Mechanical arm suction device based on steering engine

Abstract

The utility model discloses a mechanical arm suction device based on a steering engine, belongs to the field of mechanical arms, and provides convenience for feeding mulberry leaves in a silkworm rearing room. Comprising a mounting base, a pneumatic suction assembly, a first shaft, a second shaft, a third shaft, a fourth shaft and a fifth shaft, the first shaft is driven by a first steering engine to transversely rotate; the second shaft is driven by a second steering engine to transversely rotate; the third shaft is driven by a third steering engine to transversely rotate; the fourth shaft is driven by a fourth steering engine to longitudinally rotate; the fifth shaft is driven by a fifth steering engine to longitudinally rotate; the head end of the first shaft is fixed on the mounting base; the tail end of the fifth shaft is connected with the pneumatic suction assembly. The cascade mechanical arm in a series connection mode is achieved through large torque and low sinking of the steering engine, can be conveniently applied to silkworm rearing rooms and the like for feeding mulberry leaves and other materials, and is simple in structure, economical, practical and easy and convenient to install. The joint shafts are assembled in a modularized manner, so that parts can be quickly disassembled, assembled and replaced easily; the device can be widely applied to places with less industrial matching and small space.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of mechanical arm, specifically is based on the mechanical arm suction device of rudder. BACKGROUND

[0002] In traditional silkworm breeding operation, the process of picking, grabbing and feeding silkworms is completed by artificial, which has the problems of high labor intensity, low efficiency, high labor cost and so on. At present, in order to solve the problem of completely relying on artificial in traditional silkworm breeding, automatic equipment is introduced, however, the automatic equipment applied in silkworm breeding industry is mainly industrial grade mechanical arm or agricultural field harvesting robot, which has complex structure, large size and high price, and is mainly used for mulberry leaf harvesting, and is not suitable for adding mulberry leaves, and also difficult to meet the demand of low cost, small size and high reliability of small and medium-sized silkworm breeders. CONTENT OF UTILITY MODEL

[0003] The utility model aims at providing a kind of based on the mechanical arm suction device of rudder, it is simple in structure, convenient to use, it is suitable for silkworm room mulberry feeding.

[0004] The technical scheme adopted by the utility model is: based on the mechanical arm suction device of rudder, including installation base, first shaft, second shaft, third shaft, fourth shaft, fifth shaft and pneumatic suction assembly;

[0005] The first shaft is a transverse rotating member driven by the first rudder to rotate transversely;

[0006] The second shaft is a transverse rotating member driven by the second rudder to rotate transversely;

[0007] The third shaft is a transverse rotating member driven by the third rudder to rotate transversely;

[0008] The fourth shaft is a longitudinal rotating member driven by the fourth rudder to rotate longitudinally;

[0009] The fifth shaft is a longitudinal rotating member driven by the fifth rudder to rotate longitudinally;

[0010] The first shaft, the second shaft, the third shaft, the fourth shaft and the fifth shaft are connected in series;

[0011] The first end of the first shaft is fixed to the installation base;The end of the fifth shaft is connected with the pneumatic suction assembly.

[0012] Further, the first shaft includes a first main body, a first rudder and a first U-shaped connecting piece;The first main body is a hollow structure, and the first rudder is arranged in the inner cavity of the first main body;

[0013] The inner wall of the first U-shaped connecting piece is provided with an inner buckle flange shaft;

[0014] The first main part is arranged in the U-shaped slot of the first U-shaped connecting piece, and the shaft of the first steering engine is connected to the inner flange shaft of the first U-shaped connecting piece through the mounting bearing fixed to the first main part.

[0015] Further, the second shaft includes a second steering engine, a second U-shaped connecting piece, a second square connecting piece, and a second connecting sub-piece; the other end of the second square connecting piece connected to the first shaft is fixed with the second connecting sub-piece; the second steering engine is fixed to the second connecting sub-piece; the shaft of the second steering engine is provided with a second wheel disc at each end; the second steering engine is located in the U-shaped slot of the second U-shaped connecting piece, and the second wheel disc of the second steering engine is connected to the second U-shaped connecting piece, so that the rotation torque of the second steering engine is transmitted to the third shaft through the second U-shaped connecting piece.

