Fruit picking robot manipulator

Abstract

The invention discloses a fruit picking robot manipulator, which is characterized in that double connecting rods form a big arm, and a joint motor is arranged on a U-shaped seat; a motor output shaft is connected with a big arm straight connecting rod through a coupling, and a big arm curved connecting rod is hinged with a U-shaped seat by a CF bearing to form a big arm rotating joint; a small arm joint motor is fixedly arranged on a curved connecting rod, and a small synchronous pulley is arranged on the motor output shaft; the other ends of the double connecting rods are hinged with a joint shaft, and one end of the joint shaft is assembled with a large synchronous pulley; a synchronous belt drives a small arm fixedly arranged on the joint shaft through reduction transmission to form a small arm rotating joint, and a slide rail, a rack and a motor are fixedly arranged on a small arm connecting rod; the gear and the rack drive to form a small arm moving joint, and the end part of the slide rail is hinged with a rudder mechanism to form a wrist joint; and a rotating disc is connected with the motor to form a rotating joint. The manipulator has five degrees of freedom and strong overall rigidity, and is connected with a lifting platform and an end executer of a fruit picking robot to realize mechanized picking of bayberries, loquat and other fruits in a human-machine coordinated manner.

Description

technical field [0001] The invention relates to the technical field of agricultural fruit and vegetable picking robots, in particular to a mechanical arm of a fruit picking robot. Background technique [0002] At present, there are many kinds of industrial robots at home and abroad, which are widely used in welding, assembly, handling, automatic loading and unloading and other industrial manufacturing occasions. The arm is a 2-axis rotary joint, that is, it is driven by 2 servo motors, and the 2 joints perform rotational motion to meet the pose requirements of the end effector of the manipulator. The mechanical arms used for agricultural fruit and vegetable picking robots. At present, the mechanical arms of industrial and agricultural robots in foreign countries such as Japan have different structures, but most of them are joint arms. A kind of hickory picking robot mechanical arm (CN102396326A) " is also based on the joint arm. However, due to the different operating envi...

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Problems solved by technology

However, due to the different operating environments and requirements of agricultural fruit and vegetable picking robots, a kind of fruit and vegetable picking generally corresponds to a kind of robotic arm. The hickory picking robotic arm mentioned above is suitable for picking branches with fruits at a height of 20 meters. On the other hand, the main arm of this kind of robotic arm will be longer, and the mechanical arm has no telescopic function, so it is not suitable for picking fruits that are at or below the middle tree height, such as red bayberry, loquat and other fruits, and it is not suitable for loading on the mobile robot. chassis

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