Forage grass planting plate grabbing mechanism

Abstract

The utility model relates to the technical field of mechanical arm grippers, and discloses a forage grass planting plate gripping mechanism which comprises a mechanical arm device. According to the mechanical arm device, a mechanical arm is arranged at the top of a fixed seat; the fixed box is arranged at one end of the mechanical arm; a grabbing device is arranged on the fixed box, and the grabbing device comprises a fixed rod arranged on the outer side wall of the fixed box; the connecting plate is arranged at the bottom of the fixing rod in a sleeving manner; the convex block is arranged on the inner wall of the connecting plate; the sliding groove is formed in the outer side wall of the fixing rod. According to the planting plate grabbing mechanism, the height is controlled through the mechanical arm, a fixing rod and a connecting plate on a fixing box are inserted into the bottom of a planting plate, then the mechanical arm controls lifting and rotating, then the planting plate is moved, the connecting plate moves and is adjusted on the fixing rod through a protruding block and a sliding groove, then an electric push rod is used for driving the connecting plate to move, and then the planting plate is grabbed. And the length between the connecting plate and the fixing rod is adjusted to adapt to planting plates with different specifications and lengths.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arm grippers, in particular to a forage planting plate gripping mechanism. Background Art

[0002] The robotic arm is the most widely used automated mechanical device in the field of robotics. It can be seen in industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, and space exploration. Although they have different forms, they all have one common feature, which is the ability to receive instructions and accurately locate a point in three-dimensional (or two-dimensional) space to perform operations. Forage refers to herbaceous plants whose stems and leaves can be used as feed for herbivorous animals. Forage has strong regeneration ability, can be harvested many times a year, and is rich in various trace elements and vitamins, making it the first choice for raising livestock. The quality of forage varieties directly affects the economic benefits of animal husbandry and needs to be paid attention to.

[0003] Existing forage planting trays are mostly picked up and placed by robotic arms, but the planting trays vary in size and are placed on shelves. However, the traditional robotic arm grasping mechanism is not convenient for grasping, so a lifting method is used for picking up and placing. However, the lifting-style grasping mechanism is inconvenient to use. It is necessary to ensure that it can adapt to planting trays of different sizes and prevent the planting trays from slipping. Therefore, we proposed a new grasping mechanism. Utility Model Content

[0004] 1. Technical issues to be solved

[0005] In view of the deficiencies in the prior art, the utility model provides a forage planting plate grabbing mechanism, which has the advantage of being adjustable and solves the problem that the traditional grabbing mechanism is inconvenient to use.

[0006] (II) Technical solution

[0007] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a forage planting plate grabbing mechanism, including a mechanical arm device; the mechanical arm device includes: a mechanical arm is arranged on the top of a fixed seat; a fixed box is arranged at one end of the mechanical arm; a grabbing device is arranged on the fixed box, and the grabbing device includes: a fixed rod is arranged on the outer wall of the fixed box; a connecting plate is sleeved on the bottom of the fixed rod; a protrusion is arranged on the inner wall of the connecting plate; and a slide groove is opened on the outer wall of the fixed rod.

[0008] In some embodiments, an electric push rod is disposed inside the fixing rod, and an extension rod of the electric push rod passes through the fixing rod and is connected to the connecting plate.

[0009] In some embodiments, a plate body is disposed at one end of the connecting plate.

[0010] In some embodiments, the plate body is connected to the connecting plate and the electric push rod by bolts.

[0011] In some embodiments, a cover plate is disposed on the top of the fixing rod, and the cover plate is connected to the fixing rod by bolts.

[0012] In some embodiments, the cover plate, the fixing rod and the top of the connecting plate are in the same horizontal plane.

[0013] In some embodiments, a motor is provided on the outer wall of the fixed box, and a worm is provided on the output shaft of the motor. The worm passes through the fixed box and is rotatably connected to the fixed box. A lead screw is rotatably connected inside the fixed box. A worm wheel is provided on the outer wall of the lead screw and is meshed with the worm. A sliding seat is provided at one end of the fixed rod and passes through the fixed box and is threadedly connected to the lead screw.

[0014] In some embodiments, a pulley is disposed at the bottom of the fixing seat.

[0015] (III) Beneficial effects

[0016] Compared with the prior art, the utility model provides a forage planting plate grabbing mechanism, which has the following

[0017] Beneficial effects:

[0018] The planting tray grabbing mechanism is controlled in height by a robotic arm. The fixing rod and connecting plate on the fixing box are inserted into the bottom of the planting tray. The robotic arm then controls the lifting and rotation to complete the movement of the planting tray. The connecting plate is moved and adjusted on the fixing rod through bumps and slide grooves. An electric push rod is then used to move the connecting plate and adjust the length between the connecting plate and the fixing rod to cope with planting trays of different specifications and lengths. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the structure of the utility model;

[0020] Figure 2 This is a schematic diagram of the structure of the grabbing device of the utility model;

[0021] Figure 3 This is a schematic diagram of the cross-sectional structure of the fixing rod of the utility model;

[0022] Figure 4 This is a schematic diagram of the structure of the fixing rod and the connecting plate of the utility model.

[0023] In the figure:

[0024] 1. Robotic arm device; 11. Fixed seat; 12. Robotic arm; 13. Fixed box; 14. Motor; 15. Worm; 16. Lead screw; 161. Worm wheel; 17. Pulley.

[0025] 2. Grabbing device; 21. Fixing rod; 22. Sliding seat; 23. Connecting plate; 24. Bump; 25. Sliding groove; 26. Electric push rod; 27. Cover plate; 28. Plate body; 281. Bolt. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0027] It should be noted that all directional indications in the embodiments of the present application are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0028] In this application, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0029] In the related art, forage planting trays are mostly picked up and placed by robotic arms, but the planting trays vary in size and are placed on shelves. However, the traditional robotic arm grasping mechanism is not convenient for grasping, so a lifting method is used for picking up and placing. However, the lifting-style grasping mechanism is inconvenient to use, as it is necessary to ensure that it can adapt to planting trays of different sizes and prevent the planting trays from slipping.

[0030] In order to solve the problems in the related art to a certain extent, the embodiment of the present application provides a forage planting plate grabbing mechanism. When it needs to be used, the distance between the two fixed rods 21 can be adjusted by driving the motor 14, and the length of the fixed rod 21 can be adjusted by the electric push rod 26.

[0031] The present application is described below with reference to the accompanying drawings and specific embodiments:

[0032] Combination Figure 1-Figure 4The embodiment of the present application provides a forage planting plate grabbing mechanism, including a mechanical arm device 1; the mechanical arm device 1 includes: a mechanical arm 12 is arranged on the top of a fixed seat 11; a fixed box 13 is arranged at one end of the mechanical arm 12; a grabbing device 2 is arranged on the fixed box 13, and the grabbing device 2 includes: a fixed rod 21 is arranged on the outer wall of the fixed box 13; a connecting plate 23 is sleeved on the bottom of the fixed rod 21; a protrusion 24 is arranged on the inner wall of the connecting plate 23; and a slide groove 25 is opened on the outer wall of the fixed rod 21.

[0033] When in use, the robotic arm 12 controls the height, inserts the fixing rod 21 and the connecting plate 23 on the fixing box 13 into the bottom of the planting tray, and then the robotic arm 12 controls the lifting and rotation to complete the movement of the planting tray. The connecting plate 23 moves and adjusts on the fixing rod 21 through the protrusion 24 and the slide groove 25 to adjust the length between the connecting plate 23 and the fixing rod 21 to cope with planting trays of different specifications and lengths.

[0034] Specifically, the model of the robot arm 12 is LM3 robot arm-220V of WHEELTEC, which belongs to the prior art.

[0035] In some embodiments, an electric push rod 26 is disposed inside the fixed rod 21, and the extension rod of the electric push rod 26 penetrates the fixed rod 21 and is connected to the connecting plate 23. The setting of the electric push rod 26 can automatically control the moving distance of the connecting plate 23 without manual adjustment by workers. The electric push rod 26 is powered by an electric motor, and the rotational motion of the motor is converted into the linear motion of the push rod along the guide rail through gear reduction or a worm gear driving a lead screw nut, and the forward and reverse rotation of the motor is used to realize the reciprocating forward and backward motion of the push rod. The corresponding principle structure is not drawn in the attached figure in this section.

[0036] In some embodiments, a plate body 28 is provided at one end of the connecting plate 23. The plate body 28 is provided to prevent the planting tray from sliding down from the front when the planting tray is lifted and to block the plate.

[0037] In some embodiments, the plate body 28 is connected to the connecting plate 23 and the electric push rod 26 by bolts 281. The bolts 281 fix the plate body 28, the connecting plate 23 and the extension rod of the electric push rod 26.

[0038] In some embodiments, a cover plate 27 is provided on the top of the fixing rod 21, and the cover plate 27 is connected to the fixing rod 21 by bolts. The cover plate 27 is provided to protect the electric push rod 26 inside the fixing rod 21.

[0039] In some embodiments, the cover plate 27, the fixing rod 21 and the top of the connecting plate 23 are in the same horizontal plane to avoid the cover plate 27, the fixing rod 21 and the top of the connecting plate 23 being at different heights and the planting tray being unstable.

[0040] In some embodiments, the outer wall of the fixed box 13 is provided with a motor 14, and the output shaft of the motor 14 is provided with a worm 15, and the worm 15 penetrates the fixed box 13 and is rotatably connected to the fixed box 13, and the inner part of the fixed box 13 is rotatably connected with a screw 16, and the outer wall of the screw 16 is sleeved with a worm wheel 161 that meshes with the worm 15, and one end of the fixed rod 21 is provided with a slide seat 22 that penetrates the fixed box 13 and is threadedly connected to the screw 16. The worm 15 is driven to rotate by the motor 14, and because the worm wheel 161 meshes with the worm 15, the worm 15 drives the worm wheel 161 to rotate, thereby driving the screw 16 to rotate, and the slide seat 22 on the fixed rod 21 is sleeved on the screw 16 and is threadedly connected, and when the screw 16 rotates, the slide seat 22 drives the fixed rod 21 to move, and adjusts the distance between the two fixed rods 21.

[0041] In some embodiments, a pulley 17 is provided at the bottom of the fixing base 11. The pulley 17 is provided to facilitate the movement of the fixing base 11. The power supply of the entire device is a built-in power supply, and the battery is installed inside the fixing base 11.

[0042] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification.

[0043] In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0044] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A forage planting tray grasping mechanism, comprising a mechanical arm device (1); the mechanical arm device (1) comprises: A fixed seat (11), a mechanical arm (12) is arranged on the top of the fixed seat; A fixed box (13) is arranged at one end of the mechanical arm (12); The invention is characterized in that: a grabbing device (2) is provided on the fixed box (13), and the grabbing device (2) comprises: A fixing rod (21) is arranged on the outer side wall of the fixing box (13); A connecting plate (23) sleeved on the bottom of the fixing rod (21); A convex block (24) is arranged on the inner wall of the connecting plate (23); The slide groove (25) is formed on the outer side wall of the fixing rod (21).

2. A forage planting tray grabbing mechanism according to claim 1, characterized in that: An electric push rod (26) is arranged inside the fixing rod (21), and a protruding rod of the electric push rod (26) passes through the fixing rod (21) and is connected to the connecting plate (23).

3. A forage planting tray grabbing mechanism according to claim 2, characterized in that: A plate body (28) is provided at one end of the connecting plate (23).

4. A forage planting tray grabbing mechanism according to claim 3, characterized in that: The plate body (28) is connected to the connecting plate (23) and the electric push rod (26) via bolts (281).

5. The forage planting tray grabbing mechanism according to claim 1, characterized in that: A cover plate (27) is provided on the top of the fixing rod (21), and the cover plate (27) is connected to the fixing rod (21) by bolts.

6. A forage planting tray grabbing mechanism according to claim 5, characterized in that: The cover plate (27), the fixing rod (21) and the top of the connecting plate (23) are located in the same horizontal plane.

7. The forage planting tray grabbing mechanism according to claim 1, characterized in that: The outer wall of the fixed box (13) is provided with a motor (14), the output shaft of the motor (14) is provided with a worm (15), the worm (15) passes through the fixed box (13) and is rotatably connected to the fixed box (13), the interior of the fixed box (13) is rotatably connected with a lead screw (16), the outer wall of the lead screw (16) is sleeved with a worm wheel (161) and is meshedly connected to the worm (15), and one end of the fixed rod (21) is provided with a sliding seat (22) which passes through the fixed box (13) and is threadedly connected to the lead screw (16).

8. The forage planting tray grabbing mechanism according to claim 1, characterized in that: A pulley (17) is provided at the bottom of the fixing seat (11).

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