Electric automatic control honeysuckle picking robot mechanical arm

Abstract

The utility model relates to the technical field of electrical automation equipment, and provides an electrical automation control honeysuckle picking robot mechanical arm which comprises a rotating motor and a disc base, the rotating motor is arranged at the top of a supporting base, and the output end of the rotating motor is connected with the disc base. A first mechanical arm is arranged at the top of the disc base, a ball socket structure is arranged below the first mechanical arm and comprises an outer ball shell and an inner ball body, a joint motor is arranged on the right side of the ball socket structure, and a second mechanical arm is arranged above the ball socket structure. When the honeysuckle picking robot gets close to honeysuckle, the mechanical arms receive signals and start to work, the rotary motor controls the disc base with the rotatable bottom to rotate, the first mechanical arm is driven, and then the second mechanical arm and the third mechanical arm are driven to work through the ball socket structure. By means of the technical scheme, the problem that picking dead angles appear in the honeysuckle picking process in the prior art is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of electrical automation equipment, and in particular to a mechanical arm of a honeysuckle picking robot controlled by electrical automation. Background Art

[0002] The progress of science and technology has led to the continuous innovation, improvement and perfection of my country's automation control engineering technology. In today's environment, the innovation ability of automation control engineering is also increasing, and the electrical automation control system is gradually moving towards a unified development trend.

[0003] At present, there are many honeysuckle production bases in my country, with a wide planting area, but the phenomenon of abandonment due to the short picking cycle is common. To solve this problem, it is crucial to accelerate the process of agricultural production mechanization.

[0004] The existing honeysuckle picking has the following problems:

[0005] In the existing market, domestic and foreign researchers have devoted themselves to developing many robotic arms for honeysuckle harvesting. However, the harvesting results of farmers are not ideal. The robotic arms have blind spots when picking, which greatly reduces the yield. The robotic arms are large in size and may damage the plants when working in the field, and may also increase the blind spots. Therefore, there is still a lot of room for improvement in the appearance and efficiency of the existing robotic arms. It is imperative to increase the picking range of the robotic arms, reduce the space occupied, and thus improve the picking efficiency.

[0006] In view of the above problems, we propose a honeysuckle picking robot arm with electrical automation control. Utility Model Content

[0007] The utility model provides an electrically automated controlled honeysuckle picking robot mechanical arm, which solves the problem of an electrically automated controlled honeysuckle picking robot mechanical arm in the related art.

[0008] The technical solution of the utility model is as follows:

[0009] A honeysuckle picking robot mechanical arm with electrical automation control comprises a rotating motor, a disc base and a supporting base, wherein a rotating motor is arranged on the top of the supporting base, and an output end of the rotating motor is connected to the disc base, a first mechanical arm is arranged on the top of the disc base, a ball and socket structure is arranged below the first mechanical arm, the ball and socket structure comprises an outer spherical shell and an inner sphere, a joint motor is arranged on the right side of the ball and socket structure, and a second mechanical arm is arranged above the ball and socket structure.

[0010] Preferably, the support base is fixedly connected to the rotating motor, the rotating motor is fixedly connected to the disc base, the disc base is fixedly connected to the first robotic arm, the first robotic arm is fixedly connected to the outer spherical shell, the outer spherical shell is adapted to the inner sphere, the inner sphere is fixedly connected to the joint motor, and the inner sphere is fixedly connected to the second robotic arm.

[0011] Preferably, a telescopic rod is provided inside the second mechanical arm, a supporting screw is provided inside the telescopic rod, an input end of the supporting screw is connected to a second bevel gear, a first bevel gear is provided on the right side of the second bevel gear, an input end of the first bevel gear is connected to a driving motor, a screw sleeve is provided on the outside of the supporting screw, a movable rod is provided on the outside of the screw sleeve, a second ball and socket structure is provided above the movable rod, and a third mechanical arm is provided above the second ball and socket structure.

