CN218659104U - Flexible manipulator based on SCARA mechanical arm - Google Patents

Abstract

The utility model discloses a flexible manipulator based on a SCARA mechanical arm, which comprises a SCARA mechanical arm, a flexible mechanical arm and a rope-driven flexible end effector; the end effector is divided into two parts, one part is used for extracting the grapes to ensure the integrity of the grapes, and the other part is a shearing device used for shearing the grape stalks.

Description

Flexible manipulator based on SCARA mechanical arm

Technical Field

The utility model relates to an agricultural robot field belongs to a many function composite robot suitable for agricultural grape is picked.

Background

The current grape planting area of China is on the whole in an increasing trend, and with the rapid development of agricultural technology, the grape yield of China is on the trend of rising year by year in recent years, however, most grapes in China are harvested manually, which brings a large amount of labor cost, increases the cost of grapes and improves the price of grapes; therefore, the traditional manual grape harvesting method is not easy to obtain good agricultural profits and can greatly hinder the development of the grape industry.

Disclosure of Invention

In order to solve the problem of higher labor cost of agricultural grape harvesting, the utility model provides a harvesting mechanical arm which can be used in a complex harvesting environment, has the characteristics of diversified functions, simple structure, low harvesting cost and the like, and has good performance in the aspects of obstacle avoidance and flexibility of grape branches and leaves; for solving the technical problem, the utility model provides a technical scheme that its technical problem adopted is: a flexible grape shearing manipulator based on a SCARA mechanical arm comprises the SCARA mechanical arm (1), a flexible mechanical arm (2) and an end shearing manipulator (3); the SCARA mechanical arm (1) mainly comprises an installation chassis (4), a rotary table (5), a rotary column (6), a SCARA large arm (7), a small arm driving motor (8), a small arm driving box body (9), a thrust ball bearing (10), a small arm (11), a small arm extension rod (12), a rack driving motor (13), a rack (14) and a rack driving box body (15); the mounting base plate (4) is used for mounting and fixing the mechanical arm to ensure the stability of the mechanical arm, a motor is arranged in the mounting base plate (4) and used for driving the rotary column (6), the circular end of the SCARA large arm (7) is connected with the rotary column (6) through a flange, and the other end of the SCARA large arm is connected with the small arm driving box body (9) through two rows of bolts; a thrust ball bearing (10) is arranged between the small arm (11) and the small arm driving box body (9), the small arm (11) is connected with the rack driving box body (15) through a small arm extension rod (12), and the rack (14) penetrates through the rack driving box body (15) to be meshed with a gear inside the rack driving box body. The flexible mechanical arm (2) is formed by overlapping modules consisting of an x-axis axial driving module (16) and a y-axis axial driving module (17), wherein the small U-shaped support (18) is static relative to the driving motor (19), the large U-shaped support (21) moves relative to the driving motor (19), and the large U-shaped support (21) and the small U-shaped support (18) are directly connected by bolts to form an included angle of 90 degrees when every two mechanical arm modules are installed; the end effector is provided with a shearing base (23), two mechanical claw handles (24) are respectively arranged at two sides of the shearing base, a single-shaft connecting rod (25) and a double-shaft connecting rod (29) are arranged in the mechanical claw handles (24) at intervals, and the two connecting rods are mutually matched; the pressing block (26) is used for being matched with the cutter support (27) to clamp the grape root and pedicle, the blade (28) is replaceable, and the blade is matched with the groove on the pressing block (26) to shear the grape root and pedicle.

Drawings

Fig. 1 is a structural diagram of the present invention.

Fig. 2 is the SCARA arm of the present invention.

Figure 3 is a diagram of the flexible robotic arm assembly of the present invention.

Figure 4 is the flexible mechanical arm joint subassembly of the utility model.

Fig. 5 is a diagram of an end effector assembly of the present invention.

Fig. 6 is a sectional view of the rack gear box of the present invention.

In the figure:

the mechanical arm comprises a SCARA mechanical arm 2, a flexible mechanical arm 3, a tail end shearing mechanical arm 4, a mounting base plate 5, a rotary table 6, a rotary column 7, a SCARA large arm 8, a small arm driving motor 9, a small arm driving box body 10, a thrust ball bearing 11, a small arm 12, a small arm extending rod 13, a rack driving motor 14, a rack 15, a rack driving box body 16, an x-axis axial driving module 17, a y-axis axial driving module 18, a small U-shaped support 19, a driving motor 20, a driving disk 21, a large U-shaped support 22, a load disk 23, a shearing base 24, a mechanical claw handle 25, a single-axis connecting rod 26, a pressing block 27, a cutter support 28, a blade 29, a double-axis connecting rod 30, a connecting rod limiting block 31, a reset spring 32 pull wire 33, a gear 1, a gear 2 35, a fixed seat 37 and a pull wire driving motor.

