CN210819533U

CN210819533U - Transfer robot cultivated in a pot

Info

Publication number: CN210819533U
Application number: CN201921842924.0U
Authority: CN
Inventors: 杨展硕; 张硕; 余海波; 唐云松; 张鑫宇; 史颖刚; 刘利
Original assignee: Northwest A&F University
Current assignee: Northwest A&F University
Priority date: 2019-10-29
Filing date: 2019-10-29
Publication date: 2020-06-23
Anticipated expiration: 2029-10-29

Abstract

The utility model discloses a transfer robot cultivated in a pot, including removing the base, installing cloud platform on removing the base, installing the arm on the cloud platform and installing the gripper that the arm stretches out the end, it includes the omnidirectional wheel that bottom plate and a plurality of drive bottom plate removed to remove the base, the bottom plate mid-mounting has the cloud platform, the cloud platform includes steering wheel and drives steering wheel level pivoted steering wheel A, and steering wheel surface mounting has the arm, the arm includes first support column, second support column, steering wheel B, steering wheel C and steering wheel D, and the second support column passes through steering wheel D and is connected with the gripper. The utility model discloses a but set up horizontal pivoted steering wheel to set up a plurality of steering wheels on the arm on the steering wheel, can make the arm can become the rotation of multi-angle, through steering wheel and arm cooperation, can drive the gripper and do complicated action, be used for increasing the scope of snatching of gripper, thereby shorten the snatching time of gripper, improve and snatch efficiency.

Description

Transfer robot cultivated in a pot

Technical Field

The utility model relates to an agricultural contest robot field especially relates to a transfer robot cultivated in a pot.

Background

Along with the development of agricultural machine intellectualization, more and more workers can be replaced by the robot, the method for checking whether the robot accords with the agriculture is judged through a robot challenge match, the existing robot challenge match is generally in an independent match field, a robot departure area, an initial placement area and a transfer target area are arranged in the match field, the robot needs to be controlled to move a potted plant from the initial placement area to the transfer target area during the potted plant checking, and the performance of the potted plant robot is judged through the completion time and precision.

The existing transfer robot has a complex structure, so that all parts are not stably connected when the existing transfer robot executes complex actions, and the transfer efficiency of the potted plant is low.

Disclosure of Invention

An object of the utility model is to provide a transfer robot cultivated in a pot that work efficiency is high.

The utility model aims at realizing through the following technical scheme:

a potted plant transfer robot comprises a mobile base, a cradle head arranged on the mobile base, a mechanical arm arranged on the cradle head and a mechanical claw arranged at the extending end of the mechanical arm, the movable base comprises a bottom plate and a plurality of omnidirectional wheels driving the bottom plate to move, a holder is arranged in the middle of the bottom plate, the tripod head comprises a rudder disc and a steering engine A for driving the rudder disc to horizontally rotate, the rudder disc is rotatably arranged above the bottom plate through a bearing, the middle part of the bottom plate is provided with a mounting hole for mounting the steering engine A, the output shaft of the steering engine A is connected with a steering wheel, the surface of the steering wheel is provided with a mechanical arm, the mechanical arm comprises a first support column, a second support column, a steering engine B, a steering engine C and a steering engine D, the end parts of the first support column and the second support column are hinged through a steering engine C, one end, far away from the steering engine C, of the first support column is hinged to a steering wheel through a steering engine B, and one end, far away from the steering engine C, of the second support column is connected with the mechanical claw through a steering engine D.

The rotation angle of rudder wheel is 0 ~ 360.

The gripper comprises a mounting frame connected with a steering engine D and arc-shaped clamping pieces symmetrically hinged to the mounting frame along the center line of the mounting frame, teeth meshed with each other are processed on the opposite side walls of the two arc-shaped clamping pieces, and a steering engine E for driving the arc-shaped clamping pieces to open and close is arranged in the mounting frame.

And a film pressure sensor is arranged on the inner wall of the arc-shaped clamping piece.

The bottom plate is provided with an object placing area defined by a plurality of baffle plates.

The bottom surface of the bottom plate is provided with a motor used for driving the omnidirectional wheels to move, and the omnidirectional wheels are surrounded into a ring shape and are arranged on the bottom plate.