[0012] Preferably, the second mechanical arm is fixedly connected to the telescopic rod, the driving motor is fixedly connected to the first bevel gear, the first bevel gear is meshed with the second bevel gear, the second bevel gear is fixedly connected to the supporting screw, the supporting screw is threadedly matched with the screw sleeve, the screw sleeve is fixedly connected to the movable rod, the movable rod is fixedly connected to the second outer spherical shell, the second outer spherical shell is adapted to the second inner sphere, the second inner sphere is fixedly connected to the second joint motor, and the second inner sphere is fixedly connected to the third mechanical arm.

[0013] Preferably, a suction head is provided at the top of the third robotic arm, a sensor is provided at the lower part of the left side of the third robotic arm, and a visual recognition module is provided above the sensor.

[0014] Preferably, the third robotic arm is fixedly connected to the suction head, the sensor and the visual recognition module respectively.

[0015] The working principle and beneficial effects of the utility model are:

[0016] 1. In the utility model, when the honeysuckle picking robot approaches the honeysuckle, the mechanical arm receives a signal and starts to work, and the rotating motor controls the rotation of the rotatable disc base at the bottom to drive the first mechanical arm, and then drives the second and third mechanical arms to work through the ball and socket structure.

[0017] 2. In the utility model, when the visual recognition module on the third mechanical arm recognizes that the height of the mechanical arm is not enough and the honeysuckle cannot be picked, the second mechanical arm receives a signal to start the drive motor to work, driving the first bevel gear to rotate. Under the meshing action of the gears, the second bevel gear drives the supporting screw to rotate. Because the supporting screw and the screw sleeve are threaded together, the screw sleeve pushes the movable rod forward under the action of the thread, and controls the telescopic rod to work, so that the third mechanical arm reaches a suitable height and completes the picking of the honeysuckle; when the space is narrow, the telescopic rod will shrink and shorten again to prevent damage to the honeysuckle plants and complete the picking efficiently.

[0018] 3. In the utility model, when the visual recognition device on the third robotic arm recognizes that honeysuckle is approaching, the first robotic arm and the second robotic arm stop moving, and only the third robotic arm adjusts its position, and a negative pressure device is connected to the suction head to suck the honeysuckle to complete the picking. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The utility model is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0020] Figure 1 It is a three-dimensional structural schematic diagram of the utility model;

[0021] Figure 2 This is a schematic diagram of the main structure of the utility model;

[0022] Figure 3 It is a schematic diagram of the top view structure of the utility model;

[0023] Figure 4 For this utility model Figure 2 A schematic diagram of the partially enlarged structure at center A;

[0024] In the figure: 1. rotating motor; 2. disc base; 3. ball and socket structure; 4. telescopic rod; 5. suction head; 6. sensor; 7. joint motor; 8. first robotic arm; 9. second robotic arm; 10. third robotic arm; 11. driving motor; 12. visual recognition module; 13. first bevel gear; 14. second bevel gear; 15. supporting screw; 16. screw sleeve; 17. movable rod; 18. supporting base. DETAILED DESCRIPTION

[0025] The following will be combined with 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 of 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.

[0026] Example 1

[0027] like Figure 1 , Figure 2 and Figure 3 As shown, this embodiment proposes an electrically automated controlled honeysuckle picking robot arm, comprising a rotating motor 1, a disc base 2 and a supporting base 18, a rotating motor 1 is arranged on the top of the supporting base 18, an output end of the rotating motor 1 is connected to the disc base 2, a first mechanical arm 8 is arranged on the top of the disc base 2, a ball and socket structure 3 is arranged below the first mechanical arm 8, the ball and socket structure 3 comprises an outer spherical shell and an inner sphere, a joint motor 7 is arranged on the right side of the ball and socket structure 3, a second mechanical arm 9 is arranged above the ball and socket structure 3, the supporting base 18 is fixedly connected to the rotating motor 1, the rotating motor 1 is fixedly connected to the disc base 2, the disc base 2 is fixedly connected to the first mechanical arm 8, the first mechanical arm 8 is fixedly connected to the outer spherical shell, the outer spherical shell is adapted to the inner sphere, the inner sphere is fixedly connected to the joint motor 7, and the inner sphere is fixedly connected to the second mechanical arm 9.

