CN208102152U - A kind of simple agricultural manipulator three-dimensional space walking mechanism of terrestrial path - Google Patents
A kind of simple agricultural manipulator three-dimensional space walking mechanism of terrestrial path Download PDFInfo
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- CN208102152U CN208102152U CN201820618789.0U CN201820618789U CN208102152U CN 208102152 U CN208102152 U CN 208102152U CN 201820618789 U CN201820618789 U CN 201820618789U CN 208102152 U CN208102152 U CN 208102152U
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- crossbeam
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- manipulator
- walking mechanism
- dimensional space
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Abstract
The utility model provides a kind of simple agricultural manipulator three-dimensional space walking mechanism of terrestrial path, the mechanism includes moving left and right unit, be moved forward and backward unit and moving up and down unit, move left and right unit include high-order crossbeam be socketed in high-order crossbeam can it is synchronous along crossbeam, towards or away from two traveling boxes moved；Back-and-forth motion unit includes at left and right sides of crossbeam and the vertical support piece at crossbeam both ends is fixed on top, and the bottom of vertical support piece is provided with traveling wheel and drives the second driving device of traveling wheel back-and-forth motion；Moving up and down unit includes two connecting rods for being movably connected on two traveling box bottoms, and the other end of connecting rod is connected with the fixed platform of a manipulator.The walking mechanism of the utility model, it is simple in sturcture, ingenious in design, only the three-dimensional walking that two paths for the walking of vertical support piece straight line achieve that manipulator need to be opened up in the two sides on greenhouse gardening ground, using safe and at low cost, the fruits and vegetables of different cultivated areas may be implemented accurately to pick.
Description
Technical field
The utility model relates to a kind of agricultural production auxiliary machinery more particularly to a kind of intelligent robots of agricultural, more
One kind is specifically related in the simple agricultural manipulator three-dimensional space walking mechanism in ground running path.
Background technique
Plastic greenhouse cultivation be current rural area be widely used it is efficient using soil, meet urban vegetable, water throughout the year
The effective ways of fruit market supply.Existing greenhouse gardening is in the fruits and vegetables maturity period, mostly or by the way of manually picking, due to
Artificial picking large labor intensity, it is time-consuming and laborious, it is especially higher and higher in current agricultural workforce's critical shortage, labour cost
In the case of, when the fruits and vegetables planted bumper harvist over an extensive area and sell do not hike when, farmer often helplessly allows its fruits and vegetables rotten in the ground
Also without picking, because income from sales does not often offset the expense of hired laborer's picking, this is not only a big loss to farmer, and
It and is also a kind of waste to resource.With mechanical and control with computational intelligence industry continuous development, so that intelligent robot exists
The application of every field is commonplace, therefore also starts in agricultural production using intelligent picking robot.Existing intelligence
Picking robot, not only structure is complicated, but also field needs to hew out the pahtfinder hard of suitable picking robot walking, but for
Some fruits and vegetables, in initial planting and maturity period, soil is all that comparison is moist, this just makes the walking of picking robot become ten
Divide difficulty, in addition, the fruits and vegetables closeer for some Planting Row Distances, picking robot can only be in the periphery walking in field, then
It stretches in ground and is picked by manipulator, since the length of manipulator cannot infinitely extend, thus fruits and vegetables biggish for area
Picking also suffers from very big limitation, in addition, the power supply of this robot is also more troublesome, since robot is that complete machine is mobile,
Power consumption is big, and anyhow indefinite in ground running, and conducting wire follows robot to walk about in field, not only dangerous, but also easily sends out
Life winds and causes short circuit.
Summary of the invention
To solve the problems, such as present on, the purpose of the utility model is to provide a kind of simple agricultural machinery of terrestrial path
Hand three-dimensional space walking mechanism, the mechanism only walk along straight line on ground.
In order to achieve the above object, the simple agricultural manipulator three-dimensional space walking mechanism of the terrestrial path of the utility model,
Including moving left and right unit, being moved forward and backward unit and moving up and down unit, it is characterised in that：The unit that moves left and right includes height
Position crossbeam, two traveling boxes being socketed in high-order crossbeam, crossbeam front and back sides be fixed with positional symmetry and rail level it is upward two
Guide rail, the back side of guide rail are fixed with rack gear, the front-rear side walls of traveling box be respectively arranged with the traveling wheel of guide rail cooperation and
The first driving device that driving traveling box is moved left and right along crossbeam；Being moved forward and backward unit includes being located at the crossbeam left and right sides and top
It is fixed on the vertical support piece at crossbeam both ends, the bottom of vertical support piece is provided with traveling wheel and driving traveling wheel is moved forward and backward
The second driving device；Moving up and down unit includes two connecting rods for being movably connected on two traveling box bottoms, connecting rod it is another
End is connected with the fixed platform of a manipulator.
In order to keep the back-and-forth motion of crossbeam more steady, while the weight of vertical support piece is reduced, above-mentioned vertical support piece
For hollow prismatoid, the traveling wheel of each vertical support piece is four, is respectively arranged at four angles of prismatoid bottom；Above-mentioned cross
Beam end is fixed on prismatoid side wall perpendicular to the ground.
