An installation structure of a tea picking robotic arm based on a quadruped robot dog for tea picking

Abstract

The present invention relates to the technical field of automatic tea picking, and particularly relates to an installation structure of a tea picking robotic arm based on a quadruped robot dog, including a robot dog, a tea picking robotic arm mechanism, and an installation mechanism. The tea picking robotic arm mechanism is installed on the upper part of the robot dog through the installation mechanism. The installation mechanism includes a first arc-shaped cover, a second arc-shaped cover, a positioning disk, and a rotating seat. The first arc-shaped cover is fixed to the upper part of the robot dog, and the second arc-shaped cover is rotatably provided at one end of the first arc-shaped cover. Arc-shaped notches are opened on both the first arc-shaped cover and the second arc-shaped cover. A quick locking mechanism is provided between the first arc-shaped cover and the second arc-shaped cover. In the present invention, quick installation connection and quick disassembly are achieved, and there is no need to disassemble a large number of bolts, greatly reducing the difficulty of disassembly and assembly.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic tea picking, and particularly to an installation structure of a tea picking robotic arm based on a four-legged robot dog for tea picking. Background Art

[0002] Since ancient times, tea has been a very popular beverage in our country. Tea needs to be picked first and then processed. At present, most of the tea is picked manually. There are also a few cases where a robotic arm is combined with an intelligent camera, and the robotic arm is installed on a robot dog, so that the robot dog can walk in the tea mountain with the robotic arm to pick tea automatically, improving the picking efficiency.

[0003] Since most of the robot dogs and robotic arms are purchased separately and then assembled and spliced, the current installation method between the robotic arm and the robot dog is mostly directly fixed by bolts and nuts. When not in use, the robotic arm needs to be disassembled and separated from the robot dog. When in use, it needs to be installed again. Repeated disassembly causes the bolt connection to be unstable, and installing too many bolts is too complicated and inconvenient to operate. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide an installation structure of a tea picking robotic arm based on a four-legged robot dog for tea picking, so as to solve the problems of cumbersome connection and inconvenient disassembly and assembly between the current tea picking robotic arm and the robot dog.

[0005] Based on the above purpose, the present invention provides an installation structure of a tea picking robotic arm based on a four-legged robot dog for tea picking

[0006] An installation structure of a tea picking robotic arm based on a four-legged robot dog for tea picking, comprising a robot dog, a tea picking robotic arm mechanism, and an installation mechanism. The tea picking robotic arm mechanism is installed on the upper part of the robot dog through the installation mechanism. The installation mechanism includes a first arc-shaped cover, a second arc-shaped cover, a positioning disk, and a rotating seat. The first arc-shaped cover is fixed to the upper part of the robot dog, and the second arc-shaped cover is rotatably provided at one end of the first arc-shaped cover. Arc-shaped notches are opened on both the first arc-shaped cover and the second arc-shaped cover. After the first arc-shaped cover and the second arc-shaped cover are combined, they form a complete circular cover, and the two arc-shaped notches form a complete circular slot. The rotating seat is coaxially fixed to the upper part of the positioning disk, and while the positioning disk is clamped in the complete circular cover, the rotating seat is clamped in the complete circular slot. The lower part of the tea picking robotic arm mechanism has a mounting plate, and the mounting plate is installed on the rotating seat. A quick locking mechanism is provided between the first arc-shaped cover and the second arc-shaped cover.

[0007] Further, a positioning opening is opened on one side of the first arc-shaped cover at the arc-shaped notch. A positioning block is integrally formed on one side of the rotating seat, and the positioning block is adapted to the positioning opening.

[0008] Further, a hinge seat is fixed on one side of the first arc-shaped cover, and a hinge frame is fixed on one side of the second arc-shaped cover. The first arc-shaped cover and the second arc-shaped cover are rotationally connected through the hinge seat and the hinge frame.

[0009] Further, the quick locking mechanism includes a first extension block and a second extension block. The first extension block is integrally formed on one side of the first arc-shaped cover, and the second extension block is integrally formed on one side of the second arc-shaped cover. After the first arc-shaped cover and the second arc-shaped cover are combined, the first extension block and the second extension block are in contact with each other. A clamping sleeve is rotatably provided on one side of the first extension block, and the clamping sleeve can clamp and limit the first extension block and the second extension block to each other.

[0010] Further, positioning pressure columns are respectively arranged through both sides of the upper part of the second arc-shaped cover, and the upper ends of the two positioning pressure columns are fixedly connected to the same arc-shaped rod. Two positioning pressure grooves are formed in the upper part of the positioning disk, and the two positioning pressure columns are adapted to the two positioning pressure grooves.

[0011] Further, a pressing part is integrally formed at one end of the arc-shaped rod. When the second arc-shaped cover rotates and is combined with the first arc-shaped cover, the pressing part can press on the clamping sleeve.

[0012] Further, a connecting frame is fixed on one side of the arc-shaped rod, and the connecting frame can be fixedly connected to the outer wall of the second arc-shaped cover through screws.

[0013] Advantages of the present invention:

[0014] 1. In the present invention, through the provided first arc-shaped cover, second arc-shaped cover and quick locking mechanism, when installing and connecting the tea picking robotic arm mechanism and the robotic dog, we only need to open the second arc-shaped cover, insert the positioning disk of the tea picking robotic arm mechanism into the first arc-shaped cover from one side, and then rotate and combine the second arc-shaped cover. At this time, the positioning disk and the rotating seat are fixed and limited within the integral circular cover and the integral circular groove opening. Then, the clamping sleeve can be rotated to make it snap onto the first extension block and the second extension block, realizing the quick fixation between the first arc-shaped cover and the second arc-shaped cover. Furthermore, the two positioning pressure columns are pressed down, so that the two positioning pressure columns are respectively inserted into the two positioning pressure grooves on the positioning disk, positioning and pressing the positioning disk at the same time, avoiding the shaking of the positioning disk in the internal space of the integral circular cover. Then, the arc-shaped rod is fixed to one side of the second arc-shaped cover through the connecting frame, realizing quick installation connection and quick disassembly, and there is no need to disassemble a large number of bolts, greatly reducing the disassembly and assembly difficulty. Description of the Drawings

[0015] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only those of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0016] Figure 1 Stereoscopic schematic diagram of an embodiment of the present invention;

[0017] Figure 2 Stereoscopic schematic diagram of removing the tea-picking robotic arm mechanism of an embodiment of the present invention;

[0018] Figure 3 Expansion schematic diagram of the installation mechanism of an embodiment of the present invention;

[0019] Figure 4 Stereoscopic schematic diagram of the installation mechanism of an embodiment of the present invention;

[0020] Figure 5 Stereoscopic schematic diagram of the second arc-shaped cover of an embodiment of the present invention.

[0021] The markings in the figure are:

[0022] 1. Mechanical dog; 2. First arc-shaped cover; 3. Rotating base; 4. Mounting plate; 5. Tea-picking robotic arm mechanism; 6. Positioning disk; 7. Second arc-shaped cover; 8. Arc-shaped rod; 9. Connecting frame; 10. Arc-shaped notch; 11. Pressing part; 12. First extension block; 13. Second extension block; 14. Ferrule; 15. Positioning pressure groove; 16. Positioning clamping block; 17. Positioning port; 18. Positioning pressure column; 19. Hinge frame. Detailed implementation manners

[0023] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the following further elaborates on the present invention in combination with specific embodiments.

[0024] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the present invention shall have the ordinary meanings understood by those with ordinary skills in the field to which the present invention pertains. The "first", "second" and similar terms used in the present invention do not denote any order, quantity or importance, but are only used to distinguish different components. Words such as "including" or "comprising" mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connected" or "coupled" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Upper", "lower", "left", "right", etc. are only used to represent relative positional relationships, and when the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0025] As Figures 1-5 shown, a mounting structure of a tea-picking robotic arm based on a quadruped robot dog includes the robot dog 1, a tea-picking robotic arm mechanism 5, and a mounting mechanism. The tea-picking robotic arm mechanism 5 is mounted on the upper part of the robot dog 1 through the mounting mechanism. The mounting mechanism includes a first arc-shaped cover 2, a second arc-shaped cover 7, a positioning disk 6, and a rotating seat 3. The first arc-shaped cover 2 is fixed to the upper part of the robot dog 1, and one end of the second arc-shaped cover 7 is rotatably provided on the first arc-shaped cover 2. Arc-shaped notches 10 are formed on both the first arc-shaped cover 2 and the second arc-shaped cover 7. After the first arc-shaped cover 2 and the second arc-shaped cover 7 are combined, they form a complete circular cover, and the two arc-shaped notches 10 form a complete circular notch. The rotating seat 3 is coaxially fixed to the upper part of the positioning disk 6, and when the positioning disk 6 is clamped in the complete circular cover, the rotating seat 3 is clamped in the complete circular notch. The lower part of the tea-picking robotic arm mechanism has a mounting plate 4, and the mounting plate 4 is mounted on the rotating seat 3. A quick locking mechanism is provided between the first arc-shaped cover 2 and the second arc-shaped cover 7, and the quick locking mechanism is used for the fixed connection of the first arc-shaped cover 2 and the second arc-shaped cover 7.

[0026] The first arc-shaped cover 2 is provided with a positioning port 17 on one side of the arc-shaped notch 10. A positioning block 16 is integrally formed on one side of the rotating seat 3, and the positioning block 16 is adapted to the positioning port 17, so that the positioning disk 6 is always in the same position each time it is assembled.

[0027] A hinge seat is fixed on one side of the first arc-shaped cover 2, and a hinge frame 19 is fixed on one side of the second arc-shaped cover 7. The first arc-shaped cover 2 and the second arc-shaped cover 7 are rotationally connected through the hinge seat and the hinge frame 19.

[0028] The quick locking mechanism includes a first extension block 12 and a second extension block 13. The first extension block 12 is integrally formed on one side of the first arc-shaped cover 2, and the second extension block 13 is integrally formed on one side of the second arc-shaped cover 7. After the first arc-shaped cover 2 and the second arc-shaped cover 7 are combined, the first extension block 12 and the second extension block 13 are in contact with each other. A clamping sleeve 14 is rotatably provided on one side of the first extension block 12, and the clamping sleeve 14 can clamp and limit the first extension block 12 and the second extension block 13 to each other.

[0029] Positioning pressure columns 18 are respectively provided through both sides of the upper part of the second arc-shaped cover 7. The upper ends of the two positioning pressure columns 18 are fixedly connected to the same arc-shaped rod 8. Two positioning pressure grooves 15 are formed in the upper part of the positioning disk 6, and the two positioning pressure columns 18 are adapted to the two positioning pressure grooves 15.

[0030] One end of the arc-shaped rod 8 is integrally formed with a pressing part 11. When the second arc-shaped cover 7 rotates to be combined with the first arc-shaped cover 2, the pressing part 11 can press on the clamping sleeve 14 to limit the clamping sleeve 14 and prevent it from falling off.

[0031] A connecting frame 9 is fixed on one side of the arc-shaped rod 8, and the connecting frame 9 can be fixedly connected to the outer wall of the second arc-shaped cover 7 by screws. After the connecting frame 9 is fixed, the positioning pressure column 18 can continuously press the positioning disk 6, and the pressing part 11 can continuously press the clamping sleeve 14.

[0032] Working principle: When installing and connecting, only need to open the second arc-shaped cover 7, insert the positioning disk 6 of the tea picking robotic arm mechanism 5 into the first arc-shaped cover 2 from one side, and then rotate and combine the second arc-shaped cover 7. At this time, the positioning disk 6 and the rotating seat 3 are fixed and limited within the integral circular cover and the integral circular notch. Then, the clamping sleeve 14 can be rotated to make it snap onto the first extension block 12 and the second extension block 13 to quickly fix between the first arc-shaped cover 2 and the second arc-shaped cover 7. Then, insert the two positioning pressure columns 18 and press down, so that the two positioning pressure columns 18 are respectively inserted into the two positioning pressure grooves 15 on the positioning disk 6 to position and press the positioning disk 6 to prevent the positioning disk 6 from shaking within the internal space of the integral circular cover. Then, fix the arc-shaped rod 8 on one side of the second arc-shaped cover 7 through the connecting frame 9 to achieve quick installation and connection as well as quick disassembly. After the arc-shaped rod 8 is fixed, the pressing part 11 at one end of it presses on the upper part of the clamping sleeve (14) to prevent the clamping sleeve 14 from falling off.

[0033] Those of ordinary skill in the art should understand that: The discussion of any above embodiment is only exemplary, and is not intended to imply that the scope of the present invention (including the claims) is limited to these examples; Under the idea of the present invention, the technical features between the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations in different aspects of the present invention as described above, which are not provided in detail for the sake of brevity.

[0034] The present invention is intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Accordingly, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. An installation structure of a tea-picking robotic arm based on a quadruped robot dog for tea picking, comprising a robot dog (1), a tea-picking robotic arm mechanism (5), and an installation mechanism, characterized in that, The tea-picking robotic arm mechanism (5) is installed on the upper part of the robotic dog (1) through an installation mechanism. The installation mechanism includes a first arc-shaped cover (2), a second arc-shaped cover (7), a positioning disk (6), and a rotating base (3). The first arc-shaped cover (2) is fixed to the upper part of the robotic dog (1), and the second arc-shaped cover (7) is rotatably arranged at one end of the first arc-shaped cover (2). Arc-shaped notches (10) are formed on both the first arc-shaped cover (2) and the second arc-shaped cover (7). After the first arc-shaped cover (2) and the second arc-shaped cover (7) are combined, they form a complete circular cover, and the two arc-shaped notches (10) form a complete circular notch. The rotating base (3) is coaxially fixed to the upper part of the positioning disk (6). While the positioning disk (6) is clamped inside the complete circular cover, the rotating base (3) is clamped inside the complete circular notch. The lower part of the tea-picking robotic arm mechanism has a mounting plate (4), and the mounting plate (4) is installed on the rotating base (3). A quick-locking mechanism is provided between the first arc-shaped cover (2) and the second arc-shaped cover (7). Positioning pressure columns (18) penetrate through both sides of the upper part of the second arc-shaped cover (7). The upper ends of the two positioning pressure columns (18) are fixedly connected to the same arc-shaped rod (8). Two positioning pressure grooves (15) are formed on the upper part of the positioning disk (6), and the two positioning pressure columns (18) are adapted to the two positioning pressure grooves (15).

2. The installation structure of the tea picking robotic arm based on a quadruped robot dog for tea picking according to claim 1, characterized in that, A positioning opening (17) is formed on one side of the first arc-shaped cover (2) at the arc-shaped notch (10). A positioning block (16) is integrally formed on one side of the rotating base (3), and the positioning block (16) is adapted to the positioning opening (17).

3. The installation structure of a tea picking robotic arm based on a quadruped robot dog for tea picking according to claim 1, characterized in that, A hinge seat is fixed to one side of the first arc-shaped cover (2), and a hinge frame (19) is fixed to one side of the second arc-shaped cover (7). The first arc-shaped cover (2) and the second arc-shaped cover (7) are rotatably connected through the hinge seat and the hinge frame (19).

4. The installation structure of a tea-picking robotic arm based on a quadruped robot dog for tea picking according to claim 1, characterized in that, The quick-locking mechanism includes a first extension block (12) and a second extension block (13). The first extension block (12) is integrally formed on one side of the first arc-shaped cover (2), and the second extension block (13) is integrally formed on one side of the second arc-shaped cover (7). After the first arc-shaped cover (2) and the second arc-shaped cover (7) are combined, the first extension block (12) and the second extension block (13) are in contact with each other. A clamping sleeve (14) is rotatably arranged on one side of the first extension block (12), and the clamping sleeve (14) can clamp and limit the first extension block (12) and the second extension block (13) to each other.

5. The installation structure of the tea picking robotic arm based on a quadruped robot dog for tea picking according to claim 1, characterized in that, A pressing part (11) is integrally formed at one end of the arc-shaped rod (8). When the second arc-shaped cover (7) rotates to be combined with the first arc-shaped cover (2), the pressing part (11) can press on the upper part of the clamping sleeve (14).

6. The installation structure of the tea picking robotic arm based on a quadruped robot dog for tea picking according to claim 1, characterized in that, A connecting frame (9) is fixed to one side of the arc-shaped rod (8), and the connecting frame (9) can be fixedly connected to the outer wall of the second arc-shaped cover (7) through screws.

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