[0028] In this embodiment, when the honeysuckle picking robot approaches the honeysuckle, the robotic arm receives a signal and starts working, and the rotating motor 1 controls the rotation of the bottom rotatable disc base 2, driving the first robotic arm 8, and then drives the second robotic arm 9 and the third robotic arm 10 to work through the ball and socket structure 3.

[0029] Example 2

[0030] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, based on the same concept as the above-mentioned embodiment 1, this embodiment further proposes that a telescopic rod 4 is provided inside the second mechanical arm 9, a supporting screw 15 is provided inside the telescopic rod 4, an input end of the supporting screw 15 is connected to a second bevel gear 14, a first bevel gear 13 is provided on the right side of the second bevel gear 14, an input end of the first bevel gear 13 is connected to a driving motor 11, a screw sleeve 16 is sleeved outside the supporting screw 15, a movable rod 17 is sleeved outside the screw sleeve 16, a second ball and socket structure 3 is provided above the movable rod 17, and a second ball and socket structure 3 is provided above the second ball and socket structure 3. A third robotic arm 10 is provided, the second robotic arm 9 is fixedly connected to the telescopic rod 4, the driving motor 11 is fixedly connected to the first bevel gear 13, the first bevel gear 13 is meshed with the second bevel gear 14, the second bevel gear 14 is fixedly connected to the supporting screw rod 15, the supporting screw rod 15 is threadedly matched with the screw rod sleeve 16, the screw rod sleeve 16 is fixedly connected to the movable rod 17, the movable rod 17 is fixedly connected to the second outer spherical shell, the second outer spherical shell is adapted to the second inner sphere, the second inner sphere is fixedly connected to the second joint motor 7, and the second inner sphere is fixedly connected to the third robotic arm 10.

[0031] In this embodiment, when the visual recognition module 12 on the third robotic arm 10 recognizes that the robotic arm is not high enough and cannot pick the honeysuckle, the second robotic arm 9 receives a signal to start the drive motor 11 to start working, driving the first bevel gear 13 to rotate. Under the meshing action of the gears, the second bevel gear 14 drives the support screw 15 to rotate. Since the support screw 15 is threadedly matched with the screw sleeve 16, the screw sleeve 16 pushes the movable rod 17 forward under the action of the thread, and controls the telescopic rod 4 to work, so that the third robotic arm 10 reaches a suitable height and then completes the picking of the honeysuckle; when the space is narrow, the telescopic rod 4 will shrink and shorten again to prevent damage to the honeysuckle plants and complete the picking efficiently.

[0032] Example 3

[0033] like Figure 1 , Figure 2 and Figure 3 As shown, based on the same concept as the above-mentioned embodiment 1, this embodiment further proposes that a suction head 5 is provided at the top of the third robotic arm 10, a sensor 6 is provided at the lower left side of the third robotic arm 10, a visual recognition module 12 is provided above the sensor 6, and the third robotic arm 10 is fixedly connected to the suction head 5, the sensor 6 and the visual recognition module 12 respectively.

[0034] In this embodiment, when the visual recognition device 12 on the third robotic arm 10 recognizes that the honeysuckle is approaching, the first robotic arm 8 and the second robotic arm 9 stop moving, and only the third robotic arm 10 adjusts its position, and a negative pressure device is connected to the suction head 5 to suck the honeysuckle to complete the picking.

[0035] In summary, the working steps are:

[0036] First, when the honeysuckle picking robot approaches the honeysuckle, the robotic arm receives a signal and starts working. The rotating motor 1 controls the rotation of the rotatable disc base 2 at the bottom, driving the first robotic arm 8, and then drives the second robotic arm 9 and the third robotic arm 10 to work through the ball and socket structure 3.