The utility model discloses has following effect:

(1) the mechanical claw can be driven to do complex actions by matching the steering wheel and the mechanical arm, so that the grabbing range of the mechanical claw is enlarged, the grabbing time of the mechanical claw is shortened, and the grabbing efficiency is improved;

(2) the plurality of annular omnidirectional wheels are arranged on the bottom plate, so that the bottom plate can move in a translation manner on a competition field, a steering wheel and a mechanical arm which are arranged on the bottom plate can be conveniently positioned, and the operation is more convenient;

(3) the steering engine E can drive the arc-shaped clamping piece seat to move reversely by processing the teeth on the opposite side walls of the arc-shaped clamping piece, so that the potted plant can be clamped or loosened easily, and the clamping stability can be ensured by the meshed teeth;

(4) the thin film pressure sensor is arranged on the inner wall of the arc-shaped clamping piece, so that the potted plant is prevented from being crushed by the arc-shaped clamping piece due to overlarge pressure;

(5) through setting up a plurality of objects of putting on the bottom plate, make the disposable many basins of transferable of robot cultivated in a pot, improved the efficiency of transfer cultivated in a pot.

Drawings

Fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic structural view of the cradle head of the present invention.

Fig. 3 is a schematic structural view of the gripper of the present invention.

Reference numerals: 1. moving the base; 11. a base plate; 12. an omni wheel; 2. a holder; 21. a steering engine A; 22. a rudder wheel; 23. a bearing; 24. mounting holes; 25. a holder base; 3. a mechanical arm; 31. a first support column; 32. a second support column; 33. a steering engine B; 34. a steering engine C; 35. a steering engine D; 4. a gripper; 41. a mounting frame; 42. an arc-shaped clamping piece; 43. teeth; 44. a steering engine E; 5. a thin film pressure sensor; 6. a baffle plate; 61. and a material placing area.

Detailed Description

Examples

As shown in fig. 1 to 3, the potted plant transfer robot provided in this embodiment includes a moving base 1, a pan-tilt 2 mounted on the moving base 1, a mechanical arm 3 mounted on the pan-tilt 2, and a mechanical claw 4 mounted at an extending end of the mechanical arm 3, where the moving base 1 includes a bottom plate 11 and a plurality of omni wheels 12 driving the bottom plate 11 to move, the plurality of omni wheels 12 are enclosed to form a ring and mounted on the bottom plate 11, a motor for driving the omni wheels 12 to move is mounted on the bottom plate 11, the pan-tilt 2 is mounted in the middle of the bottom plate 11, the pan-tilt 2 includes a pan-tilt base 25 fixedly connected to the bottom plate, a steering wheel 22 mounted on the pan-tilt base, and a steering engine a21 driving the steering wheel 22 to rotate horizontally, the steering wheel 22 is rotatably mounted on the pan-tilt base 25 through a bearing 23, a mounting hole 24 for mounting a21 is processed in the middle of the pan-tilt base, an output shaft of the steering engine A21 is connected with the steering wheel 22, the steering engine A21 can drive the steering wheel 22 to rotate horizontally by an angle of 0-360 degrees, a mechanical arm 3 is mounted on the surface of the steering wheel 22, the mechanical arm 3 comprises a first support column 31, a second support column 32, a steering engine B33, a steering engine C34 and a steering engine D35, the end parts of the first support column 31 and the second support column 32 are hinged through a steering engine C34, one end, far away from the steering engine C34, of the first support column 31 is hinged on the steering wheel 22 through a steering engine B33, one end, far away from the steering engine C34, of the second support column 32 is connected with a mechanical claw 4 through a steering engine D35, the mechanical claw 4 comprises an installation frame 41 connected with the steering engine D35 and arc-shaped clamping members 42 symmetrically hinged on the installation frame 41 along the central line of the installation frame 41, teeth 43 which are meshed with each other are processed on the opposite side walls of, the inner wall of arc clamping piece 42 is equipped with film pressure sensor 5, is equipped with the thing district 61 of putting that encloses by polylith baffle 6 on the bottom plate 11 of cloud platform 2 one side, and polylith baffle 6 encloses the thing district 61 of putting of a C shape, and the opening of putting thing district 61 is towards cloud platform 2.

The bottom plate 11 is further provided with a power supply and a control motor for working of the motor, the steering engine A21, the steering engine B33, the steering engine C34, the steering engine D35 and the steering engine E44, a controller for starting the steering engine A21, the steering engine B33, the steering engine C34, the steering engine D35 and the steering engine E44, and the motor, the steering engine A21, the steering engine B33, the steering engine C34, the steering engine D35 and the steering engine E44 are all connected with the controller through existing DuPont wires.

The utility model discloses a use method is:

when the potted plant clamping device is used, the mechanical claw 4 is in an open state, the robot controls the movable base 1 to move towards an initial placement area according to a written program, after the movable base moves to a proper position, the horizontal angle of the cradle head 2 is controlled through the steering engine A21, then the stretching of the mechanical arm 3 is controlled through the linkage of the steering engine B33 and the steering engine C34, the mechanical claw 4 is controlled through the steering engine D35 to be kept horizontal, the mechanical claw 4 can hover at any height in a vertical plane through the mechanical arm 3, then the two arc-shaped clamping pieces 42 clamp a potted plant under the action of the steering engine E44, then the clamping force of the steering engine E44 is controlled through the film pressure sensor 5 arranged on the arc-shaped clamping pieces 42, the potted plant can be prevented from being damaged by clamping, meanwhile, the teeth 43 meshed between the two arc-shaped clamping pieces 42 can enable the arc-shaped clamping pieces 42 to rotate in a tiny angle range, the stability of potted plant clamping is, and finally, the potted plant is moved to a transfer target area through the movable base 1, and the configuration in the material placing area 61 is transferred to the target area through the cooperation of the steering engine A21 on the holder 2, the steering engine B33 of the mechanical arm 3, the steering engine C34, the steering engine D35 and the steering engine E44 on the mechanical claw 4.

Through the utility model discloses a transfer robot cultivated in a pot can the single shift many basins cultivated in a pot, has improved transfer efficiency cultivated in a pot, simultaneously through the cooperation of cloud platform 2, arm 3 and gripper 4, can press from both sides in a flexible way and get cultivated in a pot.

Claims

1. A transfer robot cultivated in a pot which characterized in that: including removing base, cloud platform, arm and gripper, it includes bottom plate and a plurality of omni wheel that drives the bottom plate and remove to remove the base, the bottom plate mid-mounting has the cloud platform, the cloud platform includes steering wheel and drives steering wheel horizontal rotation's steering wheel A, the steering wheel passes through the bearing and rotationally installs in the bottom plate top, and bottom plate middle part processing has installation steering wheel A's mounting hole, steering wheel A's output shaft and steering wheel are connected, and the surface mounting of steering wheel has the arm, the arm includes first support column, second support column, steering wheel B, steering wheel C and steering wheel D, the tip of first support column and second support column is passed through steering wheel C and is articulated, and the one end that steering wheel C was kept away from to first support column articulates on the steering wheel through steering wheel B, and the one end that steering wheel C was kept away from to the second support column.

2. A potted plant transfer robot as defined in claim 1 wherein: the rotation angle of rudder wheel is 0 ~ 360.

3. A potted plant transfer robot as defined in claim 1 wherein: the gripper comprises a mounting frame connected with a steering engine D and arc-shaped clamping pieces symmetrically hinged to the supporting plate along the center line of the mounting frame, teeth meshed with each other are processed on the opposite side walls of the two arc-shaped clamping pieces, and a steering engine E for driving the arc-shaped clamping pieces to open and close is arranged in the mounting frame.

4. A potted plant transfer robot as defined in claim 3 wherein: and a film pressure sensor is arranged on the inner wall of the arc-shaped clamping piece.

5. A potted plant transfer robot as defined in claim 1 wherein: the bottom plate is provided with an object placing area defined by a plurality of baffle plates.

6. A potted plant transfer robot as defined in claim 1 wherein: the bottom surface of the bottom plate is provided with a motor used for driving the omnidirectional wheels to move, and the omnidirectional wheels are surrounded into a ring shape and are arranged on the bottom plate.