CN212753363U

CN212753363U - A robotic arm for apple is taken

Info

Publication number: CN212753363U
Application number: CN202021702945.5U
Authority: CN
Inventors: 张亚男; 孙榆欢; 张鹏
Original assignee: Gansu Agricultural University
Current assignee: Gansu Agricultural University
Priority date: 2020-08-14
Filing date: 2020-08-14
Publication date: 2021-03-23
Anticipated expiration: 2030-08-14

Abstract

The utility model discloses a robotic arm for apple is taken belongs to robotic arm technical field, including fixed arm and bottom plate, second electric putter is installed to the one end of fixed arm, install first motor on the second electric putter, the output shaft of first motor is fixed with the pivot through the shaft coupling, the one end of pivot is run through and is extended to the bottom of fixed arm, the symmetry is fixed with the master gear in the pivot, the both sides of fixed arm are all rotated and are connected with the pinion, the pinion meshes with the master gear mutually, one side of pinion and master gear all is fixed with holds the claw. The utility model discloses the blade on two gripper upper portions is crisscross cuts the branch at apple top when the gripper is aimed at and wraps up the apple, can easily pick the apple, need not to draw the apple firmly and make the apple separate with the branch, not only saves picking time and has improved picking efficiency, can not influence the article looks of apple simultaneously, improves the economic benefits of enterprise.

Description

A robotic arm for apple is taken

Technical Field

The utility model relates to a robotic arm especially relates to a robotic arm for apple is taken, belongs to robotic arm technical field.

Background

With the development of social economy, the planting area of fruits in China is continuously increased. The fruits are picked by hands in person. Due to the limited labor force, the picking efficiency of fruits such as plums, tomatoes and the like is low. In the picking process, fruits at the high positions of the branches are difficult to pick, and personal safety of a picker cannot be guaranteed;

the current robotic arm that is used for plucking the apple aims at the apple with the gripper and wraps up the apple, and then pull the apple downwards, make the apple separate with the branch, but the gripper does not have human hand soft, so pull the apple firmly and leave the branch and can cause the article looks that the apple external damage influences the apple, even lead to the apple in later stage to ulcerate and can't sell, even some inside soft cushions that add of gripper can alleviate the damage to the apple, but pull the apple firmly still can cause whole picking time extension and picking inefficiency problem, pull down too big in addition and still make the branch rebound upwards, and some and branch fastness not good apple can fall on the ground, lead to the apple to be broken.

SUMMERY OF THE UTILITY MODEL

The main objective of the utility model is to provide a robotic arm for apple is taken to pick inconvenient problem among the solution prior art.

The purpose of the utility model can be achieved by adopting the following technical scheme:

the utility model provides a robotic arm for apple is taken, includes fixed arm and bottom plate, second electric putter is installed to the one end of fixed arm, install first motor on the second electric putter, the output shaft of first motor is fixed with the pivot through the shaft coupling, the one end of pivot is run through and is extended to the bottom of fixed arm, the symmetry is fixed with the master gear in the pivot, the both sides of fixed arm all rotate and are connected with the pinion, the pinion meshes with the master gear mutually, one side of pinion and master gear all is fixed with holds the claw, and two sets of the top of holding the claw all is fixed with the blade, the top of bottom plate is fixed with the pneumatic cylinder, the second motor is installed at the top of pneumatic cylinder, the output shaft of second motor is fixed with the support arm through the shaft coupling, the support arm is articulated with the fixed arm mutually, the outside of support arm articulates there is first electric putter, the telescopic end of the first electric push rod is hinged to the fixed arm, the bottom plate is provided with a fixed assembly, and the bottom of the bottom plate is provided with a buffering assembly.

Preferably: the buffer assembly comprises a spring, a fixing block and a roller, the fixing block is located at the bottom of the bottom plate, the spring is fixed on the outer side of the fixing block, and the roller is fixed at the bottom end of the spring.

Preferably: the fixed subassembly includes internal thread pipe and thread tightening awl, the internal thread pipe is located the four corners department at bottom plate top, four groups all threaded connection has the thread tightening awl inside the internal thread pipe.

Preferably: the bottom of the fixed arm is fixed with a net bag, and the top of the bottom plate is provided with a fruit box.

Preferably: the top of the bottom plate is fixed with a push handle, and the outer side of the push handle is provided with an anti-skid ring.

Preferably: the inboard of holding the claw is provided with the protection and fills up, and the protection fills up for the silica gel pad.

