CN211940948U

CN211940948U - Multi-degree-of-freedom picking mechanical arm

Info

Publication number: CN211940948U
Application number: CN201922264655.0U
Authority: CN
Inventors: 熊茂华; 陈广辉; 揭紫聪; 吴讯宏; 邓康荣
Original assignee: South China Business Trade College
Current assignee: South China Business Trade College
Priority date: 2019-12-17
Filing date: 2019-12-17
Publication date: 2020-11-17
Anticipated expiration: 2029-12-17

Abstract

The utility model discloses a multi freedom's picking arm, which comprises a base, first arm, the second arm, the third arm, the fourth arm, fifth arm and sixth arm, first arm front end passes through first joint and base rotatable coupling, the front end of second arm passes through the second joint and the rear end rotatable coupling of first arm, the front end of third arm passes through the third joint and the rear end rotatable coupling of second arm, the front end of fourth arm passes through the fourth joint and the rear end rotatable coupling of third arm, the front end of fifth arm passes through the fifth joint and the rear end rotatable coupling of fourth arm, the front end of sixth arm passes through the sixth joint and the rear end rotatable coupling of fifth arm; the multi-degree-of-freedom picking mechanical arm is high in load capacity and flexibility.

Description

Multi-degree-of-freedom picking mechanical arm

Technical Field

The utility model relates to an agricultural robot field, concretely relates to multi freedom's 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. However, at present, the mechanical arm has the defects of weaker load capacity and lower flexibility.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving the defect among the prior art, provide a multi freedom's harvesting arm, can effectively make rivers cover whole energy storage tank cross section, slow down the velocity of water, improve the energy storage groove hold and release efficiency.

In order to achieve the above purpose, the technical scheme of the utility model is as follows:

the picking mechanical arm with multiple degrees of freedom comprises a base, a first mechanical arm, a second mechanical arm, a third mechanical arm, a fourth mechanical arm, a fifth mechanical arm and a sixth mechanical arm, wherein the front end of the first mechanical arm is rotatably connected with the base through a first joint, and a rotating shaft of the first joint is parallel to the extending direction of the first mechanical arm;

the front end of the second mechanical arm is rotatably connected with the rear end of the first mechanical arm through a second joint, and a rotating shaft of the second joint is vertical to the extending direction of the second mechanical arm;

the front end of the third mechanical arm is rotatably connected with the rear end of the second mechanical arm through a third joint, and a rotating shaft of the third joint is vertical to the extending direction of the third mechanical arm;

the front end of the fourth mechanical arm is rotatably connected with the rear end of the third mechanical arm through a fourth joint, and a rotating shaft of the fourth joint is vertical to the extending direction of the fourth mechanical arm;

the front end of the fifth mechanical arm is rotatably connected with the rear end of the fourth mechanical arm through a fifth joint, and a rotating shaft of the fifth joint is parallel to the extending direction of the fifth mechanical arm;

the front end of the sixth mechanical arm is rotatably connected with the rear end of the fifth mechanical arm through a sixth joint, and a rotating shaft of the sixth joint is perpendicular to the extending direction of the sixth mechanical arm.

In order to further realize the utility model discloses, first joint, fifth joint and sixth joint all include first work motor, first input gear, driving pulley, driven pulleys, belt and first reduction gear, the output shaft and the first input gear of first work motor are connected, driving pulley fixed mounting is in the axle head of first input gear, driven pulleys is fixed to be set up in the input of first reduction gear, the belt is around locating driving pulley and driven pulleys and tensioning.

In order to further realize the utility model discloses, first joint, fifth joint and sixth joint all still include first stand-by motor, second input gear and first driven gear, first stand-by motor's output shaft and second input gear are connected, the second input gear is connected with first input gear transmission through first driven gear, first driven gear meshes with first input gear and second input gear respectively mutually.

In order to further realize the utility model discloses, first reduction gear output and the first arm fixed connection of first joint, the first reduction gear output and the fifth arm fixed connection of fifth joint, the first reduction gear output and the sixth arm fixed connection of sixth joint.

In order to further realize the utility model discloses, second joint, third joint and fourth joint all include second work motor, third input gear, second reduction gear, worm, turbine and third reduction gear, the output shaft and the third input gear of second work motor are connected, the axle head and the input of second reduction gear of third input gear are connected, the output of second reduction gear and the end connection of worm, turbine and worm mesh mutually and are connected, the turbine sets up in the input of third reduction gear.

In order to further realize the utility model discloses, second joint, third joint and fourth joint all still include second stand-by motor, fourth input gear and second driven gear, second stand-by motor's output shaft and fourth input gear are connected, fourth input gear passes through second driven gear and is connected with third input gear transmission, second driven gear meshes with third input gear and fourth input gear respectively mutually.