Detailed Description

The present invention is further described with reference to the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and can implement the present invention, but the embodiments are not to be construed as limiting the present invention.

Referring to fig. 1, 2, a flexible grape shearing manipulator based on SCARA robot arm, whose basic principle is to transport the flexible robot arm (2) to a designated working position by means of the spatial movement of the SCARA robot arm (1), which has a particular geometrical configuration in which the two rotary joints and the mobile joint are arranged in a particular way so that all axes of movement are parallel; the mechanical characteristics of the structure are characterized in that the structure can bring high stability of loading in the vertical direction and flexibility of loading in the horizontal direction; the mounting base plate (4) is used for mounting a mechanical arm, the rotary table (5) is mounted on the mounting base plate (4), and the first degree of freedom movement of the SCARA mechanical arm is realized through the driving of a stepping motor; one end of the rotating column (6) is connected with the mounting base plate (4) through a bolt, and the other end of the rotating column is provided with a circular flange which is connected with the SCARA big arm (7) through a bolt; one end of the SCARA big arm (7) is a circular flange, and the other end of the SCARA big arm is a rectangular flange. The rectangular flange end is connected with a small arm driving box (9), and a small arm driving motor (8) is arranged below the small arm driving box (9), so that the small arm (11) is driven and is the second degree of freedom of the SCARA mechanical arm; the small arm driving box body (9) is connected with the small arm (11) through a thrust ball bearing (10), and the thrust ball bearing (10) is fixed through grooves in the small arm driving box body (9) and the small arm (11); the small arm (11) is connected with a rack driving box body (15) through a small arm extension rod (12), a rack driving motor (13) is installed above the rack driving box body (15), and the rack driving box body (15) converts power output by the rack driving motor (13) into power for up-and-down movement of a rack (14) through a gear set; the rack (14) is arranged in a mounting hole of the rack driving box body (15), the lower part of the rack driving box body is provided with a section without teeth and used for limiting the mechanical arm, the upper part of the rack driving box body is provided with a platform, and the platform is provided with a mounting hole and used for mounting the flexible mechanical arm (2); as shown in fig. 6, the rack driving box mainly includes a gear 1 (33), a gear 2 (34), rollers (35), fixing seats (36) and a rack (14), a rack driving motor (13) drives the gear 1 (33) to rotate, power is transmitted to the rack (14) through the gear 2 (34), and the rack (14) is fixed through two pairs of rollers (35) and two pairs of fixing seats (36); the large SCARA arm (7) and the small arm extension rod (12) are replaceable parts, and the change of the working space of the SCARA can be realized by replacing accessories with different sizes.

Referring to fig. 3 and 4; FIG. 3 is a diagram of a flexible mechanical arm assembly, which is mainly composed of a plurality of flexible mechanical arm joint assemblies connected through bolts, wherein each flexible mechanical arm joint assembly comprises two modules, namely an x-axis axial driving module (16) and a y-axis axial driving module (17); each axial driving module comprises a small U-shaped bracket (18), a driving motor (19), a driving disc (20), a large U-shaped bracket (21) and a load disc (22); wherein, both ends of the rotating shaft of the driving motor (19) are respectively provided with a driving disc (20) and a load disc (22), the driving disc (20) is responsible for power output, and the load disc (22) is responsible for balancing the torsion brought by single-side rotation; the large U-shaped bracket (21) is arranged on the driving disc (20) and the load disc (22) through bolts, and when the motor is electrified and rotates, the driving disc (20) drives the large U-shaped bracket (21) to rotate under the condition that the motor is static; the small U-shaped support (18) is arranged on the driving motor (19), and the two modules are vertically arranged through the front small U-shaped support (18) and the rear large U-shaped support (21) to form a movement joint; the end shearing manipulator (3) is connected with a large U-shaped bracket (21) of the last joint through a bolt.

