.
Specific implementation mode
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
The realization of the utility model is described in detail below in conjunction with specific embodiment.
It is preferred embodiment provided by the utility model referring to Fig.1 shown in -4.
A kind of manipulator for agricultural robot provided in this embodiment changes the outfit structure, can be used in agricultural robot
In, it needs in the fields of manipulators such as the various arable lands of quick-replaceable, sowing, watering, fertilising, weeding, harvesting, solves tradition machinery
Hand, which changes the outfit, needs accurate connection structure, and complicated, making and maintenance cost are high and poor to the tolerance of agricultural tillage environment.
A kind of manipulator for agricultural robot structure that changes the outfit includes the first abutment shaft 30, the second abutment shaft 40 and fixed
Bit architecture, wherein there is the first abutment shaft 30 the first docking end towards the second abutment shaft 40, the second abutment shaft 40 to have court
End is docked to the second of the first abutment shaft 30, that is to say, that it is positioned opposite that end with second is docked in the first docking end；First
Dock end and be equipped with sunk structure, the second docking end is equipped with projective structure, when the first abutment shaft 30 and the second abutment shaft 40 it
Between when docking, projective structure is then embedded in sunk structure so that the two is docking together.
First abutment shaft 30 and the second abutment shaft 40 are threaded through in location structure respectively, and when the first abutment shaft 30 and second
When abutment shaft 40 docks, which plays positioning action so that can be between the first abutment shaft 30 and the second abutment shaft 40
Accurate docking, and realize rapid abutting joint.Movable locking structure is equipped in location structure, when the first abutment shaft 30 and second pair
After being docked between spindle 40, using locking structure, location structure can be locked, to also realize the first abutment shaft 30 and the
Two abutment shafts 40 carry out docking locking, and since locking structure is that activity is arranged, when the first abutment shaft 30 and the second abutment shaft 40
Between when need not dock, can also realize unlock, be detached in this way, being realized between the first abutment shaft 30 and the second abutment shaft 40.
A kind of manipulator for agricultural robot of above-mentioned offer changes the outfit structure, in practice, manipulator connection
On an abutment shaft, another abutment shaft utilizes the positioning for being threaded through the first abutment shaft 30 and the second abutment shaft 40 as line shaft
Structure, realize between the first abutment shaft 30 and the second abutment shaft 40 it is accurate, automatic and it is quick dock, after docking, second pair
The projective structure of spindle 40 is embedded in the sunk structure of the first abutment shaft 30, and using the locking structure in location structure, is made
It obtains position between the first abutment shaft 30 and the second abutment shaft 40 to lock, to realize changing the outfit for manipulator, and reaches simple in structure
And reduce the effect of cost.
In embodiment, sunk structure includes the docking groove 301 in uniform intervals cross-like for being formed in the first docking end,
Projective structure includes the docking raised line 401 in uniform intervals cross-like for being formed in the second docking end, in this way, the first abutment shaft
After being docked between 30 and the second abutment shaft 40, docking raised line 401 is embedded in docking groove 301 so that the first abutment shaft 30 and the
It is relatively fixed between two abutment shafts 40.
Specifically, sunk area is the docking groove 301 in crosswise, and projective structure is the docking raised line 401 of crosswise, when
So, docking groove 301 can also make other different forms, such as triangular shape, the shape of corresponding docking raised line 401 with dock
The shape Corresponding matching of slot 301.
In the present embodiment, the first docking end is formed with the first pyramidal structure that multiple directions second dock end protrusion
302, the second docking end is formed with the second pyramidal structure 402 that multiple directions first dock end protrusion, in this way, when first pair
With the second abutment shaft 40 when docking, the first pyramidal structure 302 and the second pyramidal structure 402 can be used as and be oriented to knot spindle 30
Structure is embedded in convenient for projective structure in sunk structure.
Specifically, the inclination angle of multiple first pyramidal structures 302 is different, the inclination angle phase of multiple second pyramidal structures 402
It is different, in this way, can reducing the conflict at 402 top of 302 top of the first pyramidal structure and the second pyramidal structure in connection, realizing
Docking groove 301 and the quick guide-localization for docking raised line 401 further realize the effect of butt junction location, and then realize quickly accurate
Really docking.
Location structure includes the first locating piece 20 and the second locating piece, and the first abutment shaft 30 is threaded through the first locating piece 20
In, the first locating piece 20 has the first positioning end towards the second abutment shaft 40, the locating slot that the first positioning end is equipped with
202, the first docking end of the first abutment shaft 30 is placed in locating slot 202；Second abutment shaft 40 is threaded through in the second locating piece,
Second locating piece has the second positioning end towards the second abutment shaft 40, and the second positioning end is equipped with to be coordinated with locating slot 202
Positioning head 501, the second abutment shaft 40 second docking end pass through positioning head 501, extend to outside positioning head 501.
When the first abutment shaft 30 is docked with the second abutment shaft 40, positioning head 501 is embedded in locating slot 202, in turn
End is docked with second realize automatic rapid abutting joint in locating slot 202 in the first docking end.
In the present embodiment, locating slot 202 is non-circular shape, such as square shape or triangular shape, in this way, positioning head 501 is embedded in
After in locating slot 202, it is relatively fixed between the two, it is relatively unrotatable, it ensure that the stability of docking, and further increase
Docking align accuracy.