The utility model has the advantages that:

the utility model provides a pair of a robotic arm for apple is taken: through the mutual matching use of the first motor, the rotating shaft, the main gear, the auxiliary gear, the holding claws and the blades, when the mechanical claws are aligned with and wrap the apple, the blades on the upper parts of the two mechanical claws are staggered to cut off branches on the top of the apple, the apple can be easily picked without hard pulling the apple to separate the apple from the branches, so that the picking time is saved, the picking efficiency is improved, the appearance of the apple is not influenced, and the economic benefit of an enterprise is improved; through the bottom plate, the spring and the fixed block; 17. the rollers are matched with each other for use, so that the fruit box can be more stable in the moving and conveying process, the shaking and collision among the apples in the box are reduced, and the problem that the apples in the fruit box are collided and damaged due to the fact that the whole device is easy to shake due to uneven road surfaces is avoided, and the practicability of the device is improved; through the use of mutually supporting of internal thread pipe and thread tightening awl, can fix the robotic arm bottom on the ground when picking the apple, will fix the subassembly and withdraw when needing to change the apple tree and picking to remove the holistic position of robotic arm, thereby improved the holistic flexibility of this robotic arm, made things convenient for picking personnel's use.

Drawings

FIG. 1 is a front cross-sectional view of the present invention;

fig. 2 is an enlarged view of the structure at a in fig. 1 of the present invention;

FIG. 3 is a schematic view of the gripper of the present invention;

fig. 4 is a side view of the present invention.

In the figure: 1. a fixed arm; 2. a first motor; 3. a rotating shaft; 4. a main gear; 5. a pinion gear; 6. a gripper jaw; 7. a blade; 8. a base plate; 9. a hydraulic cylinder; 10. a second motor; 11. a support arm; 12. a first electric push rod; 13. a net bag; 14. a fruit box; 15. a spring; 16. a fixed block; 17. a roller; 18. an internally threaded tube; 19. a thread fixing cone; 20. a second electric push rod.

Detailed Description

In order to make the technical solutions of the present invention clearer and clearer for those skilled in the art, the present invention will be described in further detail with reference to the following embodiments and drawings, but the embodiments of the present invention are not limited thereto.

As shown in fig. 1-4, the present embodiment provides a mechanical arm for picking apples, which includes a fixed arm 1 and a bottom plate 8, a second electric push rod 20 is installed at one end of the fixed arm 1, a first motor 2 is installed on the second electric push rod 20, a rotating shaft 3 is fixed to an output shaft of the first motor 2 through a coupling, one end of the rotating shaft 3 penetrates and extends to the bottom of the fixed arm 1, a main gear 4 is symmetrically fixed to the rotating shaft 3, secondary gears 5 are rotatably connected to both sides of the fixed arm 1, the secondary gears 5 are engaged with the main gear 4, holding claws 6 are fixed to both sides of the secondary gears 5 and the main gear 4, blades 7 are fixed to both tops of the two sets of holding claws 6, a hydraulic cylinder 9 is fixed to the top of the bottom plate 8, a second motor 10 is installed to the top of the hydraulic cylinder 9, a support arm 11 is fixed to an output shaft of the second motor 10 through a coupling, the support arm, the outside of support arm 11 articulates there is first electric putter 12, and first electric putter 12's flexible end is articulated with fixed arm 1, is provided with fixed subassembly on the bottom plate 8, and the bottom of bottom plate 8 is provided with buffering subassembly.

In this embodiment, as shown in fig. 4, the buffering component includes a spring 15, a fixing block 16 and a roller 17, the bottom of the bottom plate 8 where the fixing block 16 is located, the spring 15 is fixed on the outer side of the fixing block 16, the roller 17 is fixed at the bottom end of the spring 15, due to uneven soil ground, when the roller 17 pushing the bottom of the mechanical arm meets the raised ground, the roller 17 can be pushed to move upwards by the raised ground, the roller 17 can push the spring 15 upwards, and the roller 17 does not directly push the bottom plate 8 upwards, so that the bottom plate 8 cannot be moved upwards to incline by pushing one side of the bottom plate 8, the fruit box 14 cannot be tilted and the inner apples can not roll towards the other side, the moving and conveying process of the fruit box 14 is more stable, the shaking and the collision among the apples in the box are reduced, and the practicability of the.

In this embodiment, as shown in fig. 1, the fixing component includes an internal thread tube 18 and a thread fixing cone 19, the internal thread tube 18 is located at the four corners of the top of the bottom plate 8, the internal parts of the four groups of internal thread tubes 18 are all connected with the thread fixing cone 19 by threads, the thread fixing cones 19 at the four corners of the bottom plate 8 are rotated, under the thread engagement of the internal thread tubes 18, the thread fixing cones 19 are slowly inserted into soil, so that the mechanical arm is integrally fixed on the ground and is not easy to move, the bottom of the mechanical arm is fixed on the ground when picking apples, the fixing component is retracted when apple trees need to be replaced for picking, so that the whole position of the mechanical arm is convenient to move, thereby the whole flexibility of the mechanical arm is improved, the use of picking personnel is facilitated, meanwhile, the whole stability of the mechanical arm can be improved.

In this embodiment, as shown in fig. 1, the bottom of the fixed arm 1 is fixed with the string bag 13, and the top of the bottom plate 8 is provided with the fruit box 14, and the apples fall from the string bag 13 after being picked, and finally fall in the fruit box 14, without sending the apples to the fruit box 14 one by one through the mechanical arm, the picking efficiency is improved.

