CN215957224U

CN215957224U - Be applied to robotic arm that agricultural was picked

Info

Publication number: CN215957224U
Application number: CN202120331060.7U
Authority: CN
Inventors: 张卫民; 国海; 权悦; 张春雨
Original assignee: Anhui University of Science and Technology
Current assignee: Anhui University of Science and Technology
Priority date: 2021-02-05
Filing date: 2021-02-05
Publication date: 2022-03-08
Anticipated expiration: 2031-02-05

Abstract

The utility model discloses a mechanical arm applied to agricultural picking, which comprises a base, wherein a fixed arm is arranged at the top end of the base, a fixed plate is transversely arranged above one side of the fixed arm, an installation frame is arranged at one end, close to the fixed arm, of the top end of the fixed plate, a roller penetrating through the front surface of the installation frame is arranged above the inner side of the installation frame through a bearing, a second driving motor is arranged at the top end, far away from the fixed arm, of the fixed plate, a belt pulley mechanism is arranged between the output end of the second driving motor and the outer side of the roller, a movable arm is hinged to the middle position, far away from one side of the fixed plate, of the fixed arm, and a shell is arranged on one side, far away from the fixed arm, of the movable arm, the time of the working personnel is saved.

Description

Be applied to robotic arm that agricultural was picked

Technical Field

The utility model relates to the technical field of agricultural picking, in particular to a mechanical arm applied to agricultural picking.

Background

Along with the development of science and technology in China, the material civilization life of people is greatly improved, agriculture is taken as a first industry, is the root for ensuring the national safety of China and the root for ensuring the life of people, the agriculture needs to pick fruits in the production process, then most fruits are inconvenient to pick through manpower in the picking process, so a mechanical means needs to be applied, the existing mechanical arm can meet the use requirements of people, but certain problems still exist, and the specific problems are as follows:

the existing mechanical arm is simple in structure and cannot move in all directions, so that time and labor are wasted in the working process.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a mechanical arm applied to agricultural picking to solve the problems in the background technology.

In order to achieve the purpose, the utility model provides the following technical scheme: a mechanical arm applied to agricultural picking comprises a base, wherein a fixed arm is installed at the top end of the base, a fixed plate is transversely installed above one side of the fixed arm, a mounting frame is installed at one end, close to the fixed arm, of the top end of the fixed plate, a roller penetrating through the front face of the mounting frame is installed above the inner side of the mounting frame through a bearing, a second driving motor is installed at the top end, far away from the fixed arm, of the fixed plate of the mounting frame, a belt pulley mechanism is installed between the output end of the second driving motor and the outer side of the roller, a movable arm is hinged to the middle position, far away from one side of the fixed arm, a shell is installed on one side, far away from the fixed arm, of the movable arm, a first driving motor is installed inside the shell, a barrel body is installed at the output end of the first driving motor, an electric push rod is transversely installed on one side, near the shell, inside the barrel, and the horizontal pole is installed to electric putter's output, the top and the bottom of horizontal pole all articulate and have and run through barrel top and bottom moving part, the one end that the horizontal pole was kept away from to moving part one side is installed and is pressed from both sides the finger.

Preferably, the four corners of the bottom end of the base are provided with locking bolts.

Based on above-mentioned technical characteristics, be convenient for fix the device through the locking bolt.

Preferably, the fixed arm is provided with a directional wheel at the top end, the top end of the directional wheel is sleeved with an installation rope, one end of the installation rope is connected with the top end of the movable arm, and the end, far away from the movable arm, of the installation rope is fixedly connected with the roller wheel.

Based on the technical characteristics, the roller is convenient to pull the movable arm to move through the installation rope.

Preferably, belt pulley mechanism is including following driving wheel, installation belt and action wheel, the action wheel is located second driving motor's output, it is close to the one end of action wheel to lie in the running roller outside from the driving wheel, and installs the installation belt between the outside of following driving wheel and action wheel.

Based on the technical characteristics, the second driving motor is convenient to drive the roller to rotate through the belt pulley mechanism.

Preferably, a through hole is formed in the middle of one side, away from the shell, of the barrel, and the longitudinal sectional area of the through hole is larger than that of the cross rod.

Based on the technical characteristics, the transverse rod can move left and right conveniently through the through hole.