Referring to fig. 5 and 6, the tail end shearing manipulator (3) mainly comprises a shearing base (23), a mechanical claw handle (24), a single-shaft connecting rod (25), a pressing block (26), a cutter support (27), a blade (28), a double-shaft connecting rod (29), a connecting rod limiting block (30) and a return spring (31). Shear and have two mechanical claw handles (24) installation position on base (23) for install mechanical claw handle (24), control two mechanical claw handles (24) mutual symmetry, a unipolar connecting rod (25) and a biax connecting rod (29) are respectively installed in two mechanical claw handles (24), biax connecting rod (29) are the H shape, unipolar connecting rod (25) are the I shape, these two connecting rods mutually support, make the gripper can be better press from both sides tightly. The shearing part is divided into two parts, one is a pressing part and the other is a shearing part, the pressing part mainly comprises a pressing block (26) and a cutter support (27), and the shearing part is a blade (28) for shearing and is directly arranged on a cutter base through a bolt; the pressing block (26) is provided with a big groove part and a small groove part, wherein the big groove part is matched with the protruding part of the cutter support (27) and is used for clamping the grape root pedicle, and the small groove part is matched with the shearing blade and is used for shearing the grape root pedicle; when the end effector runs to the grape root and pedicle, the stay wire (32) is driven to move by the stay wire driving motor (37), and the stay wire (32) drives the connecting rod limiting block to move, so that the pressing block (26), the cutter support (27) and the blade (28) are meshed to shear the grape root and pedicle.

Claims (4)

1. The utility model provides a flexible manipulator based on SCARA arm, its mainly includes SCARA arm (1), flexible arm (2), end shearing manipulator (3), its characterized in that: the flexible mechanical arm (2) is directly installed on the rack (14) through a bolt, and the tail end shearing mechanical arm (3) is installed at the tail end joint of the flexible mechanical arm (2) through a bolt.

2. The flexible manipulator based on the SCARA mechanical arm is characterized in that the SCARA mechanical arm (1) mainly comprises a mounting chassis (4), a rotary table (5), a rotary column (6), a SCARA big arm (7), a small arm driving motor (8), a small arm driving box body (9), a thrust ball bearing (10), a small arm (11), a small arm extension rod (12), a rack driving motor (13), a rack (14) and a rack driving box body (15), and the flexible manipulator is characterized in that: the SCARA large arm (7) is connected to the rotary column (6) through a bolt, the other end of the SCARA large arm is connected with the small arm (11) through a bolt, the small arm extension rod (12) is connected with the small arm (11) and the rack driving box body (15) through a bolt, the rack driving box body (15) mainly comprises a gear 1 (33), a gear 2 (34), a rolling shaft (35), a fixing seat (36) and a rack (14), the rack driving motor (13) drives the gear 1 (33) to rotate, power is transmitted to the rack (14) through the gear 2 (34), and the rack (14) is fixed through two pairs of rolling shafts (35) and two pairs of fixing seats (36); the large SCARA arm (7) and the small arm extension rod (12) are replaceable parts, and the size of the mechanical arm can be adjusted by replacing arm lengths with different sizes.

3. A flexible robot based on SCARA robot according to claim 1, characterized in that the flexible robot (2) mainly comprises 5 x-axis axial driving modules (16) and 5 y-axis axial driving modules (17), each driving module comprises a small U-shaped bracket (18), a driving motor (19), a driving disc (20), a large U-shaped bracket (21), and a load disc (22), and characterized in that: each x-axis axial driving module (16) and each y-axis axial driving module (17) form a group to form a two-degree-of-freedom joint, each driving module and other driving module parts are directly connected through hole sites on the large U-shaped support (21) and the small U-shaped support (18), and every two joints are also connected through hole sites on the large U-shaped support (21) and the small U-shaped support (18).

4. The flexible manipulator based on the SCARA mechanical arm is characterized in that the end shearing manipulator (3) mainly comprises a shearing base (23), a mechanical claw handle (24), a single-shaft connecting rod (25), a pressing block (26), a cutter support (27), a blade (28), a double-shaft connecting rod (29), a connecting rod limiting block (30), a return spring (31), a pull wire (32) and a pull wire driving motor (37), and is characterized in that: the stay wire driving motor (37) drives the stay wire (32) to enable the pressing block (26) and the cutter support (27) to be matched with each other for clamping, meanwhile, the blade cuts off grape pedicels, the double-shaft connecting rod (29) and the single-shaft connecting rod (25) are installed on the connecting rod limiting block (30), and the shaft below the limiting block is provided with a spring to realize the reset of the tail-end shearing manipulator (3).

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