CN210968884U - Tomato picking mechanical arm - Google Patents
Tomato picking mechanical arm Download PDFInfo
- Publication number
- CN210968884U CN210968884U CN201921998672.0U CN201921998672U CN210968884U CN 210968884 U CN210968884 U CN 210968884U CN 201921998672 U CN201921998672 U CN 201921998672U CN 210968884 U CN210968884 U CN 210968884U
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- motor
- arm
- clamping plate
- waist
- outer ring
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Abstract
The utility model relates to a tomato picking mechanical arm, which is characterized by comprising a waist joint, a big arm, a small arm and an end effector, wherein the waist joint, the big arm and the small arm are sequentially and rotatably connected, and the end of the small arm is connected with the end effector through a wrist joint; the waist joint comprises a bearing, an outer ring lower clamping plate, an inner ring upper clamping plate and an outer ring upper clamping plate, wherein the outer ring lower clamping plate and the outer ring upper clamping plate are fixedly connected with an outer ring of the bearing through a plurality of bolts uniformly distributed along the circumference; the waist motor and the shoulder motor are arranged on the motor fixing seat, and an output flange of the waist motor is fixedly connected with the inner ring upper clamping plate. The utility model discloses the structure is exquisite, simple manufacture, easily realizes, and the cost is lower.
Description
Technical Field
The utility model belongs to the technical field of agricultural machine, concretely relates to arm is picked to tomato.
Background
With the progress of science and technology, agriculture is rapidly developed towards mechanization and intellectualization, and tomatoes are used as fruits and vegetables which are generally eaten, and the intelligent picking operation of the tomatoes is more and more important. At present, the labor force participating in the production of fresh-eating tomatoes in China is mainly the old and women, and the working efficiency is low. Due to the fact that the tomato picking period is short, picking operation efficiency is low, partial tomatoes can be rotten, and yield and quality are affected. The fresh-eating tomatoes have huge demand and yield, the machine operation is very important, but most of the existing tomato picking mechanical arms have complex structures, are not easy to operate, have unsatisfactory control effect and are not high in picking operation efficiency.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem of the existence, the utility model discloses a tomato harvesting mechanical arm.
In order to solve the technical problem existing in the above, the utility model discloses a following scheme:
a tomato picking mechanical arm comprises a waist joint, a big arm, a small arm and an end effector, wherein the waist joint, the big arm and the small arm are sequentially connected in a rotating manner, and the tail end of the small arm is connected with the end effector through a wrist joint;
the waist joint comprises a bearing, an outer ring lower clamping plate, an inner ring upper clamping plate and an outer ring upper clamping plate, wherein the outer ring lower clamping plate and the outer ring upper clamping plate are fixedly connected with an outer ring of the bearing through a plurality of bolts uniformly distributed along the circumference; the waist motor and the shoulder motor are arranged on the motor fixing seat, and an output flange of the waist motor is fixedly connected with the inner ring upper clamping plate through screws.
Further, a waist motor mounting hole and a shoulder motor mounting hole are formed in the motor fixing seat, and the center lines of the waist motor mounting hole and the shoulder motor mounting hole are perpendicularly arranged in a non-coplanar mode.
Further, the bearing adopts a deep groove ball bearing.
Further, big arm includes big arm body, the one end of big arm body links firmly through the output ring flange of connecting piece I with the shoulder motor, the other end of big arm body is provided with the elbow motor cabinet, and the elbow motor setting is in on the elbow motor cabinet.
Further, the elbow motor cabinet with big arm body interference fit is connected, be provided with the mounting hole on the elbow motor cabinet in order to install the elbow motor, the central line of mounting hole with the vertical central line of big arm body is perpendicular.
Furthermore, the small arm comprises a small arm body, one end of the small arm body is connected with the wrist joint through a connecting piece II, and the other end of the small arm body is fixedly connected with an output flange of the elbow motor through a connecting piece III; one end of the connecting piece II is provided with a round hole which is connected with the forearm body in an interference fit manner, and the other end of the connecting piece II is provided with a square hole which is fixedly connected with a steering engine of the wrist joint.
Furthermore, wrist joint includes U-shaped frame and steering wheel, the steering wheel be the biax steering wheel and with the U-shaped frame is connected, the bottom of U-shaped frame be provided with have two connecting holes with end effector links to each other.
Further, the waist motor, the shoulder motor and the elbow motor on the large arm are all brushless motors provided with harmonic reducers.
Furthermore, a monocular camera is arranged on the end effector.