Locking structure includes rotating pin 10 and locking groove bar 503 in the side wall of positioning head 501 is arranged, and locks groove bar
503 run through the side of positioning head 501, and transition groove bar 203, the transition groove bar 203 and positioning head are equipped in the side wall of locating slot 202
501 locking groove bars 503 are positioned opposite, and through-hole 201 is equipped in the first locating piece 20, which is connected to locating slot 202, rotation
The middle part of axis pin 10 forms lock segments, is equipped with along rotating pin 10 to the notch groove bar 101 of arrangement in the side wall of lock segments, and lack
The length of mouth groove bar 101 is more than the length of locking groove bar 503, and rotating pin 10 passes through through-hole 201, and lock segments are placed in locating slot
In 202, when rotating pin 10 is embedded in locking groove bar 503, under the action of rotating pin 10, positioning head 501 can not be from
It is detached in locating slot 202, to realize that locking effect, the first abutment shaft 30 are consolidated with the second abutment shaft 40 and docked；Rotation
Rotating pin 10, such as 180 ° so that notch groove bar 101 is opposite with locking groove bar 503, and the lock segments of rotating pin 10 then can be with
Transition is embedded in transition groove bar 203, at this point, rotating pin 10 is detached from locking groove bar 503, at this point, positioning head 501
It can then be detached from locating slot 202, to realize the separation between the first abutment shaft 30 and the second abutment shaft 40.
Mounting hole 102 is equipped in rotating pin 10, which is used to connect the rotational power machine of rotating pin 10
Structure, such as hand driving lever, push rod etc..
In order to limit the axial movement of rotating pin 10, the end of rotating pin 10, which is equipped with, to be connected to outside the first locating piece 20
The end 103 in portion.
In the present embodiment, positioning head 501 is equipped with capping plate 502 away from the end of locating slot 202, in this way, working as positioning head 501
After being embedded in locating slot 202, capping plate 502 can be by the first locating piece 20 towards the end closure of the second locating piece.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
All any modification, equivalent and improvement etc., should be included in the utility model made by within the spirit and principle of utility model
Protection domain within.
Claims (10)
- The structure 1. a kind of manipulator for agricultural robot changes the outfit, which is characterized in that including the first abutment shaft, the second abutment shaft And activity is arranged and for positioning the location structure that the first abutment shaft is docked with the second abutment shaft, first abutment shaft has First docking end, second abutment shaft have the second docking end for docking end docking with described first；Described first It docks end and is equipped with sunk structure, second docking end is equipped with the projective structure for being embedded in the sunk structure；Described One abutment shaft and the second abutment shaft are threaded through in location structure respectively, and the location structure has locking structure, when first pair After spindle is docked with the second abutment shaft, the locking structure locks the location structure.
- The structure 2. a kind of manipulator for agricultural robot as described in claim 1 changes the outfit, which is characterized in that the recess Structure is in the docking groove being evenly spaced on, and the projective structure is in being evenly spaced on and corresponding with the docking groove match The docking raised line of conjunction.
- The structure 3. a kind of manipulator for agricultural robot as described in claim 1 changes the outfit, which is characterized in that described first Docking end is formed with multiple the first pyramidal structures towards second docking end protrusion, and second docking end is formed There are multiple the second pyramidal structures towards first docking end protrusion.
- The structure 4. a kind of manipulator for agricultural robot as claimed in claim 3 changes the outfit, which is characterized in that multiple described The inclination angle of first pyramidal structure is different, and the inclination angle of multiple second pyramidal structures is different.
- The structure 5. a kind of such as manipulator for agricultural robot of Claims 1-4 any one of them changes the outfit, feature exist In the location structure includes the first locating piece and the second locating piece, and first abutment shaft is threaded through first positioning In block, first locating piece, which has towards the first of second locating piece, positions end, and first positioning end is equipped with Locating slot；Second locating piece, which has towards the second of first locating piece, positions end, second positioning end tool There is corresponding matching to be embedded in the positioning head of the locating slot.
- The structure 6. a kind of manipulator for agricultural robot as claimed in claim 5 changes the outfit, which is characterized in that the positioning Slot and positioning head are in non-circular shape.
- The structure 7. a kind of manipulator for agricultural robot as claimed in claim 5 changes the outfit, which is characterized in that the locking Structure includes rotating pin and locking groove bar in the positioning head side wall is arranged, and the locking groove bar runs through the positioning head Side, the side wall of the locating slot is equipped with transition groove bar, and the transition groove bar and the locking groove bar are positioned opposite；It is described fixed The through-hole for being connected to the locating slot and being passed through for the rotating pin is equipped in the block of position, the rotating pin is described fixed with being placed in The side wall of lock segments in the slot of position, the lock segments is equipped with notch groove bar, and the length of the notch groove bar is more than the lock slots The length of item.
- The structure 8. a kind of manipulator for agricultural robot as claimed in claim 7 changes the outfit, which is characterized in that the rotation The mounting hole of the rotational power mechanism for connecting the rotating pin is equipped in axis pin.
- The structure 9. a kind of manipulator for agricultural robot as claimed in claim 5 changes the outfit, which is characterized in that the positioning Head is equipped with the capping plate for the end for covering first locating piece away from the end of the locating slot.
- The structure 10. a kind of manipulator for agricultural robot as claimed in claim 7 changes the outfit, which is characterized in that described turn The end of dynamic axis pin is equipped with the end being connected to outside first locating piece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721572120.4U CN207824913U (en) | 2017-11-21 | 2017-11-21 | A kind of manipulator for agricultural robot changes the outfit structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721572120.4U CN207824913U (en) | 2017-11-21 | 2017-11-21 | A kind of manipulator for agricultural robot changes the outfit structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207824913U true CN207824913U (en) | 2018-09-07 |
Family
ID=63386595
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721572120.4U Expired - Fee Related CN207824913U (en) | 2017-11-21 | 2017-11-21 | A kind of manipulator for agricultural robot changes the outfit structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207824913U (en) |
-
2017
- 2017-11-21 CN CN201721572120.4U patent/CN207824913U/en not_active Expired - Fee Related
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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: 20180907 Termination date: 20211121 |