CN221829514U - Fruit picking mechanical arm of an agricultural robot - Google Patents
Fruit picking mechanical arm of an agricultural robot Download PDFInfo
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
本实用新型涉及水果采摘技术领域，且公开了一种农业机器人的水果采摘机械臂，包括底座，所述底座顶部设置有调节机构，所述调节机构顶部设置有采摘机构，所述采摘机构包括安装臂，所述安装臂设置于底座顶部，所述安装臂的一侧转动连接有固定杆，所述固定杆表面固定连接有支撑件。该农业机器人的水果采摘机械臂，通过设置的采摘机构，能够对水果实现自动采摘，自动化代替手动化，提高了对水果采摘的效率，同时无需工人攀爬梯子对其进行采摘，消除了工人摔落下来的安全隐患，通过设置的调节机构，能够对抓手的角度进行调节，从而能够对不同角度的水果进行采摘，提高了对水果采摘的便捷性。
The utility model relates to the technical field of fruit picking, and discloses a fruit picking mechanical arm of an agricultural robot, comprising a base, an adjusting mechanism is arranged on the top of the base, a picking mechanism is arranged on the top of the adjusting mechanism, and the picking mechanism comprises a mounting arm, the mounting arm is arranged on the top of the base, one side of the mounting arm is rotatably connected to a fixing rod, and a support is fixedly connected to the surface of the fixing rod. The fruit picking mechanical arm of the agricultural robot can realize automatic picking of fruits through the arranged picking mechanism, and automation replaces manual operation, thereby improving the efficiency of fruit picking. At the same time, there is no need for workers to climb ladders to pick the fruits, thereby eliminating the safety hazard of workers falling down. Through the arranged adjusting mechanism, the angle of the gripper can be adjusted, so that fruits at different angles can be picked, thereby improving the convenience of fruit picking.
Description
技术领域Technical Field
本实用新型涉及水果采摘技术领域，具体为一种农业机器人的水果采摘机械臂。The utility model relates to the technical field of fruit picking, in particular to a fruit picking mechanical arm of an agricultural robot.
背景技术Background Art
水果，是指多汁且主要味觉为甜味和酸味，可食用的植物果实。水果不但含有丰富的维生素营养，而且能够促进消化。水果中含有大量的维生素，不仅能改善皮肤角质层的新陈代谢，帮助皮肤抗老、饱满紧弹，而且还能抑制皮肤黑色素的转化，防止皮肤暗淡沉斑，增加皮肤光泽感，让皮肤看起来年轻红润。Fruit refers to juicy, sweet and sour edible plant fruits. Fruits are not only rich in vitamins and nutrients, but also can promote digestion. Fruits contain a lot of vitamins, which can not only improve the metabolism of the skin's stratum corneum, help the skin resist aging, plump and firm, but also inhibit the conversion of skin melanin, prevent skin dullness and spots, increase skin luster, and make the skin look young and rosy.
目前在对高处的水果进行采摘时，需要工人借助梯子进行采摘，人工采摘的效率低下的同时，又存在跌落的安全隐患，较为不便，因此，需要一种农业机器人的水果采摘机械臂，来解决这个问题。At present, when picking fruits at high places, workers need to use ladders to pick them. Manual picking is inefficient and there is a safety hazard of falling, which is inconvenient. Therefore, a fruit picking mechanical arm of an agricultural robot is needed to solve this problem.
实用新型内容Utility Model Content
本实用新型的目的在于提供一种农业机器人的水果采摘机械臂，以解决上述背景技术中提出的问题。The purpose of the utility model is to provide a fruit picking mechanical arm of an agricultural robot to solve the problems raised in the above-mentioned background technology.
为实现上述目的，本实用新型提供如下技术方案：一种农业机器人的水果采摘机械臂，包括底座，所述底座顶部设置有调节机构，所述调节机构顶部设置有采摘机构。To achieve the above-mentioned purpose, the utility model provides the following technical solution: a fruit picking mechanical arm of an agricultural robot, comprising a base, an adjusting mechanism is arranged on the top of the base, and a picking mechanism is arranged on the top of the adjusting mechanism.
所述采摘机构包括安装臂，所述安装臂设置于底座顶部，所述安装臂的一侧转动连接有固定杆，所述固定杆表面固定连接有支撑件，所述支撑件内开设有凹槽，所述凹槽内设置有气缸，所述气缸表面固定连接有放置板，所述放置板固定连接于支撑件顶部，所述气缸底部固定连接有滑动件，所述滑动件内两侧均滑动连接有支撑杆，所述支撑杆固定连接于支撑件内。The picking mechanism includes a mounting arm, which is arranged on the top of the base, one side of the mounting arm is rotatably connected to a fixing rod, the surface of the fixing rod is fixedly connected to a support member, a groove is opened in the support member, a cylinder is arranged in the groove, a placement plate is fixedly connected to the surface of the cylinder, the placement plate is fixedly connected to the top of the support member, a sliding member is fixedly connected to the bottom of the cylinder, support rods are slidably connected to both sides of the sliding member, and the support rods are fixedly connected to the support member.