[0016] Further, the third shaft adopts the same structure as the second shaft, including a third steering engine, a third U-shaped connecting piece, a third square connecting piece, and a third connecting sub-piece; the other end of the third square connecting piece connected to the second shaft is fixed with the third connecting sub-piece; the third steering engine is fixed to the third connecting sub-piece; the shaft of the third steering engine is provided with a third wheel disc at each end; the third steering engine is located in the U-shaped slot of the third U-shaped connecting piece, and the third wheel disc of the third steering engine is connected to the third U-shaped connecting piece, so that the rotation torque of the third steering engine is transmitted to the fourth shaft through the third U-shaped connecting piece.

[0017] Further, the fourth shaft includes a fourth connecting sub-piece, a fourth steering engine, and a fourth U-shaped connecting piece; the fourth connecting sub-piece is fixed to the end of the second U-shaped connecting piece of the third shaft; the fourth steering engine is installed on the fourth connecting sub-piece; and the fourth steering engine is located in the fourth U-shaped connecting piece, and the fourth wheel disc of the fourth steering engine is connected to the fourth U-shaped connecting piece, so that the rotation torque of the fourth steering engine is transmitted to the fifth shaft through the fourth U-shaped connecting piece.

[0018] Further, the fifth shaft adopts the same structure as the fourth shaft, including a fifth connecting sub-piece, a fifth steering engine, and a fifth U-shaped connecting piece; the fifth connecting sub-piece is fixed to the end of the fourth U-shaped connecting piece; the fifth steering engine is installed on the fifth connecting sub-piece; and the fifth steering engine is located in the fifth U-shaped connecting piece, and the fifth wheel disc of the fifth steering engine is connected to the fifth U-shaped connecting piece, so that the rotation torque of the fifth steering engine is transmitted to the pneumatic suction assembly through the fifth U-shaped connecting piece.

[0019] Further, the pneumatic suction assembly includes a pneumatic connecting piece, a direct-current vacuum pump, a suction disc set, and a gas path assembly; the direct-current vacuum pump is installed on the pneumatic connecting piece; the suction disc set is installed at the end of the pneumatic connecting piece; and the direct-current vacuum pump is connected to the suction disc set through the pipeline in the gas path assembly.

[0020] The utility model discloses an advantageous effect is: the utility model discloses, through big torque, lowly this rudder machine realizes the cascade mechanical arm of series connection mode, can be conveniently applied to silkworm room etc. and carries out mulberry leaf etc. material feeding, simple structure, economic and practical, easy installation, and each joint shaft modular assembly, easy to quick dismounting, replacement spare part, provide gas source through the self -contained direct current vacuum pump, does not depend on external gas source condition, and the adaptability of operating environment is strong, can be widely applied to the field of breeding, and the industrial matching of simple assembly line of supporting simple is little, and the space is small. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is structure schematic drawing of the utility model;

[0022] Figure 2 It is first axis exploded schematic drawing;

[0023] Figure 3 It is second axis / third axis exploded schematic drawing;

[0024] Figure 4 It is fourth axis / fifth axis exploded schematic drawing.

[0025] In the drawing, first axis 1, second axis 2, third axis 3, fourth axis 4, fifth axis 5, installation base 6, pneumatic connector 7, direct current vacuum pump 8, suction cup kit 9, gas path assembly 10, first rudder machine 1A, first main body piece 1B, first U-shaped connector 1C, rudder machine shaft 1D, flange shaft 1E, installation bearing 1F, second square connector 2A, second rudder machine 2B, second U-shaped connector 2C, second connecting vice piece 2D, rudder machine screw hole 2E, U-shaped connector screw hole 2F, second wheel disc 2G, third square connector 3A, third rudder machine 3B, third U-shaped connector 3C, third connecting vice piece 3D, third wheel disc 3G, fourth connecting vice piece 4A, fourth rudder machine 4B, fourth U-shaped connector 4C, fifth connecting vice piece 5A, fifth rudder machine 4B, fifth U-shaped connector 4C. DETAILED DESCRIPTION

[0026] The utility model will be further described as follows in connection with the drawings and examples:

[0027] In the utility model, the orientation or positional relationship indicated by the terms "upper", "lower", "transverse", "longitudinal" and the like is based on the orientation or positional relationship shown in the drawings of the accompanying Figure 1 、 2 , 3 or 4. It is only for the convenience of describing the utility model, and is not indicative or suggestive of the device or element indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the utility model.

[0028] The arm based on the steering wheel, the mechanical arm suction device, including installation base 6, first axis 1, second axis 2, third axis 3, fourth axis 4, fifth axis 5 and pneumatic suction assembly;

[0029] The first axis 1 is the transverse rotation member driven by the first steering wheel 1A to rotate transversely;

[0030] The second axis 2 is the transverse rotation member driven by the second steering wheel 2B to rotate transversely;

[0031] The third axis 3 is the transverse rotation member driven by the third steering wheel 3B to rotate transversely;

[0032] The fourth axis 4 is the longitudinal rotation member driven by the fourth steering wheel 4B to rotate longitudinally;

[0033] The fifth axis 5 is the longitudinal rotation member driven by the fifth steering wheel 5B to rotate longitudinally;

[0034] The first axis 1, the second axis 2, the third axis 3, the fourth axis 4 and the fifth axis 5 are connected in series;

[0035] The first end of the first axis 1 is fixed to the installation base 6;The end of the fifth axis 5 is connected with the pneumatic suction assembly.

[0036] Wherein, the installation base 6 can be installed on the workbench in any direction, flexible operation, good adaptability. The installation base 6 can be made of cast iron material, with shock absorbing pad inside, to reduce the interference of mechanical vibration on the working environment. The mechanical arm body is a steering wheel based on the joint series chain of the mechanical arm, including five arm shafts from the first axis to the fifth axis. Each shaft is independently driven by a high torque steering wheel, and the steering wheel shaft transmits kinetic energy to the connecting flange through synchronous pulley or bearing, to drive the joint shaft to run accurately. The direction of the arm shaft, the first axis 1, the second axis 2 and the third axis 3 adopt uniform transverse rotation, to ensure the full transverse bending freedom of the mechanical arm;The fourth axis 4 and the fifth axis 5 adopt uniform longitudinal rotation direction, to ensure that the working end of the mechanical arm can reach any height in the working range with a horizontal posture.

[0037] As shown in Figure 2 The first axis 1 includes first body member 1B, first steering wheel 1A and first U-shaped connecting member 1C;The first body member 1B is a hollow structure, and the first steering wheel 1A is arranged in the inner cavity of the first body member 1B;

[0038] The inner wall of the first U-shaped connecting member 1C is provided with inner buckle flange shaft 1E;

[0039] The first main body 1B is disposed in the U-shaped groove of the first U-shaped connector 1C, and the two ends of the servo shaft 1D of the first servo motor 1A pass through the first main body 1B and are connected to the inner flange shaft 1E of the first U-shaped connector 1C through the mounting bearing 1F fixed to the first main body 1B.

[0040] The first axis 1 to the fifth axis 5 are installed as a whole through cascading.

[0041] like Figure 3 As shown, the second shaft 2 includes a second servo motor 2B, a second U-shaped connector 2C, a second square connector 2A, and a second connecting component 2D; the other end of the second square connector 2A connected to the first shaft 1 is fixed with the second connecting component 2D; the second servo motor 2B is fixed to the second connecting component 2D; the two ends of the servo shaft of the second servo motor 2B are respectively provided with second wheel disks 2G; the second servo motor 2B is located in the U-shaped groove of the second U-shaped connector 2C, and its second wheel disk 2G is connected to the second U-shaped connector 2C, and the rotational torque of the second servo motor 2B is transmitted to the third shaft 3 through the second U-shaped connector 2C.

[0042] The third axis 3 adopts the same structure as the second axis 2, including a third servo motor 3B, a third U-shaped connector 3C, a third U-shaped connector 3A, and a third wheel 3G respectively provided on the DC vacuum pump 8; the third servo motor 3B is located in the U-shaped groove of the third U-shaped connector 3C, and its third wheel 3G is connected to the third U-shaped connector 3C, and the rotational torque of the third servo motor 3B is transmitted to the fourth axis 4 through the third U-shaped connector 3C.

