Multi-degree-of-freedom flexible picking arm for picking filaments

Abstract

The utility model discloses a multi-degree-of-freedom flexible picking arm for picking filaments, and relates to the technical field of flexible picking arms, the multi-degree-of-freedom flexible picking arm comprises a shell, the inner wall of the shell is fixedly connected with a picking mechanism, the picking mechanism comprises a limiting shell, the outer surface of the limiting shell is fixedly connected with the inner wall of the shell, and the inner wall of the limiting shell is rotatably connected with three grabbing rods; the front face of each grabbing rod is fixedly connected with a rubber block, the side faces, away from one another, of the three grabbing rods are fixedly connected with springs, the end, away from the grabbing rod, of each spring is fixedly connected with the inner wall of the limiting shell, an electric telescopic rod is arranged in the shell, and the telescopic end of the electric telescopic rod penetrates through the limiting shell and is fixedly connected with a sliding ring. A camera is fixedly connected to the front face of the sliding ring, a mounting piece is fixedly connected to the back face of the electric telescopic rod, and six screws are arranged on the outer side of the mounting piece. According to the multi-degree-of-freedom flexible picking arm for picking the filaments, the filaments with relatively high integrity can be accurately searched and picked.

Description

Technical Field

[0001] The utility model relates to the technical field of flexible picking arms, in particular to a multi-freedom flexible picking arm for picking filaments. Background Art

[0002] The filament is part of the stamen. The stamen primordium is derived from cell division and differentiation. Its top swells to become the anther, and the base elongates to form the filament. The filament is the structure that supports the anther. It is generally thread-like, but some are fused into a tubular shape. The structure of the filament is relatively simple. The outermost layer is the epidermis, the inner layer is the parenchyma tissue, and there is a vascular bundle running through the center, directly into the anther.

[0003] According to the utility model with authorization announcement number CN218680154U, a fruit collection device for a flexible picking robot arm is disclosed, wherein a first-level lifting mechanism drives a second-level lifting mechanism to rise and fall, a conveying pipe mechanism and a collecting mechanism are provided on the top of the second-level lifting mechanism, and the second-level lifting mechanism drives the fruit collecting mechanism to rise and fall close to or away from the conveying pipe mechanism; the motor of the fruit collecting mechanism drives the collecting plate to rotate; the collecting cylinders are arranged at circumferential intervals along the upper surface of the collecting plate; the conveying pipe mechanism includes a fixing frame, a conveying pipe connected to the fixing frame, the conveying pipe is arranged in an arc shape, the top opening of the conveying pipe is arranged upward, and the bottom opening of the conveying pipe is arranged downward facing the collecting cylinder, and when the collecting cylinder is driven to the highest point by the second-level lifting mechanism, there is a gap between it and the top opening of the conveying pipe.

[0004] This device is used to cooperate with the picking mechanism to collect and transport the picked fruits, completing the picking of fruits or other fruits at high places and avoiding the risks of high-altitude operations. However, this device can only pick some larger fruits and has difficulty in accurately grasping smaller objects, especially small filaments. Because filaments are small and easy to break, they require very precise gripping rods and soft grippers. To this end, we provide a multi-degree-of-freedom flexible picking arm for filament picking to solve the above problems. Summary of the Invention

[0005] The purpose of the utility model is to make up for the deficiencies of the prior art and provide a multi-freedom flexible picking arm for picking filaments.

[0006] To achieve the above-mentioned objectives, the utility model provides the following technical solutions: a multi-degree-of-freedom flexible picking arm for picking filigree, comprising an outer shell, an inner wall of the outer shell fixedly connected to a picking mechanism, the picking mechanism comprising a limit shell, the outer surface of the limit shell fixedly connected to the inner wall of the outer shell, the inner wall of the limit shell rotatably connected to three grab bars, the front of each grab bar is fixedly connected to a rubber block, the side surfaces of the three grab bars away from each other are fixedly connected to a spring, and the end of each spring away from the grab bar is fixedly connected to the inner wall of the limit shell, an electric telescopic rod is provided inside the outer shell, the telescopic end of the electric telescopic rod passes through the limit shell and is fixedly connected to a sliding ring, the front of the sliding ring is fixedly connected to a camera, and the back of the electric telescopic rod is fixedly connected to a mounting plate, six screws are provided on the outer side of the mounting plate, and the end of each screw close to the mounting plate passes through the mounting plate and is threadedly connected to the inner wall of the outer shell.