In order to further realize the utility model discloses, the third reduction gear output and the second arm fixed connection of second joint, the third reduction gear output and the third arm fixed connection of third joint, the third reduction gear and the fourth arm fixed connection of fourth joint.

Advantageous effects

The utility model discloses a six degree of freedom designs, increases the workspace of arm, and first joint and fifth joint are for carrying out the joint of rotation, and second joint, third joint, fourth joint and sixth joint are for going on the joint of pitching, and load-carrying capacity is stronger, and the flexibility ratio is higher.

Drawings

FIG. 1 is a schematic view of a multi-degree of freedom picking robot arm of the present invention;

fig. 2 is a schematic structural view of a multi-degree-of-freedom picking mechanical arm of the present invention;

fig. 3 is a front view of the first joint mechanism of the present invention;

fig. 4 is a left side view of the first joint mechanism of the present invention;

fig. 5 is a front view of a second joint mechanism of the present invention;

fig. 6 is a front view of the worm gear and worm connection in the first joint mechanism of the present invention;

fig. 7 is a left side view of the worm gear and worm connection in the first joint mechanism of the present invention.

Description of reference numerals:

1. a base; 2. a first robot arm; 3. a second mechanical arm; 4. a third mechanical arm; 5. a fourth mechanical arm; 6. a fifth mechanical arm; 7. a sixth mechanical arm; 8. a first joint; 9. a second joint; 10. a third joint; 11. a fourth joint; 12. a fifth joint; 13. a sixth joint; 14. a first working motor; 15. a first backup motor; 16. a first input gear; 17. a second input gear; 18. a first driven gear; 19. a driving pulley; 20. a driven pulley; 21. a belt; 22. a first decelerator; 23. a second working motor; 24. a second backup motor; 25. a third input gear; 26. a fourth input gear; 27. a second driven gear; 28. a second decelerator; 29. a worm; 30. a turbine; 31. and a third speed reducer.

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. 1-7, the multi-degree-of-freedom picking mechanical arm of the present invention includes a base 1, a first mechanical arm 2, a second mechanical arm 3, a third mechanical arm 4, a fourth mechanical arm 5, a fifth mechanical arm 6, and a sixth mechanical arm 7, wherein:

the front end of a first mechanical arm 2 is rotatably connected with a base 1 through a first joint 8, the rotating shaft of the first joint 8 is parallel to the extending direction of the first mechanical arm 2, the front end of a second mechanical arm 3 is rotatably connected with the rear end of the first mechanical arm 2 through a second joint 9, the rotating shaft of the second joint 9 is vertical to the extending direction of the second mechanical arm 3, the front end of a third mechanical arm 4 is rotatably connected with the rear end of the second mechanical arm 3 through a third joint 10, the rotating shaft of the third joint 10 is vertical to the extending direction of the third mechanical arm 4, the front end of the fourth mechanical arm 5 is rotatably connected with the rear end of the third mechanical arm 4 through a fourth joint 11, the rotating shaft of the fourth joint 11 is vertical to the extending direction of the fourth mechanical arm 5, the front end of a fifth mechanical arm 6 is rotatably connected with the rear end of the fourth mechanical arm 5 through a fifth joint 12, and the rotating shaft of the fifth joint 12 is parallel to the extending direction of the fifth mechanical arm 6, the front end of the sixth mechanical arm 7 is rotatably connected with the rear end of the fifth mechanical arm 6 through a sixth joint 13, and the rotating shaft of the sixth joint 13 is perpendicular to the extending direction of the sixth mechanical arm 7.

The first joint 8, the fifth joint 12 and the sixth joint 13 all adopt a first joint mechanism, the first joint mechanism comprises a first working motor 14, a first standby motor 15, a first input gear 16, a second input gear 17, a first driven gear 18, a driving pulley 19, a driven pulley 20, a belt 21 and a first speed reducer 22, an output shaft of the first working motor 14 is connected with the first input gear 16, an output shaft of the first standby motor 15 is connected with the second input gear 17, the second input gear 17 is in transmission connection with the first input gear 16 through the first driven gear 18, the first driven gear 18 is respectively meshed with the first input gear 16 and the second input gear 17, the driving pulley 19 is fixedly arranged at the shaft end of the first input gear 16, the driven pulley 20 is fixedly arranged at the input end of the first speed reducer 22, the belt 21 is wound on the driving pulley 19 and the driven pulley 20 and tensioned, the output end of the first speed reducer 22 of the first joint 8 is fixedly connected with the first mechanical arm 2, the output end of the first speed reducer 22 of the fifth joint 12 is fixedly connected with the fifth mechanical arm 6, and the output end of the first speed reducer 22 of the sixth joint 13 is fixedly connected with the sixth mechanical arm 7. Through the transmission of belt structure, first reduction gear, can save space to have good output torque. By adopting the standby motor, if the working motor can start the standby motor to work due to faults, the reliability of the joint is improved.