Preferably, the mounting groove has all been seted up to the barrel top and the bottom in the moving part outside, and the moving part is close to the one end of mounting groove and the inboard of mounting groove is articulated.

Based on above-mentioned technical characteristic, the moving part of being convenient for moves about in the mounting groove.

Compared with the prior art, the utility model has the beneficial effects that:

(1) the first driving motor is used for driving the barrel to rotate, then the clamping fingers rotate along with the barrel, so that fruits can be twisted conveniently, the fruits can be separated from the vine tall conveniently, the fruits can be picked conveniently, and the time of workers is saved;

(2) utilize second driving motor to pass through the belt pulley mechanism and drive the running roller and rotate, the running roller pulling installation rope drags the digging arm and upwards rotates immediately, conveniently adjusts the angle of pressing from both sides the finger, is convenient for pick the device through different positions department is deep inside the branch and leaf to the fruit.

Description of the drawings:

in order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is an enlarged view of the structure at A in FIG. 1 according to the present invention;

FIG. 3 is an enlarged view of the structure at B in FIG. 1 according to the present invention;

fig. 4 is a schematic top view of the fixing plate of the present invention.

In the figure: 1. clamping fingers; 2. a barrel; 3. an electric push rod; 4. a first drive motor; 5. a housing; 6. a movable arm; 7. locking the bolt; 8. a base; 9. a fixed arm; 10. a directional wheel; 11. installing a rope; 12. a through hole; 13. mounting grooves; 14. a movable member; 15. a cross bar; 16. a roller; 17. a mounting frame; 18. a fixing plate; 19. a second drive motor; 20. a belt pulley mechanism; 2001. a driven wheel; 2002. mounting a belt; 2003. a driving wheel.

The specific implementation mode is as follows:

the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-4, an embodiment of the present invention is shown: a mechanical arm applied to agricultural picking comprises a base 8, locking bolts 7 are arranged at four corners of the bottom end of the base 8, a fixed arm 9 is installed at the top end of the base 8, a directional wheel 10 is installed at the top end of the fixed arm 9, an installation rope 11 is sleeved at the top end of the directional wheel 10, one end of the installation rope 11 is connected with the top end of a movable arm 6, one end, far away from the movable arm 6, of the installation rope 11 is fixedly connected with a roller 16, a fixed plate 18 is transversely installed above one side of the fixed arm 9, an installation frame 17 is installed at one end, close to the fixed arm 9, of the top end of the fixed plate 18, the inner side of the installation frame 17 is provided with the roller 16 penetrating through the front face of the installation frame 17 through a bearing, a second driving motor 19 is installed at the top end, far away from the fixed arm 9, of the installation frame 17 is provided with a belt pulley mechanism 20 between the output end of the second driving motor 19 and the outer side of the roller 16, the belt pulley mechanism 20 comprises a driven wheel 2001, an installation belt 2002 and a driving wheel 2003, the driving wheel 2003 is positioned at the output end of a second driving motor 19, the driven wheel 2001 is positioned at one end, close to the driving wheel 2003, of the outer side of a roller 16, the installation belt 2002 is installed between the driven wheel 2001 and the outer side of the driving wheel 2003, a movable arm 6 is hinged at the middle position of one side, far away from a fixed plate 18, of a fixed arm 9, a shell 5 is installed at one side, far away from the fixed arm 9, of the movable arm 6, a first driving motor 4 is installed inside the shell 5, a cylinder body 2 is installed at the output end of the first driving motor 4, an electric push rod 3 is transversely installed at one side, close to the shell 5, of the inside of the cylinder body 2, a cross rod 15 is installed at the output end of the electric push rod 3, moving parts 14 penetrating through the top end and the bottom end of the cylinder body 2 are hinged at one end, far away from the cross rod 15, a clamping finger 1 is installed at the middle position, far away from the shell 5, and a through hole 12 is formed at the middle position of the cylinder body 2, and the longitudinal section area of through-hole 12 is greater than the longitudinal section area of horizontal pole 15, and mounting groove 13 has all been seted up to barrel 2 top and the bottom in the moving part 14 outside, and the moving part 14 is close to the one end of mounting groove 13 and is articulated with the inboard of mounting groove 13.

