CN220191505U

CN220191505U - Picking robot arm

Info

Publication number: CN220191505U
Application number: CN202321772177.4U
Authority: CN
Inventors: 高明星; 蒋金虎; 殷友亮; 周梅; 梁有泉; 刘伟
Original assignee: Shanghai Yihaixin Agricultural Technology Co ltd
Current assignee: Shanghai Yihaixin Agricultural Technology Co ltd
Priority date: 2023-07-07
Filing date: 2023-07-07
Publication date: 2023-12-19
Anticipated expiration: 2033-07-07

Abstract

The utility model relates to the technical field of robot arms, in particular to a picking robot arm which comprises a mounting seat, wherein a picking member is arranged on the side face of the mounting seat, the picking member comprises a connecting seat, the connecting seat is fixedly connected with the mounting seat through bolts, and a cutting frame is fixedly connected to one side of the connecting seat. The utility model has the advantages that: fruit can play the purpose of secondary buffering through the deflector and can play the collecting box inside, can prevent that fruit and collecting box from taking place the rigid collision, can make fruit sink into the standing groove inside through robot control collecting box simultaneously, after the quantity of fruit is suitable, can open electric telescopic handle and make it drive the layering board motion, until the layering board gets into the collecting box inside completely after, can continue to carry out the collection of fruit, can prevent simultaneously to lead to the collision to take place between the fruit because of fruit piles up, the quality that improvement fruit that can be very big was picked.

Description

Picking robot arm

Technical Field

The utility model relates to the technical field of robot arms, in particular to a picking robot arm.

Background

Along with the development of agriculture, more and more people begin to plant fruit trees, after the fruit trees grow mature, people are required to pick and collect fruits on the fruit trees, along with the development of technology, the fruits are gradually replaced by robot arms from original manual picking, and the robot arms are mechanical electronic devices with anthropomorphic arm, wrist and hand functions, so that the manual picking actions are simulated to realize fruit picking.

According to the utility model, the pulling plate is moved leftwards, so that the cutter can be driven to rotate, fruits on fruit trees can be cut off and picked when the cutter is contacted with the fixed block, time and labor are saved, the generated impact force can push the collecting frame to move downwards when the fruits roll down into the collecting frame, and then the collecting frame is driven to move upwards to reset under the action of the spring, so that the fruits can be buffered, and the fruits are prevented from being broken.

The robot automatic picking arm has the following defects in actual use: above-mentioned robot arm is when using, in fruit rolls to collecting the frame, the impact force that produces can promote to collect the frame and move down, then under the effect of spring, drives to collect the frame and upwards move and reset, so can cushion fruit, avoid fruit to break, but when the fruit volume of picking increases gradually, can lead to the cushioning effect of spring to reduce gradually, will stealthy quality of picking fruit, consequently needs a picking robot arm to solve above-mentioned problem.

Disclosure of Invention

The object of the present utility model is to solve at least one of the technical drawbacks.

Therefore, an object of the present utility model is to provide a picking robot arm, which solves the problems mentioned in the background art and overcomes the shortcomings in the prior art.

In order to achieve the above object, an embodiment of an aspect of the present utility model provides a picking robot arm, including a mounting seat, a picking member is provided on a side of the mounting seat, the picking member includes a connecting seat, the connecting seat is fixedly connected with the mounting seat through a bolt, one side of the connecting seat is fixedly connected with a cutting frame, the top of the cutting frame is fixedly connected with a motor, an output end of the motor is fixedly connected with a rotating shaft, one side of the rotating shaft is fixedly connected with a cutting knife, a collecting member is provided on a bottom surface of the mounting seat, the collecting member includes a connecting frame, the top of the connecting frame is fixedly connected with the mounting seat, one side of the connecting frame is fixedly connected with a collecting box, one side of the connecting frame is fixedly connected with an electric telescopic rod, an output end of the electric telescopic rod is fixedly connected with a layering plate, and the layering plate is slidingly connected with the collecting box.

By above-mentioned arbitrary scheme preferred, one side fixedly connected with deflector of mount pad, the deflector is located between cutting out frame and the collecting box, the contained angle between deflector and the mount pad is sixty degrees. The bottom fixedly connected with spring of deflector, one side fixedly connected with spacing post of spring, the top fixedly connected with buffer board of spacing post, buffer board and spacing post all with deflector sliding connection. The utility model discloses a cutting frame, including cutting frame, pivot, cutting frame, pivot, the pivot has been seted up to one side of cutting frame, the pivot is connected with cutting frame rotation through the pivot, adopts the technical effect that above-mentioned scheme can reach to be: when fruit picking operation is needed, firstly, the mounting seat is required to be mounted on the robot, picking collection can be controlled by the robot to lift and displace, then the cutting frame is controlled to move, the fruit can be cut off through the cooperation of the cutting scissors and the cutting frame above the fruit, the fruit falls onto the buffer plate under the action of gravity, meanwhile, the buffer effect of the spring can be achieved through the buffer of the spring, the fruit can be buffered for the first time, and the damage of the fruit can be effectively prevented.

