Line drive based inclination angle adjustment mechanical arm and fruit picking device

Abstract

The invention discloses a line drive based inclination angle adjustment mechanical arm and a fruit picking device. The mechanical arm comprises a first arm, a second arm and a connection plate, one end of the connection plate is hinged to the first arm through a first hinge while the other end is hinged to the second arm through a second hinge, and one end, close to the connection plate, of the first arm is provided with a first arc surface. One end, close to the connection plate, of the second arm is provided with a second arc surface tangential to the first arc surface. The second arc surface rolls along the first arc surface under the restraining action of the connection plate without relative sliding, and an included angle formed by axes of the first arm and the second arm is changed.By an arc contact surface between the mechanical arms, pulley block drive and fixed pulley-movable pulley winding of a steel cable, a tension amplification function is realized, and accordingly a driving torque of a motor is reduced, the rotational inertia at the tail end of the mechanical arm is reduced, and accurate position adjustment and fast response are realized.

Description

technical field [0001] The present application relates to the field of agricultural equipment, in particular to a mechanical arm and a fruit picking device for adjusting inclination based on wire drive. Background technique [0002] With the rapid development of the orchard industry, the machinery used for fruit picking is gradually popularized. Among them, fruit picking robots have become an important labor force to replace manual labor, which can not only reduce the labor intensity of workers, but also better control product quality and ensure timely fruit picking. receive. [0003] The inventors have found that there are many different types of fruit picking robots currently in use. For a robot with a jointed mechanical arm as the main operating element, since the motor and reducer are all concentrated at the end of each joint of the mechanical arm, it is relatively difficult to Large-weight components will increase the moment of inertia at the end of the robotic arm, bu...

AI Technical Summary

Problems solved by technology

[0003] The inventors have found that there are many different types of fruit picking robots currently in use. For a robot with a jointed mechanical arm as the main operating element, since the motor and reducer are all concentrated at the end of each joint of the mechanical arm, it is relatively difficult to Large-weight components will increase the moment of inertia at the end of the robotic arm, but the distribution of fruits on the fruit tree is relatively dense, requiring frequent small-scale adjustments to the execution end. In this low-load and fast-response applications, the robotic arm is difficult To achieve rapid response and accurate adjustment, therefore, it will make it difficult for the end of the robotic arm to reach the designated position accurately, which will reduce the efficiency of fruit picking

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