The working principle is as follows: when the device is used, the device is fixed on a lifter through a locking bolt 7 at the bottom end of a base 8, a power supply is switched on, then a worker can open an electric push rod 3, the electric push rod 3 is utilized to push a cross rod 15 to move towards a through hole 12, then one end of a movable piece 14 close to the cross rod 15 can move towards the through hole 12 along with the cross rod 15, as one end of the movable piece 14 close to a mounting groove 13 is hinged with the inner side of the mounting groove 13, one end of the movable piece 14 far away from the cross rod 15 moves towards the opposite direction, so that a clamping finger 1 is fully opened, then the clamping finger 1 is moved to the outer side of a fruit, then the electric push rod 3 is utilized to pull the cross rod 15 to move towards the opposite direction, so that the clamping finger 1 wraps the front of the fruit, picking work is realized, meanwhile, the worker can open a first driving motor 4, utilize the first driving motor 4 to drive a barrel body 2 to rotate, and then the clamping finger 1 rotates along with the barrel body 2, the fruit of being convenient for wrench movement, the convenience is separated fruit and rattan tall, be convenient for pick the fruit, save staff's time, simultaneously when the fruit is hidden in and is difficult to the straight line to get into when picking, the staff can open second driving motor 19, utilize second driving motor 19 to drive running roller 16 through belt pulley mechanism 20 and rotate, running roller 16 pulling installation rope 11 drags the digging arm 6 upwards to rotate immediately, conveniently adjust the angle of pressing from both sides finger 1, be convenient for with the device through different positions department deepen branch and leaf inside pick the fruit. The above is the entire work of the present invention.

It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. The utility model provides a be applied to robotic arm that agricultural was picked, includes base (8), its characterized in that: the fixing arm (9) is installed on the top of the base (8), the fixing plate (18) is transversely installed above one side of the fixing arm (9), the mounting frame (17) is installed at one end, close to the fixing arm (9), of the top end of the fixing plate (18), the belt wheel mechanism (20) is installed above the inner side of the mounting frame (17) through a bearing and penetrates through the front roller (16) of the mounting frame (17), the second driving motor (19) is installed at the top end of the fixing plate (18) far away from one side of the fixing arm (9) of the mounting frame (17), the belt wheel mechanism (20) is installed between the output end of the second driving motor (19) and the outer side of the roller (16), the movable arm (6) is hinged to the middle position, far away from one side of the fixing plate (18), of the movable arm (9), the shell (5) is installed on one side, and the first driving motor (4) is installed inside the shell (5), barrel (2) are installed to the output of first driving motor (4), barrel (2) inside one side that is close to casing (5) transversely installs electric putter (3), and electric putter's (3) output installs horizontal pole (15), the top and the bottom of horizontal pole (15) all articulate and have and run through barrel (2) top and bottom moving part (14), the one end of keeping away from horizontal pole (15) in moving part (14) one side is installed and is pressed from both sides finger (1).

2. A robotic arm for use in agricultural picking as claimed in claim 1, wherein: locking bolts (7) are arranged at four corners of the bottom end of the base (8).

3. A robotic arm for use in agricultural picking as claimed in claim 1, wherein: directional wheel (10) are installed on the top of fixed arm (9), and the top cover of directional wheel (10) is equipped with installation rope (11), the one end of installation rope (11) is connected with the top of digging arm (6), and installs one end and running roller (16) fixed connection that digging arm (6) were kept away from in rope (11).

4. A robotic arm for use in agricultural picking as claimed in claim 1, wherein: the belt wheel mechanism (20) comprises a driven wheel (2001), a mounting belt (2002) and a driving wheel (2003), the driving wheel (2003) is located at the output end of the second driving motor (19), the driven wheel (2001) is located at one end, close to the driving wheel (2003), of the outer side of the roller wheel (16), and the mounting belt (2002) is mounted between the driven wheel (2001) and the outer side of the driving wheel (2003).

5. A robotic arm for use in agricultural picking as claimed in claim 1, wherein: a through hole (12) is formed in the middle of one side, away from the shell (5), of the barrel (2), and the longitudinal sectional area of the through hole (12) is larger than that of the cross rod (15).

6. A robotic arm for use in agricultural picking as claimed in claim 1, wherein: mounting groove (13) have all been seted up to barrel (2) top and the bottom in moving part (14) outside, and moving part (14) are close to the one end of mounting groove (13) and the inboard of mounting groove (13) is articulated.