By the above-mentioned scheme preferred, the inside of collection box and layering board is all fixedly connected with foam-rubber cushion, a plurality of standing groove has been seted up to the upper surface of foam-rubber cushion. The side fixedly connected with cardboard of layering board, the draw-in groove has been seted up to the inner wall of collecting box, the cardboard passes through draw-in groove and collecting box sliding connection, adopts the technical effect that above-mentioned scheme can reach to be: fruit can play the purpose of secondary buffering through the deflector and can play the collecting box inside, can prevent that fruit and collecting box from taking place the rigid collision, can make fruit sink into the standing groove inside through robot control collecting box simultaneously, after the quantity of fruit is suitable, can open electric telescopic handle and make it drive the layering board motion, until the layering board gets into the collecting box inside completely after, can continue to carry out the collection of fruit, can prevent simultaneously to lead to the collision to take place between the fruit because of fruit piles up, the quality that improvement fruit that can be very big was picked.

Compared with the prior art, the utility model has the following advantages and beneficial effects:

through the mount pad, the cooperation setting between picking the component and the collection component, when needs carry out fruit picking operation, at first, need install the mount pad on the robot, can control through the robot and pick and collect and go up and down and the displacement, control the frame of tailorring afterwards and move, and move the top to fruit and cut down fruit through the cooperation of cutting scissors and cutting frame, fruit will fall on the buffer board under the effect of gravity, the buffering through the spring can play the effect of buffering simultaneously, can carry out buffering for the first time to fruit, can effectually prevent fruit damage, fruit will fall to the collection incasement portion through the deflector, can play the purpose of secondary buffering through the foam-rubber cushion, can prevent that fruit and collection case from taking place rigid collision, can take place to rock through the collection case of robot control simultaneously, can make fruit sink into the standing groove inside, after the quantity of fruit is suitable, can open electric telescopic handle makes its drive the layering board and move, until the layering board fully gets into the collection of fruit after the collection of fruit can continue, can prevent simultaneously to pile up and lead to the fruit and take place between the collision, can greatly improve the quality of picking.

Drawings

FIG. 1 is a schematic view of the structure of an assembly of the present utility model;

FIG. 2 is a schematic view of the structure of the mounting base of the present utility model;

FIG. 3 is a schematic view of the structure of the collecting member of the present utility model;

fig. 4 is a schematic structural diagram of the present utility model at a.

In the figure: 1-mount pad, 2-picking component, 201-connecting seat, 202-cutting frame, 203-motor, 204-axis of rotation, 205-cutting knife, 3-collecting component, 301-link, 302-collecting box, 303-electric telescopic link, 304-laminated board, 4-deflector, 5-spring, 6-spacing post, 7-buffer board, 8-rotation hole, 9-foam-rubber cushion, 10-standing groove, 11-cardboard, 12-draw-in groove.

Detailed Description

The present utility model will be further described with reference to the accompanying drawings, but the scope of the present utility model is not limited to the following.

As shown in fig. 1 to 4, a picking robot arm, it includes mount pad 1, mount pad 1 side is provided with picking member 2, picking member 2 includes connecting seat 201, connecting seat 201 passes through bolt and mount pad 1 fixed connection, one side fixedly connected with tailors frame 202 of connecting seat 201, the top fixedly connected with motor 203 of tailors frame 202, the output fixedly connected with axis of rotation 204 of motor 203, one side fixedly connected with cutting scissors 205 of axis of rotation 204, the bottom surface of mount pad 1 is provided with collecting member 3, collecting member 3 includes link 301, the top and the mount pad 1 fixed connection of link 301, one side fixedly connected with collection box 302 of link 301, one side fixedly connected with electric telescopic handle 303 of link 301, the output fixedly connected with layering plate 304 of electric telescopic handle 303, layering plate 304 and collection box 302 sliding connection.

As an alternative technical scheme of the utility model, one side of the mounting seat 1 is fixedly connected with a guide plate 4, the guide plate 4 is positioned between the cutting frame 202 and the collecting box 302, and an included angle between the guide plate 4 and the mounting seat 1 is sixty degrees. The bottom fixedly connected with spring 5 of deflector 4, one side fixedly connected with spacing post 6 of spring 5, the top fixedly connected with buffer board 7 of spacing post 6, buffer board 7 and spacing post 6 all with deflector 4 sliding connection. The rotary hole 8 has been seted up to one side of tailorring frame 202, and the axis of rotation 204 rotates with tailorring frame 202 through rotary hole 8 to be connected, when needs carry out fruit picking operation, first needs install mount pad 1 on the robot, can control through the robot and pick and collect and go up and down and the displacement, control tailorring frame 202 moves afterwards to the top of moving fruit can cut fruit through the cooperation of tailorring sword 205 and tailorring frame 203, and fruit will fall on buffer board 7 under the effect of gravity, and the buffering through spring 5 can play the effect of buffering simultaneously, can cushion fruit for the first time.

