CN208147840U - A kind of three-dimensional space walking mechanism of agricultural manipulator - Google Patents
A kind of three-dimensional space walking mechanism of agricultural manipulator Download PDFInfo
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- CN208147840U CN208147840U CN201820619667.3U CN201820619667U CN208147840U CN 208147840 U CN208147840 U CN 208147840U CN 201820619667 U CN201820619667 U CN 201820619667U CN 208147840 U CN208147840 U CN 208147840U
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- crossbeam
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- walking mechanism
- dimensional space
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Abstract
The utility model provides a kind of three-dimensional space walking mechanism of agricultural manipulator, 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；Being moved forward and backward unit includes at left and right sides of crossbeam and along the two column parallel posts with the axially vertical direction setting of crossbeam, the inside upper part of column is equipped with horizontal ledge, boss top surface is fixed with the guide rail being moved forward and backward for crossbeam, and crossbeam bottom is provided with the driving device being moved forward and backward with the traveling wheel of guide rail cooperation and driving crossbeam；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, simple in sturcture, ingenious in design, little power consumption, when walking, are not take up soil, 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
It is specifically related to a kind of three-dimensional space walking mechanism of agricultural manipulator.
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 offset the expense of hired laborer's picking, this is not only a big loss to farmer, but also right
Resource is also a kind of waste.With mechanical and control with computational intelligence industry continuous development, so that intelligent robot is each
The application in field is commonplace, therefore also starts in agricultural production using intelligent picking robot.Existing intelligence picking
Robot is required in ground running, therefore field needs to hew out the path 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 very tired
Difficulty, in addition, the fruits and vegetables closeer for some Planting Row Distances, then picking robot can only lean on machine in the periphery walking in field
Tool hand, which stretches in ground, to be picked, since the length of manipulator cannot infinitely extend, thus fruit and vegetable picking biggish for area
Very big limitation is also suffered from, in addition, the power supply of this robot is also more troublesome, since robot is that complete machine is mobile, power consumption
Greatly, conducting wire follows robot to walk about in field, not only dangerous, but also winding easily occurs 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 three-dimensional space rows of agricultural manipulator
Mechanism is walked, which is not necessarily in ground running.
In order to achieve the above object, the three-dimensional space walking mechanism of the agricultural manipulator of the utility model includes moving left and right list
Member is moved forward and backward unit and moves up and down unit, it is characterised in that：The unit that moves left and right includes high-order crossbeam, is socketed on
Two traveling boxes in high-order crossbeam, crossbeam front and back sides are fixed with positional symmetry and two the first guide rails of rail level upwards, the
The back side of one guide rail is fixed with the first rack gear, and the front-rear side walls of traveling box are respectively arranged with the first walking with the cooperation of the first guide rail
The first driving device that pulley and driving traveling box are moved left and right along crossbeam；Being moved forward and backward unit includes being located at left and right sides of crossbeam
And along the two column parallel posts with the axially vertical direction setting of crossbeam, the inside upper part of each column is equipped with horizontal ledge, boss
Top surface is fixed with the second upward guide rail of rail level, and the back side that the second guide rail protrudes from boss side is fixed with the second rack gear, crossbeam
The bottom at both ends is provided with the second driving device being moved forward and backward with the second traveling wheel of the second guide rail cooperation and driving crossbeam；
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 a machine
The fixed platform of tool hand.
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 first gear with the first rack gear.
Above-mentioned second driving device includes the second motor and the second reduction gearbox, and the second reduction gearbox is fixed on crossbeam bottom and leads to
Second gear is crossed to be meshed with the second rack gear.
Above-mentioned first guide rail and the second guide rail are the guide rail that rail level is equipped with convex ridge, and the first traveling wheel and the second walking are slided
Wheel is periphery equipped with the traveling wheel with convex ridge respective slot.
The wheel shaft of above-mentioned first traveling wheel is directly fixed on the front side wall of traveling box and the inner surface of rear wall.
The wheel shaft of above-mentioned second traveling wheel is fixed in the axle bed that crossbeam bottom extends downwardly.
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 three-dimensional walking mechanism, above-mentioned high-order crossbeam is lower than for the lower surface at hollow structure and both ends
The lower surface of whole crossbeam.