The second joint 9, the third joint 10 and the fourth joint 11 all adopt a second joint mechanism, the second joint mechanism comprises a second working motor 23, a second standby motor 24, a third input gear 25, a fourth input gear 26, a second driven gear 27, a second speed reducer 28, a worm 29, a worm wheel 30 and a third speed reducer 31, an output shaft of the second working motor 23 is connected with the third input gear 25, an output shaft of the second standby motor 24 is connected with the fourth input gear 26, the fourth input gear 26 is in transmission connection with the third input gear 25 through the second driven gear 27, the second driven gear 27 is respectively meshed with the third input gear 25 and the fourth input gear 26, a shaft end of the third input gear 25 is connected with an input end of the second speed reducer 28 through a coupling, an output end of the second speed reducer 28 is connected with an end of the worm 29 through a coupling, the worm wheel 30 is meshed with the worm 29, the turbine 30 is disposed at an input end of the third reducer 31, an output end of the third reducer 31 of the second joint 9 is fixedly connected to the second robot arm 3, an output end of the third reducer 31 of the third joint 10 is fixedly connected to the third robot arm 4, and the third reducer 31 of the fourth joint 11 is fixedly connected to the fourth robot arm 5. Through the transmission of second reduction gear, turbine worm, third reduction gear, can improve output torque greatly, improve joint load capacity. By adopting the standby motor, if the working motor can start the standby motor to work due to faults, the reliability of the positioning joint is improved.

Specifically, the first speed reducer and the third speed reducer are both harmonic speed reducers.

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

1. The picking mechanical arm with multiple degrees of freedom comprises a base, a first mechanical arm, a second mechanical arm, a third mechanical arm, a fourth mechanical arm, a fifth mechanical arm and a sixth mechanical arm, and is characterized in that the front end of the first mechanical arm is rotatably connected with the base through a first joint, and a rotating shaft of the first joint is parallel to the extending direction of the first mechanical arm;

2. The picking mechanical arm with multiple degrees of freedom according to claim 1, wherein the first joint, the fifth joint and the sixth joint each comprise a first working motor, a first input gear, a driving pulley, a driven pulley, a belt and a first speed reducer, an output shaft of the first working motor is connected with the first input gear, the driving pulley is fixedly mounted at a shaft end of the first input gear, the driven pulley is fixedly arranged at an input end of the first speed reducer, and the belt is wound around the driving pulley and the driven pulley and tensioned.

3. The multi-degree-of-freedom picking mechanical arm according to claim 2, wherein the first joint, the fifth joint and the sixth joint each further comprise a first backup motor, a second input gear and a first driven gear, an output shaft of the first backup motor is connected with the second input gear, the second input gear is in transmission connection with the first input gear through the first driven gear, and the first driven gear is respectively engaged with the first input gear and the second input gear.

4. The multi-degree-of-freedom picking mechanical arm according to claim 2, wherein the first reducer output end of the first joint is fixedly connected with the first mechanical arm, the first reducer output end of the fifth joint is fixedly connected with the fifth mechanical arm, and the first reducer output end of the sixth joint is fixedly connected with the sixth mechanical arm.

5. The picking mechanical arm with multiple degrees of freedom as claimed in claim 1, wherein the second joint, the third joint and the fourth joint each comprise a second working motor, a third input gear, a second reducer, a worm wheel and a third reducer, an output shaft of the second working motor is connected with the third input gear, a shaft end of the third input gear is connected with an input end of the second reducer, an output end of the second reducer is connected with an end of the worm, the worm wheel and the worm are meshed and connected, and the worm wheel is arranged at an input end of the third reducer.

6. The multi-degree-of-freedom picking mechanical arm according to claim 5, wherein the second joint, the third joint and the fourth joint each further comprise a second backup motor, a fourth input gear and a second driven gear, an output shaft of the second backup motor is connected with the fourth input gear, the fourth input gear is in transmission connection with the third input gear through the second driven gear, and the second driven gear is respectively engaged with the third input gear and the fourth input gear.

7. The multi-degree-of-freedom picking mechanical arm according to claim 5, wherein the output end of the third reducer of the second joint is fixedly connected with the second mechanical arm, the output end of the third reducer of the third joint is fixedly connected with the third mechanical arm, and the third reducer of the fourth joint is fixedly connected with the fourth mechanical arm.