As an alternative technical scheme of the utility model, the inside of the collecting box 302 and the inside of the layering plate 304 are fixedly connected with the foam-rubber cushion 9, and a plurality of placing grooves 10 are formed in the upper surface of the foam-rubber cushion 9. The clamping plate 11 is fixedly connected to the side face of the laminated plate 304, the clamping groove 12 is formed in the inner wall of the collecting box 302, the clamping plate 11 is in sliding connection with the collecting box 302 through the clamping groove 12, fruits can fall into the collecting box 302 through the guide plate 4, the purpose of secondary buffering can be achieved through the foam-rubber cushion 9, the fruits and the collecting box 302 can be prevented from being rigidly collided, meanwhile, the collecting box 302 can be controlled by a robot to shake, the fruits can sink into the placing groove 12, after the fruits are proper in quantity, the electric telescopic rod 303 can be started to enable the electric telescopic rod 303 to drive the laminated plate 304 to move until the laminated plate 304 completely enters the collecting box 302, and then the fruits can be continuously collected.

A picking robot arm has the following working principle:

1): when fruit picking operation is needed, firstly, the mounting seat 1 is required to be mounted on the robot, picking collection can be controlled to lift and displace through the robot, then the cutting frame 202 is controlled to move, the fruit can be cut off through the cooperation of the cutting scissors 205 and the cutting frame 203 above the fruit, the fruit falls onto the buffer plate 7 under the action of gravity, meanwhile, the buffering effect of the spring 5 can be achieved, and the fruit can be buffered for the first time.

2): fruit will fall to collection box 302 inside through deflector 4, can play the purpose of secondary buffering through foam-rubber cushion 9, can prevent that fruit and collection box 302 from taking place rigid collision, can take place to rock through robot control collection box 302 simultaneously, can make fruit sink into inside standing groove 12, after fruit's quantity is suitable, can open electric telescopic handle 303 makes it drive the laminated plate 304 motion, until the laminated plate 304 gets into the collection box 302 inside completely after, can continue the collection of fruit.

To sum up, this picking robot arm, through the cooperation setting between mount pad 1, picking component 2 and the collection component 3, when needs carry out fruit picking operation, at first, need install mount pad 1 on the robot, can control to pick through the robot and collect and go up and down and shift, afterwards control cutting frame 202 and move, and move the top of fruit and can cut fruit through the cooperation of cutting scissors 205 and cutting frame 203, fruit will fall on buffer board 7 under the effect of gravity, the cushioning effect through spring 5 can be played, can carry out the buffering for the first time to fruit, can effectually prevent fruit damage, fruit will fall to collection box 302 inside through deflector 4, can prevent that fruit and collection box 302 from taking place rigid collision through the purpose of foam-rubber cushion 9, can make fruit sink into inside the standing groove 12 through robot control collection box 302 simultaneously, after the suitable quantity of fruit, can open electric telescopic handle 303 makes its drive and divide 304 motion, until divide 304 to get into after the fruit is inside completely, can carry out fruit and can prevent to bump the laminate greatly after fruit, can prevent that fruit from piling up greatly, can prevent that fruit from piling up quality can be continued to result in the fruit.

Claims

1. A picking robot arm, characterized in that: including mount pad (1), mount pad (1) side is provided with picks component (2), pick component (2) including connecting seat (201), connecting seat (201) pass through bolt and mount pad (1) fixed connection, one side fixedly connected with tailors frame (202) of connecting seat (201), the top fixedly connected with motor (203) of tailors frame (202), the output fixedly connected with axis of rotation (204) of motor (203), one side fixedly connected with of axis of rotation (204) tailors sword (205), the bottom surface of mount pad (1) is provided with collects component (3), collect component (3) including link (301), the top and the mount pad (1) fixed connection of link (301), one side fixedly connected with collection box (302) of link (301), one side fixedly connected with electric telescopic handle (303), the output fixedly connected with layering board (304) of electric telescopic handle (303), layering board (304) and collection box (302) sliding connection.

2. A picking robot arm as claimed in claim 1, wherein: one side fixedly connected with deflector (4) of mount pad (1), deflector (4) are located between tailorring frame (202) and collection box (302), contained angle between deflector (4) and mount pad (1) is sixty degrees.

3. A picking robot arm as claimed in claim 2, wherein: the bottom fixedly connected with spring (5) of deflector (4), one side fixedly connected with spacing post (6) of spring (5), the top fixedly connected with buffer board (7) of spacing post (6), buffer board (7) and spacing post (6) all with deflector (4) sliding connection.

4. A picking robot arm as claimed in claim 3, wherein: a rotating hole (8) is formed in one side of the cutting frame (202), and the rotating shaft (204) is connected with the cutting frame (202) in a rotating mode through the rotating hole (8).

5. A picking robot arm as defined by claim 4, wherein: the collecting box (302) and the layering plate (304) are fixedly connected with a foam-rubber cushion (9), and a plurality of placing grooves (10) are formed in the upper surface of the foam-rubber cushion (9).

6. A picking robot arm as defined by claim 5, wherein: the side fixedly connected with cardboard (11) of layering board (304), draw-in groove (12) have been seted up to the inner wall of collecting box (302), cardboard (11) are through draw-in groove (12) and collecting box (302) sliding connection.