The three-dimensional space walking mechanism of the agricultural manipulator of the utility model is high by being arranged in the overhead of fruits and vegetables planting site
Position crossbeam, then two traveling boxes are socketed on crossbeam, manipulator is realized by side-to-side movement of two traveling boxes on crossbeam
Move left and right；Two column parallel posts are set in the two sides of crossbeam, and set up guide rail on column, through crossbeam on guide rail
Move forward and backward the back-and-forth motion to realize manipulator；And moving up and down for manipulator is by being movably connected on two traveling box bottoms
Two bars in portion realize that, when two traveling boxes go in the same direction, manipulator moves down, when two traveling boxes are opposite and when row,
Manipulator moves up.The three-dimensional space walking mechanism of the utility model, structure is simple, ingenious in design, and when walking is not take up soil
Ground greatlys save space, and the wall of greenhouse or film support skeleton can be used as column use, and the quantity of column can infinitely increase
Add, to realize the unlimited extension of front and back walking length, while can be selected according to the span size of planting site suitable crossbeam and
Connecting rod realizes the accurate picking to different cultivated areas and different cultivars fruits and vegetables, in addition, the movement of crossbeam and the movement of traveling box
Little power consumption can be used battery and be powered, safe and at low cost, be particularly well suited as the production auxiliary machine at greenhouse gardening family
Tool.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the three-dimensional space walking mechanism of the utility model agricultural manipulator.
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 the partial enlarged view in the region Fig. 1 P.
Fig. 5 is sectional view of the Fig. 1 along C- C line.
Fig. 6 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 three-dimensional space walking mechanism of the agricultural manipulator of the utility model includes moving left and right unit, preceding
Mobile unit and move up and down unit afterwards；
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 first guide rail 12 of convex ridge, the first guide rail
The back side is fixed with the first rack gear 13, and traveling box includes bottom plate 111, front-rear side walls 112 and top cover 113, traveling box front-rear side walls
Inner surface is respectively fixed with positional symmetry and can be socketed the wheel shaft 15 of the first traveling wheel 14, the outer surface of traveling box front-rear side walls
It is fixed with the first reduction gearbox 16, the first reduction gearbox is driven by first motor 17, and the output shaft of the first reduction gearbox passes through first gear
18 are meshed with the first rack gear 13, as shown in Figure 2,3；
Being moved forward and backward unit includes at left and right sides of crossbeam and along parallel with two column of the axially vertical direction setting of crossbeam
The inside upper part of column 20, each column is equipped with horizontal ledge 201, and the boss top surface of two column columns is fixed with two positional symmetries
And top surface is equipped with the second guide rail 21 of convex ridge, the back side that the second guide rail protrudes from boss side is fixed with the second rack gear 22, horizontal
The bottom at beam both ends has extended downwardly vertical axle bed 101, and the wheel shaft 24 that can be socketed the second traveling wheel 23, axis are fixed in axle bed
The second reduction gearbox 25 is fixed in the crossbeam bottom of seat inside, and the second reduction gearbox is driven by the second motor 26, the output of the second reduction gearbox
Axis is engaged by second gear 27 with the second rack gear 22, as shown in Figure 4,5；
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 a shown in Figure 6.
The three-dimensional space walking mechanism of the agricultural manipulator of the utility model, in use, passing through two traveling boxes of control
In the same direction, it moves synchronously, realizes moving left and right for manipulator；By two traveling boxes of control towards and away from movement, machine is realized
Tool hand moves up and down, and when the distance maximum of two traveling boxes, manipulator is in highest position, when two traveling boxes away from
From most in short-term, manipulator is in minimum position, as shown in Figure 6；By moving forward and backward for control high-order crossbeam, manipulator is realized
Back-and-forth motion；And pass through direction, the direction of travel of speed and high-order crossbeam, speed that two traveling boxes of strict control are advanced,
The comprehensive accurate positionin in three-dimensional space of achievable manipulator.