优选的，所述滑动件前侧固定连接有支撑柱，所述支撑柱表面转动连接有支撑臂，所述支撑臂内转动连接有连接杆，通过设置的支撑臂，能够对抓手形成支撑的力。Preferably, a support column is fixedly connected to the front side of the sliding member, a support arm is rotatably connected to the surface of the support column, a connecting rod is rotatably connected inside the support arm, and the support arm can form a supporting force for the gripper.
优选的，所述连接杆后侧固定连接有第一固定板，所述第一固定板前侧固定连接有第二固定板，所述第二固定板固定连接于支撑件底部，通过设置的第二固定板，能够对第一固定板进行支撑固定。Preferably, a first fixing plate is fixedly connected to the rear side of the connecting rod, a second fixing plate is fixedly connected to the front side of the first fixing plate, and the second fixing plate is fixedly connected to the bottom of the support member. The first fixing plate can be supported and fixed by the second fixing plate.
优选的，所述支撑臂后侧设置有抓手，所述抓手转动连接于连接杆表面，所述抓手设置的数量为两个，两个所述抓手呈对称设置，通过设置的抓手，能够对水果实现采摘的目的。Preferably, a gripper is provided on the rear side of the support arm, and the gripper is rotatably connected to the surface of the connecting rod. Two grippers are provided, and the two grippers are symmetrically arranged. The purpose of picking fruits can be achieved by means of the provided grippers.
优选的，所述调节机构包括连接板，所述连接板均固定连接于底座顶部两侧，两个所述连接板之间转动连接有转动杆，所述转动杆表面固定连接有第一平齿轮，所述第一平齿轮表面啮合有第二平齿轮，所述第二平齿轮固定连接于转动杆表面，所述安装臂固定连接于转动杆表面，在第一平齿轮和第二平齿轮的相互配合下，能够实现安装臂角度上的调节。Preferably, the adjustment mechanism includes connecting plates, which are fixedly connected to both sides of the top of the base, and a rotating rod is rotatably connected between the two connecting plates. A first flat gear is fixedly connected to the surface of the rotating rod, and a second flat gear is meshed on the surface of the first flat gear. The second flat gear is fixedly connected to the surface of the rotating rod, and the mounting arm is fixedly connected to the surface of the rotating rod. With the mutual cooperation of the first flat gear and the second flat gear, the angle of the mounting arm can be adjusted.
优选的，所述转动杆表面传动连接有皮带轮组，所述皮带轮组远离转动杆的一侧传动连接有输出轴，所述输出轴的一侧固定连接有电机，在皮带轮组形成的联动作用下，能够驱动其中一个转动杆转动，并驱动第二平齿轮和第一平齿轮同步转动。Preferably, the surface of the rotating rod is transmission connected with a pulley group, and the side of the pulley group away from the rotating rod is transmission connected with an output shaft, and one side of the output shaft is fixedly connected with a motor. Under the linkage formed by the pulley group, one of the rotating rods can be driven to rotate, and the second flat gear and the first flat gear can be driven to rotate synchronously.
优选的，所述电机表面固定连接有定位件，所述定位件固定连接于连接板表面，通过设置的定位件，能够对电机进行支撑固定。Preferably, a positioning piece is fixedly connected to the surface of the motor, and the positioning piece is fixedly connected to the surface of the connecting plate. The motor can be supported and fixed by the provided positioning piece.
与现有技术相比，本实用新型提供了一种农业机器人的水果采摘机械臂，具备以下有益效果：Compared with the prior art, the utility model provides a fruit picking mechanical arm of an agricultural robot, which has the following beneficial effects:
1、该农业机器人的水果采摘机械臂，通过设置的采摘机构，能够对水果实现自动采摘，自动化代替手动化，提高了对水果采摘的效率，同时无需工人攀爬梯子对其进行采摘，消除了工人摔落下来的安全隐患。1. The fruit picking arm of the agricultural robot can automatically pick fruits through the picking mechanism. Automation replaces manual operation, which improves the efficiency of fruit picking. At the same time, there is no need for workers to climb ladders to pick fruits, eliminating the safety hazard of workers falling.