[0007] Furthermore, a fixing seat is provided below the shell, and six bolts are threadedly connected to the inner wall of the fixing seat.

[0008] Furthermore, the upper surface of the fixing seat is fixedly connected to a base, the inner wall of the base is fixedly connected to a gear ring, the inner wall of the base is fixedly connected to a bearing, and the bearing is located above the gear ring.

[0009] Furthermore, the inner wall of the bearing is fixedly connected to a rotating table, the upper surface of the rotating table is fixedly connected to a first stepper motor, the output end of the first stepper motor power passes through the rotating table and is fixedly connected to a pinion, and the outer surface of the pinion is meshed with the outer surface of the gear ring.

[0010] Furthermore, an oblique support rod is fixedly connected to the upper surface of the rotating platform, and a second stepping motor is fixedly connected to the right side of the oblique support rod.

[0011] Furthermore, a supporting arm is provided on the left side of the diagonal support rod, and the output end of the power of the second stepper motor passes through the diagonal support rod and is fixedly connected to the inner wall of the supporting arm.

[0012] Furthermore, a third stepper motor is provided on the outer side of the supporting arm, and the right side of the third stepper motor is fixedly connected to the left side of the supporting arm.

[0013] Furthermore, a supporting arm is provided on the right side of the third stepper motor, and the output end of the power of the third stepper motor is fixedly connected to the inner wall of the supporting arm.

[0014] Compared with the existing technology, this multi-degree-of-freedom flexible picking arm for picking filaments has the following beneficial effects:

[0015] The utility model can effectively utilize the camera arranged in the middle of the three grab bars by arranging a limit shell, a grab bar, a spring, an electric telescopic rod, a sliding ring, a camera and a rubber block to cooperate with each other, thereby improving the accuracy of the picking arm in searching for flower wires. The electric telescopic rod is pushed forward to simultaneously limit and retract the three grab bars so that the three rubber blocks can grab one flower wire at the same time, ensuring that the gripping force on the outer surface of the flower wire is relatively uniform, thereby making the picked flower wire more complete. The multi-freedom flexible picking arm for flower wire picking can achieve the purpose of accurately picking flower wires with higher integrity. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the three-dimensional structure of the supporting arm of the utility model;

[0017] Figure 2 This is a schematic diagram of the three-dimensional structure of the shell of the utility model;

[0018] Figure 3 This is a schematic diagram of the three-dimensional structure of the limiting shell of the utility model;

[0019] Figure 4 This is a three-dimensional structural diagram of the first stepper motor of the utility model.

[0020] In the figure: 1. Shell; 2. Picking mechanism; 201. Limiting shell; 202. Grabbing rod; 203. Spring; 204. Electric telescopic rod; 205. Sliding ring; 206. Camera; 207. Rubber block; 208. Mounting plate; 209. Screw; 210. Fixing seat; 211. Bolt; 212. Base; 213. Gear ring; 214. Bearing; 215. Turntable; 216. First stepper motor; 217. Pinion; 218. Diagonal support rod; 219. Second stepper motor; 220. Support arm; 221. Third stepper motor; 222. Support arm. DETAILED DESCRIPTION

[0021] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0022] This embodiment provides a multi-degree-of-freedom flexible picking arm for picking filaments, which is used to improve the accuracy of picking filaments and preserve the integrity of filaments.

[0023] Reference Figure 1 、 Figure 2 、 Figure 3 and Figure 4A multi-degree-of-freedom flexible picking arm for picking filigree includes a shell 1, a picking mechanism 2 is fixedly connected to the inner wall of the shell 1, the picking mechanism 2 includes a limiting shell 201, a fixing seat 210 is provided below the shell 1, and six bolts 211 are threadedly connected to the inner wall of the fixing seat 210. The fixing seat 210 and the bolts 211 ensure that the base 212 of the device has a certain stability, ensuring that it is not easy to shake during operation.

[0024] Reference Figure 1 、 Figure 2 、 Figure 3 and Figure 4 The outer surface of the limit shell 201 is fixedly connected to the inner wall of the outer shell 1, and the inner wall of the limit shell 201 is rotatably connected to three grab bars 202. The front of each grab bar 202 is fixedly connected to a rubber block 207. The upper surface of the fixed seat 210 is fixedly connected to a base 212, and the inner wall of the base 212 is fixedly connected to a gear ring 213. The inner wall of the base 212 is fixedly connected to a bearing 214, and the bearing 214 is located above the gear ring 213. The base 212 is used to fix the gear ring 213 and the bearing 214. The stability of the base 212 is utilized to ensure that the gear ring 213 and the bearing 214 also have high stability.

[0025] Reference Figure 1 、 Figure 2 、 Figure 3 and Figure 4 The three grab bars 202 are fixedly connected to a spring 203 on one side away from each other, and one end of each spring 203 away from the grab bar 202 is fixedly connected to the inner wall of the limit shell 201. The inner wall of the bearing 214 is fixedly connected to a rotating table 215, and the upper surface of the rotating table 215 is fixedly connected to a first stepper motor 216. The output end of the power of the first stepper motor 216 passes through the rotating table 215 and is fixedly connected to a pinion 217. The outer surface of the pinion 217 is meshed with the outer surface of the gear ring 213. The power provided by the first stepper motor 216 can drive the pinion 217 to rotate. The pinion 217 is meshed with the gear ring 213 to achieve the purpose of rotating the pinion 217 to drive the rotating table 215 to rotate as a whole.

[0026] Reference Figure 1 、 Figure 2 、 Figure 3 and Figure 4 An electric telescopic rod 204 is provided inside the shell 1. The telescopic end of the electric telescopic rod 204 passes through the limit shell 201 and is fixedly connected to the sliding ring 205. The upper surface of the rotating platform 215 is fixedly connected to the diagonal support rod 218. The right side of the diagonal support rod 218 is fixedly connected to the second stepping motor 219. The diagonal support rod 218 serves the purpose of pulling a certain distance. The second stepping motor 219 can drive the supporting arm 220 that is rotatably connected to the diagonal support rod 218.

[0027] Reference Figure 1 、 Figure 2 、 Figure 3 and Figure 4 The front of the sliding ring 205 is fixedly connected to a camera 206, the back of the electric telescopic rod 204 is fixedly connected to a mounting plate 208, a supporting arm 220 is provided on the left side of the diagonal support rod 218, and the output end of the power of the second stepper motor 219 passes through the diagonal support rod 218 and is fixedly connected to the inner wall of the supporting arm 220. The supporting arm 220 is located at the main height supporting component of the equipment, ensuring that the equipment can pick higher silk threads.

[0028] Reference Figure 1 、 Figure 2 、 Figure 3 and Figure 4 Six screws 209 are provided on the outside of the mounting plate 208, and one end of each screw 209 close to the mounting plate 208 passes through the mounting plate 208 and is threadedly connected to the inner wall of the shell 1. A third stepper motor 221 is provided on the outside of the supporting arm 220, and the right side of the third stepper motor 221 is fixedly connected to the left side of the supporting arm 220. The power provided by the third stepper motor 221 can drive the supporting small arm 222. Utilizing the angle-controllable characteristic of the third stepper motor 221, the rotation angle of the supporting small arm 222 can be accurately controlled.

[0029] Reference Figure 1 、 Figure 2 、 Figure 3 and Figure 4 A supporting arm 222 is provided on the right side of the third stepper motor 221. The output end of the power of the third stepper motor 221 is fixedly connected to the inner wall of the supporting arm 222. The supporting arm 222 can provide lateral support to ensure that the device can grab the filaments flatly and ensure that the complete filaments can be picked.

[0030] Working principle: When in use, first, the first stepper motor 216, the second stepper motor 219 and the third stepper motor 221 are electrically connected through wires, and then the power provided by the first stepper motor 216 is used to drive the pinion 217 to rotate. Then, by utilizing the relationship between the meshing connection between the pinion 217 and the gear ring 213, the relationship between the fixed connection between the outer ring of the bearing 214 and the fixed seat 210, and the relationship between the fixed connection between the inner ring of the bearing 214 and the inner wall of the rotating platform 215, when the first stepper motor 216 drives the pinion 217 to rotate, it can drive the rotating platform 215 to rotate as a whole, thereby achieving the purpose of bottom rotation;

[0031] By utilizing the relationship that the output shaft of the second stepper motor 219 is fixedly connected to the supporting arm 220, the power provided by the second stepper motor 219 can drive the supporting arm 220 to rotate. By utilizing the relationship that the output shaft of the third stepper motor 221 is fixedly connected to the supporting small arm 222, the power provided by the third stepper motor 221 can drive the supporting small arm 222 to rotate.

[0032] When picking filaments, the camera 206 is set in the middle of the three grab bars 202, thereby improving the accuracy of the picking arm in searching for filaments. The electric telescopic rod 204 is pushed forward to limit and retract the three grab bars 202 at the same time, so that the three rubber blocks 207 can grab one filament at the same time, ensuring that the gripping force on the outer surface of the filament is relatively uniform, and the integrity of the picked filament will be higher. When the electric telescopic rod 204 is retracted, it also drives the sliding ring 205 to retract. At this time, the limit of the three grab bars 202 is also released. At this time, the three grab bars 202 are stretched open under the action of the spring 203, and this state is the search state for picking filaments next time.

[0033] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A multi-degree-of-freedom flexible picking arm for picking filaments, comprising a housing (1), characterized in that: The inner wall of the housing (1) is fixedly connected to a picking mechanism (2), and the picking mechanism (2) comprises a limiting housing (201), the outer surface of the limiting housing (201) is fixedly connected to the inner wall of the housing (1), and the inner wall of the limiting housing (201) is rotatably connected to three grab bars (202), the front face of each grab bar (202) is fixedly connected to a rubber block (207), and the side faces of the three grab bars (202) that are away from each other are fixedly connected to a spring (203), and the end of each spring (203) that is away from the grab bar (202) is fixedly connected to the inner wall of the limiting housing (201). The housing (1) is provided with an electric telescopic rod (204), the telescopic end of the electric telescopic rod (204) passes through the limit housing (201) and is fixedly connected to a sliding ring (205), the front of the sliding ring (205) is fixedly connected to a camera (206), the back of the electric telescopic rod (204) is fixedly connected to a mounting plate (208), and six screws (209) are provided on the outside of the mounting plate (208), and each of the screws (209) has an end close to the mounting plate (208) that passes through the mounting plate (208) and is threadedly connected to the inner wall of the housing (1).

2. The multi-degree-of-freedom flexible picking arm for picking filaments according to claim 1, characterized in that: A fixing seat (210) is provided below the housing (1), and six bolts (211) are threadedly connected to the inner wall of the fixing seat (210).

3. The multi-degree-of-freedom flexible picking arm for picking filaments according to claim 2, characterized in that: The upper surface of the fixing seat (210) is fixedly connected to a base (212), the inner wall of the base (212) is fixedly connected to a gear ring (213), the inner wall of the base (212) is fixedly connected to a bearing (214), and the bearing (214) is located above the gear ring (213).

4. The multi-degree-of-freedom flexible picking arm for picking filaments according to claim 3, characterized in that: The inner wall of the bearing (214) is fixedly connected to a rotating platform (215), the upper surface of the rotating platform (215) is fixedly connected to a first stepper motor (216), the power output end of the first stepper motor (216) passes through the rotating platform (215) and is fixedly connected to a pinion (217), and the outer surface of the pinion (217) is meshed with the outer surface of the gear ring (213).

5. The multi-degree-of-freedom flexible picking arm for picking filaments according to claim 4, characterized in that: The upper surface of the rotating platform (215) is fixedly connected to an oblique support rod (218), and the right side of the oblique support rod (218) is fixedly connected to a second stepping motor (219).

6. The multi-degree-of-freedom flexible picking arm for picking filaments according to claim 5, characterized in that: A supporting arm (220) is provided on the left side of the diagonal support rod (218), and the output end of the power of the second stepper motor (219) passes through the diagonal support rod (218) and is fixedly connected to the inner wall of the supporting arm (220).

7. The multi-degree-of-freedom flexible picking arm for picking filaments according to claim 6, characterized in that: A third stepping motor (221) is provided on the outside of the supporting arm (220), and the right side of the third stepping motor (221) is fixedly connected to the left side of the supporting arm (220).

8. The multi-degree-of-freedom flexible picking arm for picking filaments according to claim 7, characterized in that: A supporting arm (222) is provided on the right side of the third stepping motor (221), and the output end of the power of the third stepping motor (221) is fixedly connected to the inner wall of the supporting arm (222).

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