[0043] To meet operational requirements and enable the robotic arm's end effector to reach any point in the workspace, the robotic arm's first three axes—axis 1, axis 2, and axis 3—adopt a lateral rotation method. This means that the first servo motor 1A of axis 1, the second servo motor 2B of axis 2, and the third servo motor 3B of axis 3 are lateral axis servos, i.e., their rotational servo axes are along... Figure 2 The vertical orientation is shown. The last two axes of the robotic arm, namely the fourth axis (4) and the fifth axis (5), are longitudinal axis servos, meaning that the servo axes that rotate are along... Figure 4 The longitudinal arrangement shown has its rotation direction perpendicular to the rotation direction of the servo motors on the first three axes. The design of the two longitudinal rotation axes ensures that the suction end picks up mulberry leaves in a horizontal posture. Since the fourth axis (4) and fifth axis (5) do not require an extended arm length at the end, the second square connector 2A in the second axis is eliminated, and the fourth connector 4A is used to directly connect to the previous axis. Furthermore, because less torque is required near the end, longitudinal axis servo motors with relatively lower torque are selected for the fourth axis (4) and fifth axis (5). See attached diagram for details. Figure 4The fourth shaft 4 comprises a fourth connecting member 4A, a fourth steering engine 4B and a fourth U-shaped connecting member 4C. The fourth connecting member 4A is fixed to the end of the second U-shaped connecting member 2C of the third shaft 3. The fourth steering engine 4B is installed on the fourth connecting member 4A. The fourth steering engine 4B is located in the fourth U-shaped connecting member 4C, and the fourth wheel disc of the fourth steering engine 4B is connected to the fourth U-shaped connecting member 4C. The rotating torque of the fourth steering engine 4B is transmitted to the fifth shaft 5 through the fourth U-shaped connecting member 4C.

[0044] The fifth shaft 5 has the same structure as the fourth shaft 4, comprising a fifth connecting member 5A, a fifth steering engine 5B and a fifth U-shaped connecting member 5C. The fifth connecting member 5A is fixed to the end of the fourth U-shaped connecting member 4C. The fifth steering engine 5B is installed on the fifth connecting member 5A. The fifth steering engine 5B is located in the fifth U-shaped connecting member 5C, and the fifth wheel disc of the fifth steering engine 5B is connected to the fifth U-shaped connecting member 5C. The rotating torque of the fifth steering engine 5B is transmitted to the pneumatic suction assembly through the fifth U-shaped connecting member 5C.

[0045] The pneumatic suction assembly comprises a pneumatic connecting member 7, a direct-current vacuum pump 8, a suction disc set 9 and a gas path assembly 10. The direct-current vacuum pump 8 is installed on the pneumatic connecting member 7. The suction disc set 9 is installed at the end of the pneumatic connecting member 7. The direct-current vacuum pump 8 is connected to the suction disc set 9 through the pipeline in the gas path assembly 10. The suction disc in the suction disc set 9 is a flexible suction disc, which can be made of silica gel. The diameter of the suction disc is adapted to the size of the mulberry leaf, for example, the diameter of the suction disc can be φ30-150mm. The suction pressure is adjustable, and the pressure is-80kPa to-200kPa. The silkworm breeding room generally does not have industrial supporting facilities such as air compressors, so the direct-current vacuum pump 8 is used as the suction disc air source. The direct-current vacuum pump 8 and the gas path assembly 10 are integrated in the square connecting member at the end of the fifth shaft, and the power supply line deployed in the mechanical arm provides power for the direct-current vacuum pump 8. When powered on, the direct-current vacuum pump 8 can generate a negative pressure in the range of-80kPa to-200kPa, which is connected to the suction disc set 9 through the pipeline in the gas path assembly 10, so as to generate suction force. The suction disc set 9 is installed at the front end of the pneumatic connecting member 7 through the hole position, and is in elastic contact with the object to be sucked.

Claims

1. A mechanical arm suction device based on a steering engine, characterized by: It comprises a mounting base (6), a first shaft (1), a second shaft (2), a third shaft (3), a fourth shaft (4), a fifth shaft (5) and a pneumatic suction assembly; The first shaft (1) is a transverse rotating member driven by a first steering engine (1A) to rotate transversely; The second shaft (2) is a transverse rotating member driven by a second steering engine (2B) to rotate transversely; The third shaft (3) is a transverse rotating member driven by a third steering engine (3B) to rotate transversely; The fourth shaft (4) is a longitudinal rotating member driven by a fourth steering engine (4B) to rotate longitudinally; The fifth shaft (5) is a longitudinal rotating member driven by a fifth steering engine (5B) to rotate longitudinally; The first shaft (1), the second shaft (2), the third shaft (3), the fourth shaft (4) and the fifth shaft (5) are connected in series; The first end of the first shaft (1) is fixed to the mounting base (6); and the end of the fifth shaft (5) is connected to the pneumatic suction assembly.