Further, the end effector is a three-finger gripper, and a soft foam board is arranged on the three-finger gripper.
Further, the large arm body and the small arm body are both made of carbon tubes.
When the robot works, the inner ring lower clamping plate of the waist joint of the mechanical arm is fixedly connected with the chassis by the copper column and is arranged on one side of the robot chassis behind the chassis. When the robot reaches a picking area, the mechanical arm rotates to the area where fruits are located by means of the waist joint, the monocular camera positioned on the end effector returns mature fruit information with the largest image area in the visual field to the industrial personal computer, the industrial personal computer processes data and then sends the data to the main controller, the main controller sends signals to the motor driver, harmonic speed reducing motors at three joints, namely the waist motor, the shoulder motor and the elbow motor, are controlled by programs to rotate for a certain position, so that the tail end of the mechanical arm approaches to a target tomato, the monocular camera returns target image information to the industrial personal computer again, the industrial personal computer processes the information and then sends the information to the main controller, the main controller sends instructions to the motor driver of each joint, the end effector at the tail end of the mechanical arm further approaches to the target tomato, and the steps are repeated to form a simple closed loop, and the main controller controls the end effector provided with the soft foam board to realize flexible picking until the end effector at the tail end of the mechanical arm reaches a fruit picking position. The utility model discloses the structure is exquisite, easily control, is fit for the flexibility and picks.
This arm is picked to tomato has following beneficial effect:
(1) the utility model discloses a brushless motor who is equipped with the harmonic reduction gear is as joint motor, can realize joint motor's speed and position closed-loop control, and then improves the arm and picks efficiency.
(2) The utility model discloses the structure is exquisite, simple manufacture, easily realizes, and the cost is lower.
Drawings
FIG. 1: the structure schematic diagram of the tomato picking mechanical arm in the embodiment of the utility model;
FIG. 2: the explosion diagram of the waist joint in the embodiment of the utility model;
FIG. 3: the three-dimensional structure schematic diagram of the motor fixing seat in the embodiment of the utility model;
FIG. 4: the utility model discloses an explosion diagram of the assembly structure of the waist joint and the big arm;
FIG. 5: the three-dimensional structure of the connecting piece I in the embodiment of the utility model is shown schematically;
FIG. 6: the utility model discloses a schematic three-dimensional structure diagram of an elbow motor base in the implementation mode;
FIG. 7: the utility model discloses an explosion diagram of the assembly structure of the small arm and the big arm;
FIG. 8: the utility model discloses a schematic three-dimensional structure diagram of a connecting piece III in the implementation mode;
FIG. 9: the three-dimensional structure schematic diagram of the connecting piece II in the embodiment of the utility model;
FIG. 10: the utility model discloses an explosion diagram of the assembly structure of the wrist and the forearm in the implementation mode;
FIG. 11: the utility model discloses an assembly structure sketch map of the wrist and the end effector in the implementation mode;
FIG. 12: the utility model discloses tomato picks the work schematic diagram of arm among the embodiment.
Description of reference numerals:
1-a mechanical arm; 11-lumbar joint; 111-outer ring lower clamping plate; 112-inner ring lower clamping plate; 113-a bearing; 114-inner ring upper clamping plate; 115-outer ring upper clamp plate; 116-lumbar motor; 117-motor fixing seat; 118-shoulder motor; 12-big arm; 121-connecting piece i; 122-large arm body; 123-elbow motor base; 124-elbow motor; 13-forearm; 131-connecting piece II; 132-forearm body; 133-connecting piece iii; 14-wrist joint; 141-a U-shaped frame; 142-steering engine; 15-end effector; 2-motor driver; 3-a master controller; 4, an industrial personal computer; 5-monocular camera.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings:
fig. 1 to 12 show a specific embodiment of the tomato picking mechanical arm of the present invention. Fig. 1 is a schematic structural view of a tomato picking robot arm in this embodiment; fig. 2 to 11 are schematic structural views of respective parts in the present embodiment; fig. 12 is a schematic diagram of the operation of the tomato picking robot arm in this embodiment.
As shown in fig. 1 and 2, the tomato picking mechanical arm in the present embodiment includes a waist joint 11, a big arm 12, a small arm 13, a wrist joint 14 and an end effector 15, wherein the waist joint 11, the big arm 12 and the small arm 13 are sequentially and rotatably connected, and the end of the small arm 13 is connected with the end effector 15 through the wrist joint 14; the waist joint 11 comprises a bearing 113, an outer ring lower clamping plate 111, an inner ring lower clamping plate 112, an inner ring upper clamping plate 114 and an outer ring upper clamping plate 115, the outer ring lower clamping plate 111 and the outer ring upper clamping plate 115 are fixedly connected with the outer ring of the bearing 113 through a plurality of bolts uniformly distributed along the circumference, the inner ring lower clamping plate 112 and the inner ring upper clamping plate 114 are fixedly connected with the inner ring of the bearing 113 through a plurality of bolts uniformly distributed along the circumference, and the inner ring lower clamping plate 112 is fixedly connected with a chassis through a copper column; the outer ring upper clamping plate 115 is further provided with a motor fixing seat 117, the waist motor 116 and the shoulder motor 118 are arranged on the motor fixing seat 117, and an output flange of the waist motor 116 is fixedly connected with the inner ring upper clamping plate 114 through screws.
Preferably, the motor fixing seat 117 is provided with a waist motor mounting hole and a shoulder motor mounting hole, and the center lines of the waist motor mounting hole and the shoulder motor mounting hole are arranged perpendicularly in different planes, as shown in fig. 2 and 3.
In this embodiment, the bearing 113 is a deep groove ball bearing.
Preferably, the large arm 12 includes a large arm body 122, one end of the large arm body 122 is fixedly connected to the output flange of the shoulder motor 118 through a connecting member i 121, the other end of the large arm body 122 is provided with an elbow motor base 123, and the elbow motor 124 is arranged on the elbow motor base 123, as shown in fig. 4. The structure of the connecting piece I121 is shown in figure 5.
Preferably, the elbow motor base 123 is connected with the large arm body 122 in an interference fit manner, and a mounting hole is provided on the elbow motor base 123 for mounting the elbow motor 124, and a center line of the mounting hole is perpendicular to a longitudinal center line of the large arm body 122, as shown in fig. 4 and 6.
Preferably, the forearm 13 includes a forearm body 132, one end of the forearm body 132 is connected to the wrist joint 14 through a connecting member ii 131, and the other end of the forearm body 132 is fixedly connected to an output flange of the elbow motor 124 through a connecting member iii 133; one end of the connecting piece II 131 is provided with a round hole which is connected with the forearm body 132 in an interference fit manner, and the other end of the connecting piece II 131 is provided with a square hole which is fixedly connected with a steering engine 142 of the wrist joint 14, as shown in fig. 7 and 9. The structure of the connecting member III 133 is shown in FIG. 8.
Preferably, the wrist joint 14 includes a U-shaped frame 141 and a steering engine 142, the steering engine 142 is a biaxial steering engine and is connected to the U-shaped frame 141, and the bottom of the U-shaped frame 141 is provided with two connecting holes to connect with the end effector 15, as shown in fig. 10 and 11.
In this embodiment, the lumbar motor 116, the shoulder motor 118, and the elbow motor 123 are all brushless motors equipped with harmonic reducers. The end effector 15 is a three-finger gripper with a soft foam pad disposed thereon, as shown in fig. 11.
Preferably, the end effector 15 is provided with a monocular camera 5.
In this embodiment, the large arm body 122 and the small arm body 132 are made of carbon tubes.
As shown in fig. 12, when the robot works, the inner ring lower clamp plate 112 of the waist joint 11 of the robot arm 1 is fixedly connected with the chassis by using a copper column and is installed on the rear side of the chassis of the robot. When the robot reaches a picking area, the mechanical arm 1 rotates to the area where fruits are located by means of the waist joint 11, the monocular camera 5 on the end effector 15 of the mechanical arm 1 returns mature fruit information with the largest image area in the visual field to the industrial personal computer 4, the industrial personal computer 4 processes data and then sends the data to the main controller 3, the main controller 3 sends signals to the motor driver 2, harmonic speed reducing motors at three joints, namely the waist motor 116, the shoulder motor 118 and the elbow motor 123, are controlled by programs to rotate for a certain position, so that the tail end of the mechanical arm 1 approaches to a target tomato, the monocular camera 6 returns target image information to the industrial personal computer 4 again, the industrial personal computer 4 processes the information and then sends the information to the main controller 3, the main controller 3 sends instructions to the motor driver 2 of each joint, and further the end effector 15 at the tail end of the mechanical, the steps are repeated to form a simple closed loop until the end effector 15 at the tail end of the mechanical arm reaches the fruit picking position, and the main controller 3 controls the end effector 15 provided with the soft foam board to realize flexible picking. The utility model discloses the structure is exquisite, easily control, is fit for the flexibility and picks.
