CN211362282U - Light arm lever for picking mechanical arm - Google Patents
Light arm lever for picking mechanical arm Download PDFInfo
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- CN211362282U CN211362282U CN201922264692.1U CN201922264692U CN211362282U CN 211362282 U CN211362282 U CN 211362282U CN 201922264692 U CN201922264692 U CN 201922264692U CN 211362282 U CN211362282 U CN 211362282U
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- regular polygonal
- picking
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Abstract
The utility model discloses a light arm lever of a picking mechanical arm, which comprises an arm lever body and a reinforcing mechanism, wherein the middle part of the arm lever body is provided with a circular through hole extending along the length direction of the arm lever body, and the reinforcing mechanism is arranged in the circular through hole; the reinforcing mechanism comprises a plurality of regular polygonal frames and a main rod, the circumscribed circle of each regular polygonal frame is as large as the circular through hole, the regular polygonal frames are connected with the main rod through connecting rods, the regular polygonal frames are arranged in parallel, and the central points of the regular polygonal frames are positioned on the same straight line; arc-shaped plates are arranged at all outer corners of the regular polygonal frame, and arc-shaped grooves matched with the arc-shaped plates are formed in the inner wall of the arm rod body; the light arm rod of the picking mechanical arm is high in flexibility, good in bearing capacity and wide in application range.
Description
Technical Field
The utility model relates to a light armed lever of picking arm.
Background
The agricultural robot is a flexible automatic or semi-automatic device which takes agricultural products as a working object, has the capabilities of human part information perception and limb movement and can be programmed repeatedly.
The fruit and vegetable consumption and production are both major countries in China. The planting area of the fruits and vegetables in China exceeds 2000 kilohm2By 2016, the total yield exceeds 7.74 million tons, which is the first in the world. However, with the development of urbanization, the loss amount of rural labor is more and more, and at the same time, in the beginning of the 21 st century, China is aging. The rural labor force in China is seriously insufficient. Therefore, in order to solve the problem of labor shortage and meet the requirements of agricultural development and people on agricultural products, the intellectualization and agricultural modernization of agricultural mechanized equipment are necessary.
In the whole production flow of fruits and vegetables, picking work is a link with large labor amount, at present, mechanical operation is realized on a few fruits and vegetables with low quality requirements, and most of the other fruits and vegetables are manually operated. Particularly, the picking of the prior fruits and vegetables, such as apples, oranges, cucumbers and the like, basically depends on manual operation. The area of cucumber planted nationwide in 2016 reaches 1934 ten thousand mu, the yield reaches 6041 ten thousand tons, and the mature period of fruits and vegetables is approximately the same, so that the huge workload is realized, the time is short, and a large amount of labor force is required. Therefore, diversified, large-scale, intelligent and precise agricultural production is a trend in development at present.
With the development of high technology, industrial robots are increasingly used in production, and in the 70 s of the 20 th century, developed countries have become aware of the use of mechanical automation devices in agricultural production and have invested large amounts of capital to begin research and development of agricultural robots. The agricultural robot with automation and intellectualization solves the problems of labor shortage, poor labor environment and the like to a certain extent, improves fruit and vegetable picking efficiency, and accordingly improves economic benefits of fruit growers.
In recent years, picking robots have been developed rapidly, the technology has been advanced continuously, and some products in the aspect are also appeared. The arm rod of the existing picking mechanical arm is heavy, so that the flexibility of the mechanical arm is influenced; and when the arm lever of the mechanical arm is made to be portable, the bearing capacity is poor.
In order to solve the existing problems, the utility model discloses a light armed lever of picking arm.
SUMMERY OF THE UTILITY MODEL
The utility model aims at solving the defect among the prior art, provide a light armed lever of picking arm, the flexibility ratio is high to have good bearing capacity, application scope is extensive.
