Pneumatic cotton picking mechanical arm
By designing a pneumatic cotton picking robot arm, the fan generates negative pressure suction to achieve efficient picking, which solves the problems of cotton wool fiber damage and low manual picking efficiency caused by the spin-off cotton picking machine, and realizes the precise picking and cost of long wool cotton Reduction promotes automation and intelligence of picking.
Patent Information
- Application Number
- CN202420689372.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-04-07
- Publication Date
- 2024-12-10
- Estimated Expiration
- 2034-04-07
AI Technical Summary
The existing ingot-type cotton picking machine can easily cause lint fibers to break and knot during the long-length cotton picking process, and the manual picking efficiency is low and the cost is high. The existing robotic arms have poor environmental adaptability, high prices and long recycling cycle. Limits its promotion and application.
A pneumatic cotton picking robot arm is designed, including fixed base, bearing, joint, lower arm, middle arm, upper arm, flexible bellows and picking head. The movement trajectory is planned through the robotic arm controller, and the fan generates negative pressure suction to achieve high efficiency. Picking, simple structure, low cost and lightweight.
It overcomes the problem of lint fiber damage caused by high-speed rotation of the ingot, realizes precise positioning and picking of long lint cotton, reduces the cost of picking, improves the efficiency of picking, and promotes the automation and intelligence of picking.
Smart Images
Figure CN222128745U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of cotton picking robots, in particular to a pneumatic cotton picking mechanical arm. Background Art
[0002] The mainstream spindle-type cotton pickers on the market currently perform poorly in picking long-staple cotton. When the spindles rotate at high speed, they are prone to breakage, thinning and entanglement of cotton fibers, which in turn affects the quality of long-staple cotton and weakens its unique advantages. Although manual picking can avoid the above problems, it is slow, labor-intensive, and has low picking efficiency and high cost. Therefore, it is imperative to develop a cotton picking robot designed specifically for long-staple cotton. The core component of the cotton picking robot is the robotic arm, but the existing robotic arm is not only not adaptable to the actual cotton field environment, but also expensive, with large investment and long recovery period, which greatly limits its promotion and application. In view of this, the development of a low-cost, easy-to-operate, small and lightweight robotic arm has become an urgent need for technical personnel in the industry. This technological breakthrough will greatly promote the automation and intelligence of long-staple cotton picking, improve picking efficiency, and reduce picking costs, thereby further consolidating the competitive advantage of Xinjiang long-staple cotton in the domestic and foreign markets. Utility Model Content
[0003] The utility model aims to solve the shortcomings in the prior art and proposes a pneumatic cotton picking mechanical arm.
[0004] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a pneumatic cotton picking mechanical arm, including a fixed base, a bearing, a joint, a lower arm, a middle arm, an upper arm, a flexible bellows and a picking head. The upper end of the fixed base is fixedly connected to the bearing, and the lower end thereof is used to fix the mechanical arm. The three joints tightly connect the bearing and the lower arm, the lower arm and the middle arm, and the middle arm and the upper arm to form a whole. The flexible bellows is installed inside the hollow lower arm, the middle arm and the upper arm, and the left end thereof is docked and fixed with the picking head, and the picking head is docked and fixed with the small end of the upper arm.
[0005] As a further description of the above technical solution: the fixed base includes an upper fixed plate, a lower fixed plate, support columns, connecting parts, a No. 1 servo, a servo fixing bracket, a flange and a robotic arm controller. The four support columns are fixed between the upper fixed plate and the lower fixed plate through a number of connecting parts to form a whole. The No. 1 servo is fixedly connected to the lower fixed plate through the servo fixing bracket. The output shaft of the No. 1 servo is tightly fixed to the inner ring of the bearing through the No. 1 flange. The robotic arm controller is installed above the lower fixed plate.
[0006] As a further description of the above technical solution: the outer ring of the bearing is fixedly connected to the upper fixed plate, and the inner ring of the bearing is fixedly connected to the joint.
[0007] As a further description of the above technical solution: the joint includes a joint housing, a No. 2 flange and a No. 2 servo, the No. 2 servo is fixedly connected to the joint housing, and the No. 2 flange is fixedly connected to the No. 2 servo output shaft.
[0008] Compared with the prior art, the utility model has the following advantages and effects:
[0009] (1) The pneumatic cotton picking mechanical arm described in the utility model overcomes the phenomenon that the cotton lint fibers are broken, thinned, and tangled when the spindles of the mainstream spindle-picking cotton picker rotate at high speed;
[0010] (2) The pneumatic cotton picking mechanical arm described in the utility model has a simple structure and a low manufacturing cost, and realizes the miniaturization and lightness of the mechanical arm;
[0011] (3) The pneumatic cotton picking robot arm described in the utility model can achieve precise positioning and can efficiently complete the task of picking long-staple cotton. BRIEF DESCRIPTION OF THE DRAWINGS
[0012] Figure 1 The figure is a schematic diagram of the overall structure of a pneumatic cotton picking robot arm.
[0013] Figure 2 The present invention is a schematic diagram of a fixed base structure of a pneumatic cotton picking robot arm.
[0014] Figure 3 The figure is a schematic diagram of the joint structure of a pneumatic cotton picking robot arm.
[0015] Figure 4 The figure is a schematic diagram of the lower arm structure of a pneumatic cotton picking robot arm.
[0016] Figure 5 The figure is a schematic diagram of the middle arm structure of a pneumatic cotton picking robot arm.
[0017] Figure 6 The figure is a schematic diagram of the upper arm structure of a pneumatic cotton picking robot arm.
[0018] Figure 7 The figure is a schematic diagram of the structure of a pneumatic cotton picking robot arm picking head.
[0019] Legend:
[0020] 1. Fixed base, 2. Bearing, 3. Joint, 4. Lower arm, 5. Middle arm, 6. Upper arm, 7. Flexible bellows, 8. Picking head, 11. Upper fixed plate, 12. Lower fixed plate, 13. Support column, 14. Connecting piece, 15. No. 1 servo, 16. Servo fixing bracket, 17. No. 1 flange, 18. Robot arm controller, 31. Joint housing, 32. No. 2 flange, 33. No. 2 servo. DETAILED DESCRIPTION
[0021] 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.
[0022] Reference Figures 1 to 7 As shown, a pneumatic cotton picking mechanical arm provided by the utility model includes a fixed base 1, a bearing 2, a joint 3, a lower arm 4, a middle arm 5, an upper arm 6, a flexible bellows 7 and a picking head 8. The upper end of the fixed base 1 is fixedly connected to the bearing 2, and the lower end thereof is used to fix the mechanical arm. The three joints 3 tightly connect the bearing 2 with the lower arm 4, the lower arm 4 with the middle arm 5, and the middle arm 5 with the upper arm 6 to form a whole. The flexible bellows 7 is installed inside the hollow lower arm 4, the middle arm 5 and the upper arm 6, and the left end thereof is docked and fixed with the picking head 8, and the picking head 8 is docked and fixed with the small end of the upper arm 6.
[0023] The fixed base 1 includes an upper fixed plate 11, a lower fixed plate 12, a support column 13, a connecting piece 14, a No. 1 servo 15, a servo fixing bracket 16, a No. 1 flange 17 and a robotic arm controller 18. The four columns 113 are fixed between the upper fixed plate 11 and the lower fixed plate 12 through a plurality of connecting pieces 14 to form a whole. The No. 1 servo 15 is fixedly connected to the lower fixed plate 12 through the servo fixing bracket 16. The output shaft of the No. 1 servo 15 is tightly fixed to the inner ring of the bearing 2 through the No. 1 flange 17. The robotic arm controller 18 is installed above the lower fixed plate 12.
[0024] The outer ring of the bearing 2 is fixedly connected to the upper fixing plate 11 , and the inner ring of the bearing 2 is fixedly connected to the joint 3 .
[0025] The joint 3 comprises a joint housing 31 , a second flange 32 and a second steering gear 33 . The second steering gear 33 is fixedly connected to the joint housing 31 , and the second flange 32 is fixedly connected to the output shaft of the second steering gear 33 .
[0026] Working principle: After the power is turned on, the robot arm controller 18 processes the cotton position signal input from the outside, calculates the forward and inverse solutions of the No. 1 servo 15 and the No. 2 servo 33 in the three joints 3, and then plans the motion trajectory of the entire robot arm, so that the end of the robot arm moves above the seed cotton, and finally the negative pressure suction generated by the external fan in the flexible bellows 7 and the picking head 8 is used to suck the cotton in the cotton field to achieve efficient picking.
[0027] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.
Claims
1. A pneumatic cotton picking mechanical arm, comprising a fixed base (1), a bearing (2), a joint (3), a lower arm (4), a middle arm (5), an upper arm (6), a flexible bellows (7) and a picking head (8), wherein the upper end of the fixed base (1) is fixedly connected to the bearing (2), and the lower end thereof is used to fix the mechanical arm, the three joints (3) tightly connect the bearing (2) and the lower arm (4), the lower arm (4) and the middle arm (5), and the middle arm (5) and the upper arm (6) to form a whole, the flexible bellows (7) is installed inside the hollow lower arm (4), the middle arm (5) and the upper arm (6), the left end of the flexible bellows is fixedly docked with the picking head (8), and the picking head (8) is fixedly docked with the small end of the upper arm (6).
2. A pneumatic cotton picking robot arm according to claim 1, characterized in that: The fixed base (1) comprises an upper fixed plate (11), a lower fixed plate (12), a support column (13), a connecting piece (14), a No. 1 steering gear (15), a steering gear fixing bracket (16), a No. 1 flange (17) and a mechanical arm controller (18); the four support columns (13) are fixed between the upper fixed plate (11) and the lower fixed plate (12) via a plurality of connecting pieces (14) so as to form a whole; the No. 1 steering gear (15) is fixedly connected to the lower fixed plate (12) via the steering gear fixing bracket (16); the output shaft of the No. 1 steering gear (15) is tightly fixed to the inner ring of the bearing (2) via the No. 1 flange (17); and the mechanical arm controller (18) is mounted above the lower fixed plate (12).
3. The pneumatic cotton picking robot arm according to claim 1, characterized in that: The outer ring of the bearing (2) is fixedly connected to the upper fixing plate (11), and the inner ring of the bearing (2) is fixedly connected to the joint (3).
4. The pneumatic cotton picking robot arm according to claim 1, characterized in that: The joint (3) comprises a joint housing (31), a second flange (32) and a second steering gear (33); the second steering gear (33) is fixedly connected to the joint housing (31); and the second flange (32) is fixedly connected to an output shaft of the second steering gear (33).