The utility model discloses a brushless motor who is equipped with the harmonic reduction gear is as joint motor, can realize joint motor's speed and position closed-loop control, and then improves the arm and picks efficiency.
The utility model discloses the structure is exquisite, simple manufacture, easily realizes, and the cost is lower.
The present invention has been described in detail with reference to the accompanying drawings, and it is obvious that the present invention is not limited by the above embodiments, and various improvements of the method concept and the technical solution of the present invention can be made without modification, or the present invention can be directly applied to other occasions without modification, and is within the protection scope of the present invention.
Claims (10)
1. A tomato picking mechanical arm is characterized by comprising a waist joint, a big arm, a small arm and an end effector, wherein the waist joint, the big arm and the small arm are sequentially and rotatably connected, and the tail end of the small arm is connected with the end effector through a wrist joint;
the waist joint comprises a bearing, an outer ring lower clamping plate, an inner ring upper clamping plate and an outer ring upper clamping plate, wherein the outer ring lower clamping plate and the outer ring upper clamping plate are fixedly connected with an outer ring of the bearing through a plurality of bolts uniformly distributed along the circumference; the waist motor and the shoulder motor are arranged on the motor fixing seat, and an output flange of the waist motor is fixedly connected with the inner ring upper clamping plate through screws.
2. The tomato picking mechanical arm as claimed in claim 1, wherein the motor fixing seat is provided with a waist motor mounting hole and a shoulder motor mounting hole, and the center lines of the waist motor mounting hole and the shoulder motor mounting hole are vertically arranged in different planes.
3. The tomato picking robot arm of claim 1, wherein the bearings are deep groove ball bearings.
4. The tomato picking mechanical arm as claimed in claim 1, 2 or 3, wherein the large arm comprises a large arm body, one end of the large arm body is fixedly connected with an output flange of the shoulder motor through a connecting piece I, the other end of the large arm body is provided with an elbow motor base, and the elbow motor is arranged on the elbow motor base.
5. The tomato picking robot arm of claim 4, wherein the elbow motor mount is connected with the large arm body in an interference fit manner, a mounting hole is formed in the elbow motor mount for mounting the elbow motor, and the center line of the mounting hole is perpendicular to the longitudinal center line of the large arm body.
6. The tomato picking mechanical arm of claim 1, 2, 3 or 5, wherein the forearm comprises a forearm body, one end of the forearm body is connected with the wrist joint through a connecting piece II, and the other end of the forearm body is fixedly connected with an output flange of an elbow motor through a connecting piece III; one end of the connecting piece II is provided with a round hole which is connected with the forearm body in an interference fit manner, and the other end of the connecting piece II is provided with a square hole which is fixedly connected with a steering engine of the wrist joint.
7. The tomato picking mechanical arm as claimed in claim 1, 2, 3 or 5, wherein the wrist joint comprises a U-shaped frame and a steering engine, the steering engine is a double-shaft steering engine and is connected with the U-shaped frame, and two connecting holes are formed in the bottom of the U-shaped frame and are connected with the end effector.
8. Tomato picking robot arm according to claim 1, 2, 3 or 5, characterized in that the waist motor, shoulder motor, elbow motor on the large arm are all brushless motors equipped with harmonic reducers.
9. The tomato picking robot arm of claims 1, 2, 3 or 5, wherein the end effector is provided with a monocular camera.
10. The tomato picking robot of claim 1, 2, 3 or 5, wherein the end effector is a three-finger gripper with a soft foam plate disposed thereon.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921998672.0U CN210968884U (en) | 2019-11-19 | 2019-11-19 | Tomato picking mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921998672.0U CN210968884U (en) | 2019-11-19 | 2019-11-19 | Tomato picking mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210968884U true CN210968884U (en) | 2020-07-10 |
Family
ID=71415707
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921998672.0U Expired - Fee Related CN210968884U (en) | 2019-11-19 | 2019-11-19 | Tomato picking mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210968884U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115107072A (en) * | 2022-08-26 | 2022-09-27 | 江苏省农业科学院 | Spherical fruit picking method and system |
-
2019
- 2019-11-19 CN CN201921998672.0U patent/CN210968884U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115107072A (en) * | 2022-08-26 | 2022-09-27 | 江苏省农业科学院 | Spherical fruit picking method and system |
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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: 20200710 Termination date: 20201119 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |