CN220630125U - Mechanical arm - Google Patents
Mechanical arm Download PDFInfo
- Publication number
- CN220630125U CN220630125U CN202321764183.5U CN202321764183U CN220630125U CN 220630125 U CN220630125 U CN 220630125U CN 202321764183 U CN202321764183 U CN 202321764183U CN 220630125 U CN220630125 U CN 220630125U
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- mechanical
- mounting plate
- fixedly provided
- claw
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 210000000078 claw Anatomy 0.000 claims abstract description 28
- 238000004140 cleaning Methods 0.000 claims abstract description 28
- 230000005540 biological transmission Effects 0.000 claims abstract description 4
- 235000007688 Lycopersicon esculentum Nutrition 0.000 abstract description 26
- 230000000712 assembly Effects 0.000 abstract description 4
- 238000000429 assembly Methods 0.000 abstract description 4
- 238000000034 method Methods 0.000 abstract description 4
- 240000007643 Phytolacca americana Species 0.000 abstract description 2
- 238000004804 winding Methods 0.000 abstract description 2
- 241000227653 Lycopersicon Species 0.000 abstract 5
- 240000003768 Solanum lycopersicum Species 0.000 description 27
- 240000005002 Erythronium dens canis Species 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000012636 effector Substances 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 235000012055 fruits and vegetables Nutrition 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 210000003857 wrist joint Anatomy 0.000 description 1
Landscapes
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
The utility model discloses a mechanical arm, which relates to the technical field of mechanical arms and comprises a five-axis mechanical arm, wherein one end of the five-axis mechanical arm is fixedly provided with a mounting plate, both sides of the front surface of the mounting plate are rotatably provided with cleaning frames through rotating shafts, the front surface of the mounting plate is fixedly provided with a three-axis mechanical arm, and one end of the three-axis mechanical arm is fixedly provided with a mechanical claw; the two sides of the front face of the mounting plate are fixedly provided with driving assemblies, and the two driving assemblies are respectively in transmission connection with the two cleaning frames. Compared with the existing method for picking tomatoes by directly adopting the mechanical claws, the method has the advantages that the cleaning frame is adopted to poke the branches of tomatoes which do not grow on the tomato plants, and the triaxial mechanical arms and the mechanical claws are used to pick the tomatoes, so that the mechanical claws can be effectively prevented from being wound by the tomato branches, and the possibility that the mechanical claws need to be maintained due to the winding of the branches is greatly reduced.
Description
Technical Field
The utility model relates to the technical field of mechanical arms, in particular to a mechanical arm.
Background
With the progress of technology, agriculture is rapidly developed towards mechanization and intellectualization, and tomatoes are widely used as fruits and vegetables, and intelligent picking operation of tomatoes is also becoming more important.
The utility model patent with the bulletin number of CN210968884U is searched and granted, and discloses a tomato picking mechanical arm which is characterized by comprising a waist joint, a big arm, a small arm and an end effector, wherein the waist joint, the big arm and the small arm are sequentially connected in a rotating way, and the tail end of the small arm is connected with the end effector through a wrist joint; the waist joint comprises a bearing, an outer ring lower clamping plate, an inner ring upper clamping plate and an outer ring upper clamping plate, wherein the outer ring lower clamping plate and the outer ring upper clamping plate are fixedly connected with the outer ring of the bearing through a plurality of bolts uniformly distributed along the circumference, the inner ring lower clamping plate and the inner ring upper clamping plate are fixedly connected with the inner ring of the bearing through a plurality of bolts uniformly distributed along the circumference, and the inner ring lower clamping plate is fixedly connected with the chassis through copper columns; the upper outer ring clamping plate is further provided with a motor fixing seat, the waist motor and the shoulder motor are arranged on the motor fixing seat, and an output flange plate of the waist motor is fixedly connected with the upper inner ring clamping plate. The utility model has the advantages of exquisite structure, simple manufacture, easy realization and lower cost.
Since many branches on a tomato plant can drop around the tomato, the branches can affect the work of the mechanical gripper, so when the mechanical gripper in the patent is used for picking the tomato, the mechanical gripper is easy to wind by the branches of the tomato, so that the mechanical gripper cannot finish the picking work of the tomato, and the mechanical gripper is damaged when serious, and the mechanical gripper needs to be maintained, therefore, in order to solve the problem, we propose a mechanical gripper.
Disclosure of Invention
The utility model aims to solve the defects in the prior art and provides a mechanical arm.
In order to achieve the above purpose, the present utility model adopts the following technical scheme:
the mechanical arm comprises a five-axis mechanical arm, wherein one end of the five-axis mechanical arm is fixedly provided with a mounting plate, both sides of the front surface of the mounting plate are rotatably provided with cleaning frames through rotating shafts, the front surface of the mounting plate is fixedly provided with a three-axis mechanical arm, and one end of the three-axis mechanical arm is fixedly provided with a mechanical claw;
the two sides of the front face of the mounting plate are fixedly provided with driving assemblies, and the two driving assemblies are respectively in transmission connection with the two cleaning frames.
Further, a fixing plate is fixedly arranged in the middle of the top of the mounting plate, and an image recognition device is fixedly arranged at the top of the fixing plate.
Further, two the clearance frame is the arc, and two the equal equidistant fixed mounting in front side of clearance frame has a plurality of clearance poles.
Further, the mechanical claw is a four-claw mechanical claw, and a rubber pad is fixedly arranged on the four-claw surface of the mechanical claw.
Further, the drive assembly comprises electric putter and drive frame, the meshing groove has all been seted up to the upper and lower both sides of drive frame one side, the inside equidistance fixed mounting in meshing groove has a plurality of meshing poles, two the upper and lower both sides of clearance frame rear side all are provided with the dogtooth, the dogtooth with the meshing is done intermeshing, electric putter's output with one side fixed connection of drive frame, drive frame slidable mounting is in the front of mounting panel.
Compared with the prior art, the utility model has the beneficial effects that:
compared with the existing method for picking tomatoes by directly adopting the mechanical claws, the method has the advantages that the cleaning frame is adopted to poke the branches of tomatoes which do not grow on the tomato plants, and the triaxial mechanical arms and the mechanical claws are used to pick the tomatoes, so that the mechanical claws can be effectively prevented from being wound by the tomato branches, and the possibility that the mechanical claws need to be maintained due to the winding of the branches is greatly reduced.
Drawings
The accompanying drawings are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate the utility model and together with the embodiments of the utility model, serve to explain the utility model.
FIG. 1 is a schematic diagram of the overall structure of the present utility model;
FIG. 2 is a second schematic diagram of the overall structure of the present utility model;
FIG. 3 is a schematic view of a partial structure of the present utility model;
fig. 4 is an enlarged schematic view of the structure of the present utility model at a in fig. 1.
In the figure: 1. a five-axis mechanical arm; 2. a mounting plate; 3. a cleaning frame; 4. a three-axis mechanical arm; 5. a mechanical claw; 6. an electric push rod; 7. cleaning a rod; 8. a drive rack; 9. an image recognition device; 10. a fixing plate; 11. engagement grooves.
Detailed Description
The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model;
referring to fig. 1-4, a mechanical arm comprises a five-axis mechanical arm 1, wherein one end of the five-axis mechanical arm 1 is fixedly provided with a mounting plate 2, both sides of the front surface of the mounting plate 2 are rotatably provided with a cleaning frame 3 through a rotating shaft, the front surface of the mounting plate 2 is fixedly provided with a three-axis mechanical arm 4, and one end of the three-axis mechanical arm 4 is fixedly provided with a mechanical claw 5; the positive both sides of mounting panel 2 are all fixed mounting has drive assembly, and two drive assembly are connected with two clearance shelves 3 transmission respectively. A fixing plate 10 is fixedly arranged in the middle of the top of the mounting plate 2, and an image recognition device 9 is fixedly arranged on the top of the fixing plate 10.
The five-axis mechanical arm 1 can be arranged on the movable base, so that the utility model can flexibly move in a tomato planting field, and the five-axis mechanical arm 1, the three-axis mechanical arm 4, the mechanical claw 5, the driving assembly and the image recognition device 9 need to be connected with an external control system when in use;
when tomatoes are picked, the device is moved to the side of a tomato plant, the external control system controls the five-axis mechanical arm 1 to drive the mounting plate 2 to be close to the tomato plant, at the moment, the image recognition device 9 recognizes the position of the tomatoes and feeds the position back to the external control system, the external control system controls the five-axis mechanical arm 1 to move according to feedback results, firstly, the cleaning frame 3 is inserted into branches of tomatoes which do not grow on the tomato plant, then the cleaning frame 3 is pulled out to two sides by controlling the driving assembly, so that the tomatoes are exposed, then the image recognition device 9 recognizes the specific direction of the tomatoes, and the external control system controls the three-axis mechanical arm 4 and the mechanical claw 5 to pick the tomatoes.
The two cleaning frames 3 are arc-shaped, and a plurality of cleaning rods 7 are fixedly arranged on the front sides of the two cleaning frames 3 at equal intervals;
the cleaning rod 7 is inserted into the gap of the branches, so that when the cleaning frame 3 rotates to two sides, more branches can be driven to move through the cleaning rod 7, and the cleaning capacity of the cleaning frame 3 to the branches is enhanced.
The mechanical claw 5 is a four-claw mechanical claw, and rubber pads are fixedly arranged on the surfaces of the four claws of the mechanical claw 5;
four-claw mechanical claws can stably grasp tomatoes, the friction force between the mechanical claws 5 and the tomatoes can be increased due to the arrangement of rubber pads, and the rigid extrusion of the mechanical claws 5 to the tomatoes can be reduced.
The driving assembly consists of an electric push rod 6 and a driving frame 8, wherein the upper side and the lower side of one side of the driving frame 8 are respectively provided with a meshing groove 11, a plurality of meshing rods are fixedly arranged in the meshing grooves 11 at equal intervals, the upper side and the lower side of the rear sides of the two cleaning frames 3 are respectively provided with a convex tooth, the convex teeth are meshed with the meshing shafts, the output end of the electric push rod 6 is fixedly connected with one side of the driving frame 8, and the driving frame 8 is slidably arranged on the front surface of the mounting plate 2;
the electric push rod 6 can drive the driving frame 8 to transversely move, and after the driving frame 8 moves, the meshing rod in the meshing groove 11 can be driven to move, and the meshing rod can push the convex teeth to move and enable the cleaning frames 3 to rotate, so that the two cleaning frames 3 can be opened to two sides to spread branches around tomatoes.
Claims (5)
1. The mechanical arm comprises a five-axis mechanical arm (1), and is characterized in that one end of the five-axis mechanical arm (1) is fixedly provided with a mounting plate (2), both sides of the front surface of the mounting plate (2) are rotatably provided with cleaning frames (3) through rotating shafts, the front surface of the mounting plate (2) is fixedly provided with a three-axis mechanical arm (4), and one end of the three-axis mechanical arm (4) is fixedly provided with a mechanical claw (5);
the two sides of the front face of the mounting plate (2) are fixedly provided with driving components, and the two driving components are respectively in transmission connection with the two cleaning frames (3).
2. A manipulator according to claim 1, characterized in that a fixing plate (10) is fixedly mounted in the middle of the top of the mounting plate (2), and an image recognition device (9) is fixedly mounted on the top of the fixing plate (10).
3. A manipulator according to claim 1, characterized in that both cleaning frames (3) are arc-shaped, and that the front sides of both cleaning frames (3) are fixedly provided with a number of cleaning bars (7) at equal distances.
4. A mechanical arm according to claim 1, characterized in that the mechanical claw (5) is a four-claw mechanical claw, and the four-claw surface of the mechanical claw (5) is fixedly provided with a rubber pad.
5. The mechanical arm according to claim 1, wherein the driving assembly is composed of an electric push rod (6) and a driving frame (8), meshing grooves (11) are formed in the upper side and the lower side of one side of the driving frame (8), a plurality of meshing rods are fixedly mounted in the meshing grooves (11) at equal intervals, protruding teeth are arranged in the upper side and the lower side of the rear side of the two cleaning frames (3), the protruding teeth are meshed with the meshing rods, the output end of the electric push rod (6) is fixedly connected with one side of the driving frame (8), and the driving frame (8) is slidably mounted on the front surface of the mounting plate (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321764183.5U CN220630125U (en) | 2023-07-06 | 2023-07-06 | Mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321764183.5U CN220630125U (en) | 2023-07-06 | 2023-07-06 | Mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220630125U true CN220630125U (en) | 2024-03-22 |
Family
ID=90261587
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321764183.5U Active CN220630125U (en) | 2023-07-06 | 2023-07-06 | Mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220630125U (en) |
-
2023
- 2023-07-06 CN CN202321764183.5U patent/CN220630125U/en active Active
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |