Picking and collecting mechanical arm

Abstract

The utility model provides a picking and collecting mechanical arm, the mechanical arm comprises a rotating part, an advancing part and a collecting part, the rotating part comprises a rotating disc and a rotating motor, the advancing part comprises an advancing track, a platform, a first transmission assembly and a swing arm, and the collecting part comprises a second transmission assembly, a collecting cutter and a collecting funnel; the rotating motor drives the rotating disc to rotate, a sliding groove is formed in the bottom wall of the platform and moves along the advancing track, and a first transmission assembly is arranged at the top of the platform and drives the swing arm to swing. Two ends of the swing arm are respectively connected with a first transmission assembly and a second transmission assembly, one side of the second transmission assembly away from the swing arm is provided with a collection knife, and the bottom of the collection knife is provided with a collection funnel. The device has the characteristics of high collection efficiency, various collection angles, good environmental adaptability, simple structure, low cost and the like.

Description

Technical Field

[0001] The utility model relates to the technical field of agricultural machinery and equipment, and in particular to a picking and collecting mechanical arm. Background Art

[0002] Agricultural harvesting robotic arms are widely used in the harvesting process of agricultural production to improve efficiency and reduce labor intensity. Currently, there are many types of agricultural harvesting robotic arms, including but not limited to robotic arms designed for specific crops, such as apples, tomatoes, strawberries, and cucumbers.

[0003] Existing agricultural harvesting robotic arms have made certain technological progress, but they still face some challenges, such as cost structure, technical accuracy, and adaptability in complex agricultural environments. For example, the harvesting robotic arms in existing technologies are often highly specialized, and it is often difficult to adjust and adapt to objects of different heights and angles, which affects the efficiency of harvesting. Furthermore, when harvesting, most harvesting arms in existing technologies are either complex in structure, heavy in weight, and difficult to use and install; or too simple in structure, which not only makes it impossible to harvest from multiple angles, but also may cause the objects to fall and deviate when harvesting at certain angles, causing damage to the objects. In order to respond to the national policy of energy conservation and consumption reduction and to rationally utilize resources, it is very necessary to design a multifunctional, lightweight, and heavy-lifting agricultural harvesting robotic arm to harvest crops from multiple angles.

[0004] With the continuous advancement of technology and strong policy support, the agricultural harvesting robot arm market will usher in broader development space and more opportunities. Utility Model Content

[0005] The utility model aims to provide a picking and collecting mechanical arm, which has the characteristics of high collection efficiency, diverse collection angles, good environmental adaptability, simple structure and low cost.

[0006] To achieve this purpose, the present invention adopts the following technical solutions:

[0007] The present application provides a picking and collecting robotic arm, which includes a rotating part, a traveling part and a collecting part. The rotating part includes a rotating disk and a rotating motor. The traveling part includes a traveling track, a platform, a first transmission assembly and a swing arm. The collecting part includes a second transmission assembly, a collecting knife and a collecting funnel. The rotating disk is fixedly connected to the traveling track, and the rotating motor drives the rotating disk to rotate. A slide groove is provided on the bottom wall of the platform, and the slide groove moves along the traveling track. A first transmission assembly is provided on the top of the platform to drive the swing arm to swing. The first transmission assembly and the second transmission assembly are respectively connected at both ends of the swing arm. A collecting knife is provided on the side of the second transmission assembly away from the swing arm, and a collecting funnel is provided at the bottom of the collecting knife.

[0008] Furthermore, the rotating part also includes a rotating motor, an output end of the rotating motor is connected to a rotating worm, and a rotating disk is provided on one side of the rotating worm.

[0009] Furthermore, a frame is provided on the top of the platform, and a first transmission assembly is provided on the frame, including a swing motor, a first transmission gear, a second transmission gear, a swing worm and a swing worm wheel. The bottom of the swing motor is provided on the frame, the top output shaft is connected to the first transmission gear, the outer edge of the second transmission gear horizontally engages with the first transmission gear, the bottom is vertically connected to the swing worm, and the swing worm is connected to the swing worm wheel.

[0010] Furthermore, a rotating frame is protruding from one side of the frame away from the swing motor, and a swing worm gear is rotatably arranged on the rotating frame, and the swing worm gear is vertically arranged.

[0011] Furthermore, the second transmission assembly includes a collection motor, a third transmission gear and a clamping seat. The collection motor is arranged on one side of the end of the swing arm, the clamping seat is arranged at the top of the end of the swing arm, the third transmission gear is arranged at the output end of the collection motor, and the clamping seat is provided with a collection knife.

[0012] Furthermore, the harvesting knife includes a moving blade, a stationary blade, a picking screw and a screw nut. The picking screw is connected to the third transmission gear. The picking screw and the screw nut are spirally matched. A stationary blade is arranged on the top of the clamping seat, and the moving blade is connected to the screw nut.

[0013] Furthermore, a collecting funnel is arranged at the bottom of the end of the swing arm, and a telescopic tube is provided at the bottom of the collecting funnel.

[0014] Furthermore, the swing angle of the swing arm is +50° to -50°, and the horizontal rotation angle of the travel track is 360°

[0015] Furthermore, the clamping seat is symmetrically provided with U-shaped grooves, the side walls of the U-shaped grooves are provided with static blades, and the top of the dynamic blade is a pointed top structure.

[0016] Furthermore, the top of the funnel is a circular cross-section, and the center of the funnel corresponds to the intersection of the U-shaped groove of the clamping seat.

[0017] The technical solution provided by the utility model may have the following beneficial effects:

[0018] The present invention provides a picking and collecting robot arm, which can rotate 360° by setting a guide rail, and the swing arm can pitch within the angle range of +50° to -50°. It has a high degree of freedom and a flexible structure, can collect objects at different positions and heights, and has strong adaptability; in addition, the present application forms a closed fit by setting a clamping seat, a static blade and a moving blade, which can keep the fruit stalks in the clamping seat and prevent them from falling out during collection, thereby improving picking accuracy and shearing efficiency; furthermore, the present application adopts a large number of gear matches and worm gear matches, the transmission is relatively stable, the use is more reliable, the stability of the picking process is guaranteed, and the reliability of use is improved; and by setting multiple motors for independent drive, the autonomy and freedom of the action of each part are guaranteed. In actual use, the actions of each mechanism can be made independent, and the use is more reliable. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0020] Figure 2 It is a schematic diagram of the initial state structure in the embodiment of the present utility model;

[0021] Figure 3 It is a schematic diagram of the limit state structure in the embodiment of the present utility model;

[0022] Figure 4 It is a schematic structural diagram of the stationary blade and the movable blade in the embodiment of the present utility model.

[0023] Reference numerals:

[0024] 1 rotating disk, 2 rotating worm, 3 rotating motor, 4 straight motor, 5 travel guide rail, 6 platform, 7 frame, 8 swing motor, 9 first transmission gear, 10 second transmission gear, 11 swing worm, 12 swing worm wheel, 13 swing arm, 14 collecting motor, 15 third transmission gear, 16 clamping seat, 17 stationary blade, 18 moving blade, 19 picking screw, 20 screw nut, 21 funnel, 22 telescopic tube. DETAILED DESCRIPTION

[0025] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0026] In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operate in a specific direction, and therefore should not be understood as limiting the present invention. In addition, features defined as "first" or "second" may explicitly or implicitly include one or more such features, and are used to distinguish between the described features, without distinction of order or importance.

[0027] In the description of the present invention, unless otherwise specified, “a plurality of” means two or more.

[0028] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0029] The following combination Figures 1 to 4 , describing a picking and collecting robotic arm provided by an embodiment of the utility model, the robotic arm includes a rotating part, a traveling part and a collecting part, the rotating part includes a rotating disk 1 and a rotating motor 3, the traveling part includes a traveling track, a platform 6, a first transmission assembly and a swing arm 13, the collecting part includes a second transmission assembly, a collecting knife and a collecting funnel 21; the rotating disk 1 is fixedly connected to the traveling track, the rotating motor 3 drives the rotating disk 1 to rotate, the bottom wall of the platform 6 is provided with a slide groove, the slide groove moves along the traveling track, and the first transmission assembly is provided on the top of the platform 6 to drive the swing arm 13 to swing; the two ends of the swing arm 13 are respectively connected to the first transmission assembly and the second transmission assembly, a collecting knife is provided on the side of the second transmission assembly away from the swing arm 13, and a collecting funnel 21 is provided at the bottom of the collecting knife.

[0030] Among them, such as Figure 1 As shown, the travel track is a long square structure with a track on the top to facilitate the platform 6 to slide along the top of the travel track. In order to facilitate the rapid movement of the platform 6, a straight-moving motor 4 can be provided at the bottom of the platform 6. The straight-moving motor 4 can also adopt a worm structure to move along the meshing teeth at the top of the travel track; as for the swing arm 13, it is connected to the platform 6 so that it is a certain distance higher than the travel track to ensure the normal movement of the platform 6.

[0031] Specifically, if Figure 1 As shown, the rotating part also includes a rotating motor 3, the output end of the rotating motor 3 is connected to a rotating worm 2, and a rotating disk 1 is provided on one side of the rotating worm 2. The rotating motor 3 drives the rotating worm 2 to rotate spirally, and the rotation of the rotating worm 2 drives the rotating disk 1 to rotate, and then drives the travel track on the top of the rotating disk 1 to rotate, thereby achieving 360° collection of the entire device.

[0032] Furthermore, a frame 7 is provided on the top of the platform 6, and a first transmission assembly is provided on the frame 7, including a swing motor 8, a first transmission gear 9, a second transmission gear 10, a swing worm 11 and a swing worm wheel 12. The bottom of the swing motor 8 is provided on the frame 7, the top output shaft is connected to the first transmission gear 9, the outer edge of the second transmission gear 10 is horizontally engaged with the first transmission gear 9, and the bottom is vertically connected to the swing worm 11, and the swing worm 11 is connected to the swing worm wheel 12.

[0033] Among them, the frame 7 is an L-shaped structure, and a swing motor 8 is provided on the back side of the frame 7. A first transmission gear 9 is provided on the top of the swing motor 8. The first transmission gear 9 rotates horizontally and engages with a horizontally arranged second transmission gear 10. The vertical part of the frame 7 is a hollow structure, and a vertical swing worm 11 is provided inside. The second transmission gear 10 is provided on the top of the swing worm 11 to realize the transmission of power from the swing motor 8, the first transmission gear 9, the second transmission gear 10, and the swing worm 11.

[0034] In addition, a rotating frame is provided on one side of the frame 7 away from the swing motor 8, and the rotating frame is provided with a swing worm gear 12, which is vertically arranged. Figure 1 As shown, the rotating frame protrudes outward and rotates to set a swing worm gear 12. The side of the swing worm gear 12 engages the swing worm 11. The swing worm gear 12 is connected to the swing arm 13, thereby driving the swing arm 13 to swing in the vertical direction.

[0035] Furthermore, the second transmission assembly includes a collection motor 14, a third transmission gear 15 and a clamping seat 16. The collection motor 14 is arranged on one side of the end of the swing arm 13, and the clamping seat 16 is arranged at the top of the end of the swing arm 13. The third transmission gear 15 is arranged at the output end of the collection motor 14, and the clamping seat 16 is provided with a collection knife.

[0036] like Figure 1 As shown, the collecting motor 14 is horizontally arranged on the side wall of the swing arm 13, and its output shaft protrudes horizontally forward. The third transmission gear 15 is connected to the output shaft, driving the third transmission gear 15 to rotate; the collecting knife includes a moving blade 18, a stationary blade 17, a picking screw 19 and a screw nut 20. The picking screw 19 is connected to the third transmission gear 15, and the picking screw 19 and the screw nut 20 are spirally matched. A stationary blade 17 is set on the top of the clamping seat 16, and the moving blade 18 is connected to the screw nut 20.

[0037] Among them, such as Figure 1 As shown, the end of the picking screw 19 is provided with a gear structure or meshing teeth that can cooperate with the third transmission gear 15, so as to transmit power through the third transmission gear 15, drive the picking screw 19 to rotate, and then drive the screw nut 20 to move, and drive the movable blade 18 to move back and forth to perform the picking action.

[0038] Specifically, when in use, as needed, the rotating motor 3 rotates, driving the travel guide rail 5 to rotate to a suitable position, and adjusting the position of the platform 6 on the travel guide rail 5; thereafter, the swing motor 8 is activated, driving the swing arm 13 to adjust to a suitable angle, and the movable blade 18 is activated under the drive of the collection motor 14 to perform the collection work.

[0039] Furthermore, a collecting funnel 21 is provided at the bottom end of the swing arm 13 , and a telescopic tube 22 is provided at the bottom of the collecting funnel 21 to improve the collection effect.

[0040] In addition, the swing angle of the swing arm 13 is +50° to -50°, and the horizontal rotation angle of the travel track is 360. Figure 2 As shown, in the initial state, the platform 6 is extended to the shortest distance, which is 1 mm, and the pitch angle of the swing arm 13 is 0°; Figure 3 As shown in FIG. 1 , in the extreme working state, the platform 6 extends the farthest, which is 210 mm, and the pitch angle of the swing arm 13 is +50° to -50°. This shows that the mechanical arm of the present invention has a large motion space and a compact structure.

[0041] Furthermore, if Figure 4 As shown, the clamping seat 16 is symmetrically provided with a U-shaped groove, and a static blade 17 is provided on the side wall of the U-shaped groove. The top of the dynamic blade 18 is a pointed structure and is symmetrically provided with oblique straight blades. It is driven by the screw nut 20 to operate in a straight line. It can form a closed polygon together with the static blade 17, so that the fruit stems are kept in the clamping seat 16 and do not fall out, thereby improving the picking accuracy and shearing efficiency.

[0042] Furthermore, the top of the funnel 21 has a circular cross-section, and the center of the funnel 21 corresponds to the intersection of the U-shaped groove of the clamping seat 16. After picking, the fruits and vegetables can directly slide through the corrugated elastic hose to the collection device for collection, thereby improving the collection efficiency.

[0043] Other structures and operations of the picking and collecting robotic arm according to the embodiment of the present invention are known to ordinary technicians in this field and will not be described in detail here.

[0044] Throughout this specification, references to terms such as "embodiment" and "example" indicate that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0045] Although the embodiments of the present invention have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and purpose of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A picking and collecting robot arm, characterized in that: The robotic arm includes a rotating part, a traveling part and a collecting part, the rotating part includes a rotating disk and a rotating motor, the traveling part includes a traveling track, a platform, a first transmission assembly and a swing arm, and the collecting part includes a second transmission assembly, a collecting knife and a collecting funnel; The rotating disk is fixedly connected to the travel track, the rotating motor drives the rotating disk to rotate, the bottom wall of the platform is provided with a slide groove, the slide groove moves along the travel track, the first transmission assembly is provided on the top of the platform, driving the swing arm to swing; the first transmission assembly and the second transmission assembly are respectively connected to the two ends of the swing arm, the collecting knife is provided on the side of the second transmission assembly away from the swing arm, and the collecting funnel is provided at the bottom of the collecting knife.

2. A picking and collecting mechanical arm according to claim 1, characterized in that: The rotating part further comprises a rotating motor, an output end of the rotating motor is connected to a rotating worm, and one side of the rotating worm is provided with the rotating disk.

3. A picking and collecting mechanical arm according to claim 2, characterized in that: A frame is provided on the top of the platform, and the first transmission assembly is provided on the frame, including a swing motor, a first transmission gear, a second transmission gear, a swing worm and a swing worm wheel. The bottom of the swing motor is provided on the frame, the top output shaft is connected to the first transmission gear, the outer edge of the second transmission gear is horizontally engaged with the first transmission gear, and the bottom is vertically connected to the swing worm, and the swing worm is connected to the swing worm wheel.

4. A picking and collecting mechanical arm according to claim 3, characterized in that: A rotating frame is protruding from one side of the frame away from the swing motor, and the swing worm gear is rotatably arranged on the rotating frame, and the swing worm gear is vertically arranged.

5. The picking and collecting mechanical arm according to claim 4, characterized in that: The second transmission assembly includes a collection motor, a third transmission gear and a clamping seat. The collection motor is arranged on one side of the end of the swing arm, the clamping seat is arranged at the top of the end of the swing arm, the third transmission gear is arranged at the output end of the collection motor, and the collection knife is arranged on the clamping seat.

6. The picking and collecting mechanical arm according to claim 5, characterized in that: The collecting knife includes a moving blade, a stationary blade, a picking screw and a screw nut. The picking screw is connected to the third transmission gear. The picking screw and the screw nut are spirally matched. The stationary blade is arranged on the top of the clamping seat, and the moving blade is connected to the screw nut.

7. A picking and collecting mechanical arm according to claim 6, characterized in that: The collecting funnel is arranged at the bottom of the end of the swing arm, and a telescopic tube is arranged at the bottom of the collecting funnel.

8. The picking and collecting mechanical arm according to claim 7, characterized in that: The swing angle of the swing arm is +50° to -50°, and the horizontal rotation angle of the travel track is 360°.

9. The picking and collecting mechanical arm according to claim 8, characterized in that: The clamping seat is symmetrically provided with U-shaped grooves, the stationary blades are arranged on the side walls of the U-shaped grooves, and the top end of the moving blades is a pointed top structure.

10. The picking and collecting mechanical arm according to claim 9, characterized in that: The top of the funnel is a circular cross-section, and the center of the funnel corresponds to the intersection of the U-shaped groove of the clamping seat.

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