In this embodiment, as shown in fig. 1, a pushing handle is fixed on the top of the bottom plate 8, and an anti-slip ring is arranged on the outer side of the pushing handle, so that the friction force between the hand and the pushing handle is increased, and the pushing handle is convenient for people to push the mechanical arm to move.

In this embodiment, as shown in fig. 3, the inboard of holding claw 6 is provided with the protection pad, and the protection pad is the silica gel pad, and silica gel is nontoxic tasteless, and the texture is soft, plays the effect to the apple protection, avoids the apple to be extruded by the gripper and causes the damage.

As shown in fig. 1-4, the present embodiment provides a working process of a robot arm for picking apples as follows:

step 1: the mechanical arm is integrally pushed to the side of an apple tree to be picked through a pushing handle arranged on the bottom plate 8, the thread fixing cones 19 at the four corners of the bottom plate 8 are rotated, and the thread fixing cones 19 are slowly inserted into soil under the thread engagement of the inner thread pipes 18, so that the mechanical arm is integrally fixed on the ground and is not easy to move;

step 2: starting the first electric push rod 12 and the second motor 10, the telescopic end of the first electric push rod 12 drives one end of the fixed arm 1 to swing up and down, the second motor 10 drives the supporting arm 11 to rotate so as to adjust the position of the holding claw 6, when the holding claws 6 at one end of the fixed arm 1 are aligned with the apple to lead the two holding claws 6 to surround the two sides of the apple, the first motor 2 is started, the first motor 2 drives the main gear 4 to rotate through the rotating shaft 3, the main gear 4 drives the auxiliary gear 5 to rotate, and the main gear 4 and the auxiliary gear 5 respectively drive the two holding claws 6 to approach towards the apple, because the blades 7 at the top of the holding claws 6 are closer to each other in the initial position, when the two holding claws 6 are closer to each other in the middle, the two blades 7 can be rapidly contacted with each other to cut branches at the top of the apple, the first motor 2 is started to rotate in the opposite direction, so that the two holding claws 6 are expanded outwards, and the apple between the holding claws 6 falls into the fruit box 14 through the net bag 13;

and step 3: because soil ground is uneven, when pushing that robotic arm is whole to meet ground arch uneven level, bellied ground can push roller 17 and upwards move, and roller 17 can upwards extrude spring 15, and roller 17 is not the top bottom plate 8 that directly upwards, so can not make bottom plate 8 one side shift up and lead to bottom plate 8 slope, also can not make fruit case 14 skew and inside apple roll to the opposite side and bump.

The above description is only a further embodiment of the present invention, but the scope of protection of the present invention is not limited thereto, and any person skilled in the art can replace or change the technical solution and the concept of the present invention within the scope of the present invention.

Claims

1. The utility model provides a robotic arm for apple is taken which characterized in that: including fixed arm and bottom plate, second electric putter is installed to the one end of fixed arm, install first motor on the second electric putter, the output shaft of first motor is fixed with the pivot through the shaft coupling, the one end of pivot is run through and is extended to the bottom of fixed arm, the symmetry is fixed with the master gear in the pivot, the both sides of fixed arm are all rotated and are connected with the pinion, the pinion meshes with the master gear mutually, one side of pinion and master gear all is fixed with holds the claw, two sets of the top of holding the claw all is fixed with the blade, the top of bottom plate is fixed with the pneumatic cylinder, the second motor is installed at the top of pneumatic cylinder, the output shaft of second motor is fixed with the support arm through the shaft coupling, the support arm is articulated mutually with the fixed arm, the outside of support arm articulates there is first electric putter, first electric putter's flexible end is articulated with the fixed arm, the bottom plate is provided with a fixing assembly, and the bottom of the bottom plate is provided with a buffering assembly.

2. The robotic arm for apple picking as claimed in claim 1, wherein: the buffer assembly comprises a spring, a fixing block and a roller, the fixing block is located at the bottom of the bottom plate, the spring is fixed on the outer side of the fixing block, and the roller is fixed at the bottom end of the spring.

3. The robotic arm for apple picking as claimed in claim 1, wherein: the fixed subassembly includes internal thread pipe and thread tightening awl, the internal thread pipe is located the four corners department at bottom plate top, four groups all threaded connection has the thread tightening awl inside the internal thread pipe.

4. The robotic arm for apple picking as claimed in claim 1, wherein: the bottom of the fixed arm is fixed with a net bag, and the top of the bottom plate is provided with a fruit box.

5. The robotic arm for apple picking as claimed in claim 1, wherein: the top of the bottom plate is fixed with a push handle, and the outer side of the push handle is provided with an anti-skid ring.

6. The robotic arm for apple picking as claimed in claim 1, wherein: the inboard of holding the claw is provided with the protection and fills up, and the protection fills up for the silica gel pad.