In order to achieve the above purpose, the technical scheme of the utility model is as follows:
a light arm lever for picking a mechanical arm, which comprises an arm lever body and a reinforcing mechanism,
the middle part of the arm rod body is provided with a circular through hole extending along the length direction of the arm rod body, and the reinforcing mechanism is arranged in the circular through hole;
the reinforcing mechanism comprises a plurality of regular polygonal frames and a main rod, the circumscribed circle of each regular polygonal frame is as large as the circular through hole, the regular polygonal frames are connected with the main rod through connecting rods, the regular polygonal frames are arranged in parallel, and the central points of the regular polygonal frames are positioned on the same straight line;
all outer corners of regular polygon frame department all is provided with the arc, the inner wall of armed lever body is provided with the arc wall with arc wall assorted.
In order to further realize the utility model discloses, the distance of adjacent regular triangle frame is equal.
In order to further realize the utility model discloses, the axis of mobile jib coincides mutually with the line of all regular triangle frame central points.
In order to further realize the utility model, the number of the sides of the regular polygon frame is N, and N is more than or equal to 3 and less than or equal to 6.
In order to further realize the utility model discloses, the connecting rod is provided with N, and the one end of N connecting rod sets up respectively in the N interior angle of regular polygon frame, and the other end of N connecting rod sets up in the mobile jib side.
In order to further realize the utility model discloses, regular polygon frame is regular triangle frame.
In order to further realize the utility model discloses, regular polygon frame is regular tetragonal frame.
In order to further realize the utility model, the regular polygon frame is a regular pentagon frame.
In order to further realize the utility model, the regular polygon frame is a regular hexagon frame.
Advantageous effects
The utility model is provided with the first artificial wetland pool and the second artificial wetland pool, the waste water can reach better treatment effect after being treated twice; and this system has two kinds of states, one kind is that waste water is at first handled through first artifical wetland pond, handles through the artifical wetland pond of second, and another kind is that waste water is at first handled through the artifical wetland pond of second, handles through first artifical wetland pond again, and the burden in artifical wetland pond can be alleviateed in two kinds of state alternate operation, reduces the ecological unbalanced condition in artifical wetland pond.
Drawings
Fig. 1 is a front view of the present invention;
fig. 2 is a left side view of a first embodiment of the present invention;
fig. 3 is a left side view of an arm lever body according to an embodiment of the present invention;
fig. 4 is a left side view of a reinforcing mechanism according to an embodiment of the present invention;
fig. 5 is a left side view of a second embodiment of the present invention;
fig. 6 is a left side view of the two-arm lever body according to the embodiment of the present invention;
fig. 7 is a left side view of a second reinforcement mechanism according to an embodiment of the present invention;
fig. 8 is a left side view of a third embodiment of the present invention;
fig. 9 is a left side view of the three-armed lever body according to the embodiment of the invention;
fig. 10 is a left side view of a third reinforcement mechanism according to an embodiment of the present invention;
fig. 11 is a left side view of a fourth embodiment of the present invention;
fig. 12 is a left side view of the four-armed lever body according to the embodiment of the present invention;
fig. 13 is a left side view of the four reinforcing mechanisms according to the embodiment of the present invention.
Description of reference numerals:
1. an arm lever body; 11. a circular through hole; 12. an arc-shaped slot; 2. a reinforcing mechanism; 21. a regular triangular frame; 22. a main rod; 23. a connecting rod; 24. an arc-shaped plate; 31. a regular tetragonal frame; 41. a regular pentagonal frame; 51. a regular hexagonal frame.
Detailed Description
The invention will be described in further detail with reference to the accompanying drawings, which are simplified schematic drawings and only schematically illustrate the basic structure of the invention.
Example one
As shown in fig. 1-4, the light arm rod of the picking mechanical arm of the present invention comprises an arm rod body 1 and a reinforcing mechanism 2, wherein:
the middle part of armed lever body 1 is provided with along the circular through-hole 11 of 1 length direction extension of armed lever body, and strengthening mechanism sets up in circular through-hole 11.
The reinforcing mechanism 2 comprises a plurality of regular triangle frames 21 and a main rod 22, the circumscribed circle of the regular triangle frame 21 is as large as the circular through hole 11, the regular triangle frames 21 are connected with the main rod 22 through a connecting rod 23, the regular triangle frames 21 are arranged in parallel, the central points of the regular triangle frames are positioned on the same straight line, the distances between the adjacent regular triangle frames 21 are equal, and the axes of the main rod 22 are overlapped with the connecting lines of the central points of all the regular triangle frames 21.