2、该农业机器人的水果采摘机械臂，通过设置的调节机构，能够对抓手的角度进行调节，从而能够对不同角度的水果进行采摘，提高了对水果采摘的便捷性。2. The fruit picking mechanical arm of the agricultural robot can adjust the angle of the gripper through the setting adjustment mechanism, so that fruits at different angles can be picked, which improves the convenience of fruit picking.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
为了更清楚地说明本实用新型实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本实用新型的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图：In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative labor:
图1为本实用新型结构整体示意图；Figure 1 is a schematic diagram of the overall structure of the utility model;
图2为本实用新型结构整体斜视示意图；Figure 2 is a schematic oblique view of the overall structure of the utility model;
图3为本实用新型采摘机构示意图；Figure 3 is a schematic diagram of the picking mechanism of the utility model;
图4为本实用新型采摘机构部分结构示意图；FIG4 is a schematic diagram of a partial structure of a picking mechanism of the utility model;
图5为本实用新型调节机构示意图。FIG5 is a schematic diagram of the adjustment mechanism of the utility model.
图中：1、底座；2、采摘机构；21、气缸；22、支撑杆；23、支撑柱；24、第一固定板；25、支撑臂；26、第二固定板；27、抓手；28、连接杆；29、滑动件；201、放置板；202、安装臂；203、固定杆；204、支撑件；3、调节机构；31、转动杆；32、第一平齿轮；33、电机；34、定位件；35、第二平齿轮；36、连接板。In the figure: 1. base; 2. picking mechanism; 21. cylinder; 22. support rod; 23. support column; 24. first fixed plate; 25. support arm; 26. second fixed plate; 27. gripper; 28. connecting rod; 29. sliding member; 201. placement plate; 202. mounting arm; 203. fixing rod; 204. supporting member; 3. adjusting mechanism; 31. rotating rod; 32. first flat gear; 33. motor; 34. positioning member; 35. second flat gear; 36. connecting plate.
具体实施方式DETAILED DESCRIPTION
下面将结合本实用新型实施例中的附图，对本实用新型实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本实用新型一部分实施例，而不是全部的实施例。基于本实用新型中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本实用新型保护的范围。The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.
本实用新型提供一种技术方案：The utility model provides a technical solution:
实施例一：Embodiment 1:
结合图1-2至图3-4，一种农业机器人的水果采摘机械臂，包括底座1，底座1顶部设置有调节机构3，调节机构3顶部设置有采摘机构2。In conjunction with Figures 1-2 to 3-4, a fruit picking mechanical arm of an agricultural robot includes a base 1, an adjusting mechanism 3 is arranged on the top of the base 1, and a picking mechanism 2 is arranged on the top of the adjusting mechanism 3.
采摘机构2包括安装臂202，安装臂202设置于底座1顶部，安装臂202的一侧转动连接有固定杆203，固定杆203表面固定连接有支撑件204，支撑件204内开设有凹槽，凹槽内设置有气缸21，气缸21表面固定连接有放置板201，放置板201固定连接于支撑件204顶部，气缸21底部固定连接有滑动件29，滑动件29内两侧均滑动连接有支撑杆22，支撑杆22固定连接于支撑件204内。The picking mechanism 2 includes a mounting arm 202, which is arranged on the top of the base 1. One side of the mounting arm 202 is rotatably connected to a fixing rod 203, and a support member 204 is fixedly connected to the surface of the fixing rod 203. A groove is opened in the support member 204, and a cylinder 21 is arranged in the groove. A placement plate 201 is fixedly connected to the surface of the cylinder 21, and the placement plate 201 is fixedly connected to the top of the support member 204. A sliding member 29 is fixedly connected to the bottom of the cylinder 21, and support rods 22 are slidably connected to both sides of the sliding member 29, and the support rods 22 are fixedly connected to the support member 204.
进一步的，滑动件29前侧固定连接有支撑柱23，支撑柱23表面转动连接有支撑臂25，支撑臂25内转动连接有连接杆28，通过设置的支撑臂25，能够对抓手27形成支撑的力。Furthermore, a support column 23 is fixedly connected to the front side of the sliding member 29, a support arm 25 is rotatably connected to the surface of the support column 23, and a connecting rod 28 is rotatably connected inside the support arm 25. The support arm 25 can form a supporting force for the gripper 27.
进一步的，连接杆28后侧固定连接有第一固定板24，第一固定板24前侧固定连接有第二固定板26，第二固定板26固定连接于支撑件204底部，通过设置的第二固定板26，能够对第一固定板24进行支撑固定。Furthermore, a first fixing plate 24 is fixedly connected to the rear side of the connecting rod 28, a second fixing plate 26 is fixedly connected to the front side of the first fixing plate 24, and the second fixing plate 26 is fixedly connected to the bottom of the support member 204. The first fixing plate 24 can be supported and fixed by the second fixing plate 26.