Above-mentioned first driving device includes first motor and the first reduction gearbox, and the first reduction gearbox is fixed on traveling box front side wall
With the outer surface of rear wall and be meshed by wheel and rack.
Above-mentioned second driving device includes the second motor and the second reduction gearbox, and the second reduction gearbox is fixed on vertical support piece
Bottom, the output shaft of the second reduction gearbox directly carry out axis connection with traveling wheel.
Above-mentioned guide rail is the guide rail that rail level is equipped with convex ridge, and traveling wheel is periphery equipped with the walking with convex ridge respective slot
Wheel.
The wheel shaft of above-mentioned traveling wheel is directly fixed on the front side wall of traveling box and the inner surface of rear wall.
For the ease of processing and installation, above-mentioned traveling box is made of bottom plate, front-rear side walls and case lid.
In order to reduce the weight of crossbeam, above-mentioned high-order crossbeam is the profile of hollow structure.
The simple agricultural manipulator three-dimensional space walking mechanism of the terrestrial path of the utility model, by fruits and vegetables planting site
Overhead be arranged high-order crossbeam, then on crossbeam be socketed two traveling boxes, pass through side-to-side movement of two traveling boxes on crossbeam
To realize moving left and right for manipulator；Crossbeam two sides setting can fixed cross beam and can make crossbeam be moved forward and backward vertical supporting
Part passes through the back-and-forth motion of vertical support piece moved synchronously to realize manipulator；And moving up and down for manipulator is to pass through work
The dynamic connecting rod for being connected to two traveling box bottoms realizes that, when two traveling boxes go in the same direction, manipulator moves down, when two
A traveling box is opposite and when row, manipulator moves up.The three-dimensional space walking mechanism of the utility model, structure is simple, designs
It is ingenious, only two paths for the walking of vertical support piece straight line need to be opened up in the two sides on greenhouse gardening ground, further according to planting site
Area and the height of fruits and vegetables select suitable crossbeam, connecting rod and vertical support piece, so that it may to different cultivated areas, different cultivars
Fruits and vegetables realization accurately pick, in addition, the walking mechanism due to the utility model only has vertical support piece to do straight line on ground
Movement, therefore it is convenient for the laying and connection of power supply line, using safe and at low cost, it is particularly well suited as the life at greenhouse gardening family
It is mechanical to produce auxiliary.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the simple agricultural manipulator three-dimensional space walking mechanism of the utility model terrestrial path.
Fig. 2 is sectional view of the Fig. 1 along line A-A.
Fig. 3 is sectional view of the Fig. 2 along line B-B.
Fig. 4 is sectional view of the Fig. 1 along C- C line.
Fig. 5 is the structural schematic diagram for the three-dimensional space walking mechanism that manipulator is in minimum state.
Specific embodiment
As shown in Figure 1, the simple agricultural manipulator three-dimensional space walking mechanism of the terrestrial path of the utility model includes a left side
Moving cell is moved to right, unit is moved forward and backward and moves up and down unit；
Moving left and right unit includes high-order crossbeam 10, two traveling boxes 11 being socketed in high-order crossbeam, and crossbeam is hollow
Structure, crossbeam front and back sides lower part is respectively fixed with positional symmetry and top surface is equipped with the guide rail 12 of convex ridge, and the back side of guide rail is fixed
There is rack gear 13, traveling box includes bottom plate 111, front-rear side walls 112 and top cover 113, and the inner surface of traveling box front-rear side walls is solid respectively
Surely there is positional symmetry and the wheel shaft 15 of traveling wheel 14 can be socketed, traveling wheel is periphery equipped with the row with convex ridge respective slot
Pulley is walked, the outer surface of traveling box front-rear side walls is fixed with the first reduction gearbox 16, and the first reduction gearbox is driven by first motor 17, the
The output shaft of one reduction gearbox is meshed by first gear 18 with the first rack gear 13, as shown in Figure 2,3；
Being moved forward and backward unit includes the vertical support piece 20 at left and right sides of crossbeam, and vertical support piece is hollow trapezoidal
Prismatoid 201 top of side wall perpendicular to the ground is fixed in body, the end of crossbeam, and four angles of prismatoid bottom 202 are set respectively
Traveling wheel 21 there are four setting, traveling wheel is the traveling wheel that can directly land, each traveling wheel is by being fixed on prismatoid bottom
Second reduction gearbox 22 and the driving of the second motor 23, the output shaft of the second reduction gearbox directly carries out axis connection with traveling wheel, such as Fig. 4 institute
Show；
The fixed platform 31 that unit includes two connecting rods 30 and manipulator 40 is moved up and down, connecting rod one end is movably hinged in row
Walk the bottom on the inside of case, the other end is movably hinged in the left and right end face of fixed platform, as shown in Figure 1,5.