The connecting rods 23 are provided with three connecting rods 2, one ends of the three connecting rods are respectively arranged at three inner angles of the regular triangle frame 21, and the other ends of the three connecting rods 23 are arranged at the side surface of the main rod 22.
All outer corners of regular triangle frame 21 all are provided with arc 24, and the inner wall of armed lever body 1 is provided with arc 12 with arc 24 assorted.
During installation, the arc-shaped plate 24 is aligned with the arc-shaped groove 12, and then the reinforcing mechanism 2 is pushed into the circular through hole 11.
Example two
As shown in fig. 1, fig. 5-7, the light arm rod of the picking mechanical arm of the present invention comprises an arm rod body 1 and a reinforcing mechanism 2, wherein:
the middle part of armed lever body 1 is provided with along the circular through-hole 11 of 1 length direction extension of armed lever body, and strengthening mechanism 2 sets up in circular through-hole 11.
The reinforcing mechanism 2 comprises a plurality of square frames 31 and a main rod 22, the circumscribed circle of the square frames 31 is as large as the circular through hole 11, the square frames 31 are connected with the main rod 22 through a connecting rod 23, the square frames 31 are arranged in parallel, the central points of the square frames are positioned on the same straight line, the distances between the adjacent square frames 31 are equal, and the axes of the main rod 22 are overlapped with the connecting lines of the central points of all the square frames 31.
The connecting rods 23 are four, one ends of the four connecting rods 23 are respectively arranged at four inner angles of the regular quadrangular frame 31, and the other ends of the four connecting rods 23 are arranged on the side surface of the main rod 22.
All outer corners of the regular quadrangular frame 31 are provided with arc plates 24, and the inner wall of the arm lever body 1 is provided with arc grooves 12 matched with the arc plates 24.
During installation, the arc-shaped plate 24 is aligned with the arc-shaped groove 12, and then the reinforcing mechanism 2 is pushed into the circular through hole 11.
EXAMPLE III
As shown in fig. 1, fig. 8-fig. 10, the light arm rod of the picking mechanical arm of the present invention comprises an arm rod body 1 and a reinforcing mechanism 2, wherein:
the middle part of armed lever body 1 is provided with along the circular through-hole 11 of 1 length direction extension of armed lever body, and strengthening mechanism 2 sets up in circular through-hole 11.
The reinforcing mechanism 2 comprises a plurality of regular pentagonal frames 41 and a main rod 22, the circumscribed circle of the regular pentagonal frames 41 is as large as the circular through hole 11, the regular pentagonal frames 41 are connected with the main rod 22 through a connecting rod 23, the regular pentagonal frames 41 are arranged in parallel, the central points of the regular pentagonal frames are positioned on the same straight line, the distances between the adjacent regular pentagonal frames 41 are equal, and the axes of the main rod 22 are overlapped with the connecting lines of the central points of all the regular pentagonal frames 41.
The connecting rods 23 are provided with five connecting rods 41, one ends of the five connecting rods 41 are respectively arranged at five inner angles of the regular pentagonal frame 41, and the other ends of the five connecting rods 23 are arranged at the side surface of the main rod 22.
All outer corners of the regular pentagon frame 41 are provided with arc plates 24, and the inner wall of the arm lever body 1 is provided with arc grooves 12 matched with the arc plates 24.
During installation, the arc-shaped plate 24 is aligned with the arc-shaped groove 12, and then the reinforcing mechanism 2 is pushed into the circular through hole 11.
Example four
As shown in fig. 1, fig. 11-fig. 13, the light arm rod of the picking mechanical arm of the present invention comprises an arm rod body 1 and a reinforcing mechanism 2, wherein:
the middle part of armed lever body 1 is provided with along the circular through-hole 11 of 1 length direction extension of armed lever body, and strengthening mechanism 2 sets up in circular through-hole 11.