2. The steering engine-based mechanical arm suction device according to claim 1, characterized in that: The first shaft (1) comprises a first main body member (1B), a first steering engine (1A) and a first U-shaped connecting member (1C); the first main body member (1B) is of a hollow structure, and the first steering engine (1A) is arranged in the inner cavity of the first main body member (1B); An inner buckle flange shaft (1E) is arranged on the inner wall of the first U-shaped connecting member (1C); The first main body member (1B) is arranged in the U-shaped groove of the first U-shaped connecting member (1C), and the steering engine shaft (1D) of the first steering engine (1A) is connected to the inner buckle flange shaft (1E) of the first U-shaped connecting member (1C) through the mounting bearing (1F) fixed to the first main body member (1B) and penetrating through the first main body member (1B).

3. The rudder-based mechanical arm suction device according to claim 2, characterized in that: The second shaft (2) comprises a second steering engine (2B), a second U-shaped connecting member (2C), a second square connecting member (2A) and a second connecting auxiliary member (2D); the other end of the second square connecting member (2A) connected with the first shaft (1) is fixed with the second connecting auxiliary member (2D); the second steering engine (2B) is fixed to the second connecting auxiliary member (2D); the steering engine shaft of the second steering engine (2B) is provided with a second wheel disc (2G) at each end; the second steering engine (2B) is located in the U-shaped notch of the second U-shaped connecting member (2C), and its second wheel disc (2G) is connected with the second U-shaped connecting member (2C), and the rotating torque of the second steering engine (2B) is transmitted to the third shaft (3) through the second U-shaped connecting member (2C).

4. The rudder-based mechanical arm suction device according to claim 3, characterized in that: The third shaft (3) adopts the same structure as the second shaft (2), comprising a third steering engine (3B), a third U-shaped connecting piece (3C), a third square connecting piece (3A) and a third connecting secondary piece (3D); the other end of the third square connecting piece (3A) connected with the second shaft (2) is fixed with the third connecting secondary piece (3D); the third steering engine (3B) is fixed to the third connecting secondary piece (3D); the steering engine shaft of the third steering engine (3B) is provided with a third wheel disc (3G) at both ends; the third steering engine (3B) is located in the U-shaped notch of the third U-shaped connecting piece (3C), and its third wheel disc (3G) is connected with the third U-shaped connecting piece (3C), and the rotating torque of the third steering engine (3B) is transmitted to the fourth shaft (4) through the third U-shaped connecting piece (3C).

5. The rudder-based mechanical arm suction device according to claim 4, characterized in that: The fourth shaft (4) comprises a fourth connecting secondary piece (4A), a fourth steering engine (4B) and a fourth U-shaped connecting piece (4C); the fourth connecting secondary piece (4A) is fixed to the end of the second U-shaped connecting piece (2C) of the third shaft (3); the fourth steering engine (4B) is installed on the fourth connecting secondary piece (4A); and the fourth steering engine (4B) is located in the fourth U-shaped connecting piece (4C), and its fourth wheel disc is connected with the fourth U-shaped connecting piece (4C), and the rotating torque of the fourth steering engine (4B) is transmitted to the fifth shaft (5) through the fourth U-shaped connecting piece (4C).

6. The rudder-based mechanical arm suction device according to claim 5, characterized in that: The fifth shaft (5) adopts the same structure as the fourth shaft (4), comprising a fifth connecting secondary piece (5A), a fifth steering engine (5B) and a fifth U-shaped connecting piece (5C); the fifth connecting secondary piece (5A) is fixed to the end of the fourth U-shaped connecting piece (4C); the fifth steering engine (5B) is installed on the fifth connecting secondary piece (5A); and the fifth steering engine (5B) is located in the fifth U-shaped connecting piece (5C), and its fifth wheel disc is connected with the fifth U-shaped connecting piece (5C), and the rotating torque of the fifth steering engine (5B) is transmitted to the pneumatic suction assembly through the fifth U-shaped connecting piece (5C).

7. The rudder-based mechanical arm suction device according to any one of claims 1-6, characterized in that: The pneumatic suction assembly comprises a pneumatic connecting piece (7), a direct-current vacuum pump (8), a suction disc set (9) and a gas path assembly (10); the direct-current vacuum pump (8) is installed on the pneumatic connecting piece (7); the suction disc set (9) is installed at the end of the pneumatic connecting piece (7); the direct-current vacuum pump (8) is connected with the suction disc set (9) through the pipeline in the gas path assembly (10).

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