进一步的，支撑臂25后侧设置有抓手27，抓手27转动连接于连接杆28表面，抓手27设置的数量为两个，两个抓手27呈对称设置，通过设置的抓手27，能够对水果实现采摘的目的。Furthermore, a gripper 27 is provided at the rear side of the support arm 25, and the gripper 27 is rotatably connected to the surface of the connecting rod 28. Two grippers 27 are provided, and the two grippers 27 are symmetrically provided. The purpose of picking fruits can be achieved by providing the grippers 27.
实施例二：Embodiment 2:
参阅图5，并在实施例一的基础上，进一步得到调节机构3包括连接板36，连接板36均固定连接于底座1顶部两侧，两个连接板36之间转动连接有转动杆31，转动杆31表面固定连接有第一平齿轮32，第一平齿轮32表面啮合有第二平齿轮35，第二平齿轮35固定连接于转动杆31表面，安装臂202固定连接于转动杆31表面，在第一平齿轮32和第二平齿轮35的相互配合下，能够实现安装臂202角度上的调节。Referring to Figure 5, and on the basis of Example 1, it is further obtained that the adjustment mechanism 3 includes a connecting plate 36, the connecting plates 36 are fixedly connected to both sides of the top of the base 1, and a rotating rod 31 is rotatably connected between the two connecting plates 36. A first flat gear 32 is fixedly connected to the surface of the rotating rod 31, and a second flat gear 35 is meshed on the surface of the first flat gear 32. The second flat gear 35 is fixedly connected to the surface of the rotating rod 31, and the mounting arm 202 is fixedly connected to the surface of the rotating rod 31. With the mutual cooperation of the first flat gear 32 and the second flat gear 35, the angle of the mounting arm 202 can be adjusted.
进一步的，转动杆31表面传动连接有皮带轮组，皮带轮组远离转动杆31的一侧传动连接有输出轴，输出轴的一侧固定连接有电机33，在皮带轮组形成的联动作用下，能够驱动其中一个转动杆31转动，并驱动第二平齿轮35和第一平齿轮32同步转动。Furthermore, the surface of the rotating rod 31 is transmission-connected with a pulley group, and the side of the pulley group away from the rotating rod 31 is transmission-connected with an output shaft, and one side of the output shaft is fixedly connected with a motor 33. Under the linkage effect formed by the pulley group, one of the rotating rods 31 can be driven to rotate, and the second flat gear 35 and the first flat gear 32 can be driven to rotate synchronously.
进一步的，机表面固定连接有定位件34，定位件34固定连接于连接板36表面，通过设置的定位件34，能够对电机33进行支撑固定。Furthermore, a positioning member 34 is fixedly connected to the surface of the machine, and the positioning member 34 is fixedly connected to the surface of the connecting plate 36 . The motor 33 can be supported and fixed by the positioning member 34 .
在实际操作过程中，当此装置使用时，首先通过启动电机33，在皮带轮组形成的联动作用下，能够驱动其中一个转动杆31转动，并驱动第二平齿轮35和第一平齿轮32同步转动，此时能够对抓手27的角度进行调节，从而能够对不同角度的水果进行采摘，提高了对水果采摘的便捷性，当需要对水果进行采摘时，可通过启动气缸21，在气缸21的作用下，能够驱动滑动件29向下移动，此时在支撑臂25的支撑下，能够驱动两侧的抓手27向相互靠近的方向移动，能够对水果实现自动采摘，自动化代替手动化，提高了对水果采摘的效率，同时无需工人攀爬梯子对其进行采摘，消除了工人摔落下来的安全隐患。In actual operation, when this device is used, first, by starting the motor 33, under the linkage formed by the pulley group, one of the rotating rods 31 can be driven to rotate, and the second flat gear 35 and the first flat gear 32 can be driven to rotate synchronously. At this time, the angle of the gripper 27 can be adjusted, so that fruits at different angles can be picked, which improves the convenience of fruit picking. When it is necessary to pick the fruit, the cylinder 21 can be started. Under the action of the cylinder 21, the sliding member 29 can be driven to move downward. At this time, under the support of the support arm 25, the grippers 27 on both sides can be driven to move in a direction close to each other, so that the fruit can be automatically picked. Automation replaces manual operation, which improves the efficiency of fruit picking. At the same time, there is no need for workers to climb ladders to pick the fruit, eliminating the safety hazard of workers falling.
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个......”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.
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