[0037] Secondly, when the visual recognition module 12 on the third robotic arm 10 recognizes that the robotic arm is not high enough and cannot pick the honeysuckle, the second robotic arm 9 receives a signal to start the drive motor 11 to start working, driving the first bevel gear 13 to rotate. Under the meshing action of the gears, the second bevel gear 14 drives the supporting screw 15 to rotate. Since the supporting screw 15 is threadedly matched with the screw sleeve 16, the screw sleeve 16 pushes the movable rod 17 forward under the action of the thread, and controls the telescopic rod 4 to work, so that the third robotic arm 10 reaches a suitable height and then completes the picking of the honeysuckle; when the space is narrow, the telescopic rod 4 will shrink and shorten again to prevent damage to the honeysuckle plants and complete the picking efficiently.

[0038] Finally, when the visual recognition device 12 on the third robotic arm 10 recognizes that the honeysuckle is approaching, the first robotic arm 8 and the second robotic arm 9 stop moving, and only the third robotic arm 10 adjusts its position, and a negative pressure device is connected to the suction head 5 to suck the honeysuckle to complete the picking.

[0039] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. 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 honeysuckle picking robot arm controlled by electrical automation, comprising a rotating motor (1), a disc base (2) and a supporting base (18), characterized in that: A rotating motor (1) is arranged on the top of the support base (18), the output end of the rotating motor (1) is connected to a disc base (2), a first mechanical arm (8) is arranged on the top of the disc base (2), a ball socket structure (3) is arranged below the first mechanical arm (8), the ball socket structure (3) comprises an outer spherical shell and an inner sphere, a joint motor (7) is arranged on the right side of the ball socket structure (3), and a second mechanical arm (9) is arranged above the ball socket structure (3).

2. The electrically automated controlled honeysuckle picking robot arm according to claim 1, characterized in that: The support base (18) is fixedly connected to the rotating motor (1), the rotating motor (1) is fixedly connected to the disc base (2), the disc base (2) is fixedly connected to the first mechanical arm (8), the first mechanical arm (8) is fixedly connected to the outer spherical shell, the outer spherical shell is adapted to the inner sphere, the inner sphere is fixedly connected to the joint motor (7), and the inner sphere is fixedly connected to the second mechanical arm (9).

3. The electrically automated controlled honeysuckle picking robot arm according to claim 1, characterized in that: A telescopic rod (4) is arranged inside the second mechanical arm (9), a supporting screw rod (15) is arranged inside the telescopic rod (4), an input end of the supporting screw rod (15) is connected to a second bevel gear (14), a first bevel gear (13) is arranged on the right side of the second bevel gear (14), an input end of the first bevel gear (13) is connected to a driving motor (11), a screw rod sleeve (16) is sleeved outside the supporting screw rod (15), a movable rod (17) is sleeved outside the screw rod sleeve (16), a second ball socket structure (3) is arranged above the movable rod (17), and a third mechanical arm (10) is arranged above the second ball socket structure (3).

4. The electrically automated controlled honeysuckle picking robot arm according to claim 3, characterized in that: The second mechanical arm (9) is fixedly connected to the telescopic rod (4), the driving motor (11) is fixedly connected to the first bevel gear (13), the first bevel gear (13) is meshed with the second bevel gear (14), the second bevel gear (14) is fixedly connected to the supporting screw rod (15), the supporting screw rod (15) is threadedly matched with the screw rod sleeve (16), the screw rod sleeve (16) is fixedly connected to the movable rod (17), the movable rod (17) is fixedly connected to the second outer spherical shell, the second outer spherical shell is adapted to the second inner sphere, the second inner sphere is fixedly connected to the second joint motor (7), and the second inner sphere is fixedly connected to the third mechanical arm (10).

5. The electrically automated controlled honeysuckle picking robot arm according to claim 4, characterized in that: A suction head (5) is arranged at the top end of the third mechanical arm (10), a sensor (6) is arranged below the left side of the third mechanical arm (10), and a visual recognition module (12) is arranged above the sensor (6).

6. The electrically automated controlled honeysuckle picking robot arm according to claim 5, characterized in that: The third mechanical arm (10) is fixedly connected to the suction head (5), the sensor (6) and the visual recognition module (12) respectively.

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