The simple agricultural manipulator three-dimensional space walking mechanism of the terrestrial path of the utility model, in use, passing through control
Two traveling boxes it is in the same direction, move synchronously, realize moving left and right for manipulator；By control two traveling boxes towards and away from
Movement, realizes moving up and down for manipulator, when the distance maximum of two traveling boxes, manipulator is in highest position, when two
Most in short-term, manipulator is in minimum position to the distance of a traveling box, as shown in Figure 5；Synchronization is done by controlling vertical support piece
Linear motion is moved forward and backward crossbeam, realizes the back-and-forth motion of manipulator；And the side advanced by two traveling boxes of strict control
To direction of travel, the speed of, speed and vertical support piece, it can be achieved that manipulator comprehensive accurate positionin in three-dimensional space.
The manipulator of the utility model can be the manipulator with different function, when manipulator has the function of picking,
The walking mechanism of cooperation the utility model is exactly one in the simple picking mechanical people in ground running path, when manipulator has plough
When field or sowing function, cooperates the walking mechanism of the utility model to be exactly one and simply plough a field or sow in ground running path
Robot；The walking mechanism of the utility model, only the linear motion by traveling box and vertical support piece can be achieved with three-dimensional space
Walking can be used battery power supply or set up fixed line powering.
Three-dimensional space walking mechanism one embodiment of above only the utility model terrestrial path aimless farming manipulator
Illustrate, but the embodiment not to limit the protection scope of the utility model, it is all without departing from the utility model technology
The equivalence enforcement or change of scheme should all be wrapped such as the change of vertical support piece, traveling wheel, driving device structure or fixed form
It is contained in the protection scope of the utility model.
Claims (8)
1. a kind of simple agricultural manipulator three-dimensional space walking mechanism of terrestrial path, including move left and right unit, be moved forward and backward
Unit and move up and down unit, it is characterised in that：The unit that moves left and right includes high-order crossbeam, is socketed in high-order crossbeam
Two traveling boxes, crossbeam front and back sides are fixed with positional symmetry and two guide rails of rail level upwards, and the back side fixation of guide rail is with teeth
Item, the front-rear side walls of traveling box are respectively arranged with the traveling wheel cooperated with guide rail and traveling box are driven to move left and right along crossbeam
First driving device；Back-and-forth motion unit includes at left and right sides of crossbeam and the vertical supporting at crossbeam both ends is fixed on top
Part, the second driving device that the bottom of vertical support piece is provided with traveling wheel and traveling wheel is driven to be moved forward and backward；Move up and down list
Member includes two connecting rods for being movably connected on two traveling box bottoms, and the other end of connecting rod is connected with the fixation of a manipulator
Platform.
2. the simple agricultural manipulator three-dimensional space walking mechanism of terrestrial path according to claim 1, it is characterised in that：
The vertical support piece is hollow prismatoid, and the traveling wheel of each vertical support piece is four, is respectively arranged at prismatoid bottom
Four angles；The beam-end is fixed on prismatoid side wall perpendicular to the ground.
3. the simple agricultural manipulator three-dimensional space walking mechanism of terrestrial path according to claim 1 or 2, feature exist
In：The first driving device includes first motor and the first reduction gearbox, and the first reduction gearbox is fixed on traveling box front side wall with after
It the outer surface of side wall and is meshed by wheel and rack.
4. the simple agricultural manipulator three-dimensional space walking mechanism of terrestrial path according to claim 3, it is characterised in that：
Second driving device includes the second motor and the second reduction gearbox, and the second reduction gearbox is fixed on the bottom of vertical support piece, the
The output shaft of two reduction gearboxes directly carries out axis connection with traveling wheel.
5. the simple agricultural manipulator three-dimensional space walking mechanism of terrestrial path according to claim 4, it is characterised in that：
The guide rail is the guide rail that rail level is equipped with convex ridge, and traveling wheel is periphery equipped with the traveling wheel with convex ridge respective slot.
6. the simple agricultural manipulator three-dimensional space walking mechanism of terrestrial path according to claim 5, it is characterised in that：
The wheel shaft of the traveling wheel is directly fixed on the front side wall of traveling box and the inner surface of rear wall.
7. the simple agricultural manipulator three-dimensional space walking mechanism of terrestrial path according to claim 6, it is characterised in that：
The traveling box is made of bottom plate, front-rear side walls and case lid.
8. the simple agricultural manipulator three-dimensional space walking mechanism of terrestrial path according to claim 7, it is characterised in that：
The high-order crossbeam is the profile of hollow structure.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820618789.0U CN208102152U (en) | 2018-04-27 | 2018-04-27 | A kind of simple agricultural manipulator three-dimensional space walking mechanism of terrestrial path |
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| CN201820618789.0U CN208102152U (en) | 2018-04-27 | 2018-04-27 | A kind of simple agricultural manipulator three-dimensional space walking mechanism of terrestrial path |
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| CN208102152U true CN208102152U (en) | 2018-11-16 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108528561A (en) * | 2018-04-27 | 2018-09-14 | 王承辉 | The simple agricultural manipulator three dimensions walking mechanism of terrestrial path |
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2018
- 2018-04-27 CN CN201820618789.0U patent/CN208102152U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108528561A (en) * | 2018-04-27 | 2018-09-14 | 王承辉 | The simple agricultural manipulator three dimensions walking mechanism of terrestrial path |
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