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 without the picking mechanical people that walks about on ground, when manipulator have plough a field or
When sowing function, the walking mechanism for cooperating the utility model is exactly one without in ploughing a field of walking about of ground or seeding machinery people；
The walking mechanism of the utility model, only the linear motion by traveling box and crossbeam can be achieved with three-dimensional space walking, and electricity can be used
Pond power supply sets up fixed line powering.
One embodiment of above only three-dimensional space walking mechanism one embodiment of the utility model agricultural 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 be included in such as the change of column, traveling wheel, driving device structure or fixed form
In the protection scope of the utility model.
Claims (8)
1. a kind of three-dimensional space walking mechanism of agricultural manipulator, including move left and right unit, be moved forward and backward unit and on move down
Moving cell, it is characterised in that：The unit that moves left and right includes high-order crossbeam, two traveling boxes being socketed in high-order crossbeam,
Crossbeam front and back sides are fixed with positional symmetry and two the first guide rails of rail level upwards, and the back side of the first guide rail is fixed with the first tooth
Item, the front-rear side walls of traveling box are respectively arranged with the first traveling wheel of the first guide rail cooperation and driving traveling box along a crossbeam left side
The first driving device moved right；Back-and-forth motion unit includes at left and right sides of crossbeam and edge is set with the axially vertical direction of crossbeam
The two column parallel posts set, the inside upper part of each column are equipped with horizontal ledge, and boss top surface is fixed with upward second of rail level
Guide rail, the back side that the second guide rail protrudes from boss side are fixed with the second rack gear, and the bottom at crossbeam both ends is provided with leads with second
The second driving device that the second traveling wheel and driving crossbeam of rail cooperation are moved forward and backward；Moving up and down unit includes being flexibly connected
Two connecting rods in two traveling box bottoms, the other end of connecting rod are connected with the fixed platform of a manipulator.
2. the three-dimensional space walking mechanism of agricultural manipulator according to claim 1, it is characterised in that：First driving
Device includes first motor and the first reduction gearbox, and the first reduction gearbox is fixed on the outer surface of traveling box front side wall and rear wall and leads to
First gear is crossed to be meshed with the first rack gear.
3. the three-dimensional space walking mechanism of agricultural manipulator according to claim 1 or 2, it is characterised in that：Described second
Driving device includes the second motor and the second reduction gearbox, and the second reduction gearbox is fixed on crossbeam bottom and by second gear and second
Rack gear is meshed.
4. the three-dimensional space walking mechanism of agricultural manipulator according to claim 3, it is characterised in that：First guide rail
Be the guide rail that upper rail level is equipped with convex ridge with the second guide rail, the first traveling wheel and the second traveling wheel be periphery be equipped with
The traveling wheel of convex ridge respective slot.
5. the three-dimensional space walking mechanism of agricultural manipulator according to claim 4, it is characterised in that：First walking
The wheel shaft of pulley is directly fixed on the front side wall of traveling box and the inner surface of rear wall.
6. the three-dimensional space walking mechanism of agricultural manipulator according to claim 5, it is characterised in that：Second walking
The wheel shaft of pulley is fixed in the axle bed that crossbeam bottom extends downwardly.
7. the three-dimensional space walking mechanism of agricultural manipulator according to claim 6, it is characterised in that：The traveling box by
Bottom plate, front-rear side walls and case lid are constituted.
8. the three-dimensional space walking mechanism of agricultural manipulator according to claim 7, it is characterised in that：The high position is horizontal
Beam is lower than the lower surface of whole crossbeam for the lower surface at hollow structure and both ends.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820619667.3U CN208147840U (en) | 2018-04-27 | 2018-04-27 | A kind of three-dimensional space walking mechanism of agricultural manipulator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820619667.3U CN208147840U (en) | 2018-04-27 | 2018-04-27 | A kind of three-dimensional space walking mechanism of agricultural manipulator |
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| CN208147840U true CN208147840U (en) | 2018-11-27 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108544469A (en) * | 2018-04-27 | 2018-09-18 | 王承辉 | The three dimensions walking mechanism of agricultural manipulator |
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2018
- 2018-04-27 CN CN201820619667.3U patent/CN208147840U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108544469A (en) * | 2018-04-27 | 2018-09-18 | 王承辉 | The three dimensions walking mechanism of agricultural manipulator |
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