The reinforcing mechanism 2 comprises a plurality of regular hexagonal frames 51 and a main rod 22, the circumscribed circle of the regular hexagonal frames 51 is as large as the circular through hole 11, the regular hexagonal frames 51 are connected with the main rod 22 through a connecting rod 23, the plurality of regular hexagonal frames 51 are arranged in parallel, the central points of the regular hexagonal frames are positioned on the same straight line, the distances between the adjacent regular hexagonal frames 51 are equal, and the axes of the main rod 22 are overlapped with the connecting lines of the central points of all the regular hexagonal frames 51.
The connecting rods 23 are provided with six, one ends of the six connecting rods 23 are respectively arranged at six inner angles of the regular hexagonal frame 51, and the other ends of the six connecting rods 23 are arranged at the side surface of the main rod 22.
All outer corners of the regular hexagonal frame 51 are provided with arc plates 24, and the inner wall of the arm lever body 1 is provided with arc grooves 12 matched with the arc plates 24.
During installation, the arc-shaped plate 24 is aligned with the arc-shaped groove 12, and then the reinforcing mechanism 2 is pushed into the circular through hole 11.
The utility model discloses a middle part of armed lever body is provided with the circular through-hole that extends along armed lever body length direction, has reduced the weight of armed lever, improves the flexibility ratio of armed lever to through set up strengthening mechanism in circular through-hole, make the intensity of armed lever body obtain great promotion, improve the bearing capacity of armed lever, application scope is more extensive.
The above is only the preferred embodiment of the present invention, the present invention is not limited to the above embodiment, there may be local minor structural modification in the implementation process, if it is right that various modifications or variations of the present invention do not depart from the spirit and scope of the present invention, and belong to the claims and the equivalent technical scope of the present invention, then the present invention is also intended to include these modifications and variations.
Claims (9)
1. A light arm lever for picking a mechanical arm is characterized by comprising an arm lever body and a reinforcing mechanism,
the middle part of the arm rod body is provided with a circular through hole extending along the length direction of the arm rod body, and the reinforcing mechanism is arranged in the circular through hole;
the reinforcing mechanism comprises a plurality of regular polygonal frames and a main rod, the circumscribed circle of each regular polygonal frame is as large as the circular through hole, the regular polygonal frames are connected with the main rod through connecting rods, the regular polygonal frames are arranged in parallel, and the central points of the regular polygonal frames are positioned on the same straight line;
all outer corners of regular polygon frame department all is provided with the arc, the inner wall of armed lever body is provided with the arc wall with arc wall assorted.
2. The lightweight arm bar of a picking instrument arm of claim 1, characterized in that the distances of adjacent right triangular frames are equal.
3. The lightweight arm bar of a picking instrument arm of claim 1, wherein the axis of the main bar coincides with the line connecting the center points of all regular triangular frames.
4. The lightweight arm lever of an picking arm according to claim 1, characterized in that the number of sides of the regular polygonal frame is N, N is 3 ≦ 6.
5. The light arm bar of a picking robot as claimed in claim 4, wherein the connecting bars are provided with N, one ends of the N connecting bars are respectively arranged at N inner corners of the regular polygonal frame, and the other ends of the N connecting bars are arranged at the side of the main bar.
6. The picking arm lightweight arm bar of claim 4, wherein the regular polygonal frame is a regular triangular frame.
7. The picking arm lightweight arm bar of claim 4, wherein the regular polygonal frame is a regular tetragonal frame.
8. The picking arm lightweight arm bar of claim 4, wherein the regular polygonal frame is a regular pentagonal frame.
9. The picking arm lightweight arm bar of claim 4, wherein the regular polygonal frame is a regular hexagonal frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922264692.1U CN211362282U (en) | 2019-12-17 | 2019-12-17 | Light arm lever for picking mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922264692.1U CN211362282U (en) | 2019-12-17 | 2019-12-17 | Light arm lever for picking mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211362282U true CN211362282U (en) | 2020-08-28 |
Family
ID=72167119
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922264692.1U Expired - Fee Related CN211362282U (en) | 2019-12-17 | 2019-12-17 | Light arm lever for picking mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211362282U (en) |
-
2019
- 2019-12-17 CN CN201922264692.1U patent/CN211362282U/en not_active Expired - Fee Related
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200828 Termination date: 20211217 |
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| CF01 | Termination of patent right due to non-payment of annual fee |