Fruit and vegetable picking mechanical arm based on SCARA structure

Abstract

The utility model discloses a fruit and vegetable picking mechanical arm based on an SCARA structure, and mainly relates to the technical field of fruit and vegetable picking. Comprising a supporting frame and a support vertically arranged on the supporting frame, the support is in sliding connection with the supporting frame, a translation mechanism used for driving the support to horizontally slide is arranged on the supporting frame, a mounting base is arranged on the support, the mounting base is in sliding connection with the support, and a lifting mechanism used for driving the mounting base to move up and down is arranged on the support. An upper arm of an SCARA structure is arranged on the mounting base, a spherical gear mechanism is arranged at the end, away from the mounting base, of the upper arm, and a mechanical gripper is arranged at the output end of the spherical gear mechanism; the multi-degree-of-freedom mechanical gripper has multiple degrees of freedom and can meet the positioning requirement of the mechanical gripper in the fruit and vegetable picking process.

Description

TECHNICAL FIELD

[0001] The utility model relates to fruit and vegetable picking technical field, concretely is a kind of fruit and vegetable picking mechanical arm based on SCARA structure. BACKGROUND

[0002] At present, intelligent fruit and vegetable picking is carried out in wisdom agricultural orchard, generally fruit and vegetable are picked by being carried on picking vehicle that can move, and the automatic picking is completed by combining visual identification, path planning etc., but the environment in orchard has the characteristics of many obstacles, complex structure, and terrain, branch etc. can influence the positioning of mechanical gripper on mechanical arm, which leads to that traditional SCARA structure mechanical arm cannot meet use demand. INVENTION CONTENTS

[0003] The utility model aims at solving the problems in prior art, provide a kind of fruit and vegetable picking mechanical arm based on SCARA structure, with multiple degrees of freedom, can satisfy the positioning demand of mechanical gripper in fruit and vegetable picking.

[0004] A kind of fruit and vegetable picking mechanical arm based on SCARA structure, including support frame and support frame vertically arranged on support frame, the support frame is slidably connected with support frame, and translation mechanism for driving support frame horizontal sliding is provided on support frame, installation seat is provided on the support frame, the installation seat is slidably connected with support frame, and lifting mechanism for driving installation seat moves up and down is provided on support frame, SCARA structure's upper arm is provided on the installation seat, the output end of spherical gear mechanism is provided with mechanical gripper, one end of the upper arm away from the installation seat.

[0005] Preferably, the translation mechanism includes a first lead screw horizontally arranged on the top of the support frame, the first lead screw is rotatably connected with the support frame, and a first motor is provided at one end of the first lead screw, the support frame is provided with a first nut adapted to the first lead screw.

[0006] Preferably, the support frame is provided with a first sliding rail parallel to the first lead screw, and the support frame is provided with a first sliding block adapted to the first sliding rail.

[0007] Preferably, the lifting mechanism includes a second lead screw vertically arranged on the support frame, the second lead screw is rotatably connected with the support frame, and a second motor is provided at one end of the second lead screw, the installation seat is provided with a second nut adapted to the second lead screw.

[0008] Preferably, the support frame is vertically provided with a second sliding rail, and the installation seat is provided with a second sliding block adapted to the second sliding rail.

[0009] Preferably, the upper arm comprises a first supporting arm rotatably connected with the mounting base through a first vertical shaft, and a first driving mechanism for driving the first supporting arm to rotate around the axis of the first vertical shaft is arranged on the mounting base, and the first supporting arm is rotatably connected with a second supporting arm through a second vertical shaft at an end away from the mounting base, and a second driving mechanism for driving the second supporting arm to rotate around the axis of the second vertical shaft is arranged on the first supporting arm and / or the mounting base.

[0010] Preferably, the first driving mechanism comprises a first motor fixed on the mounting base, a first pulley arranged on the first motor, and a second pulley sleeved on the first vertical shaft, the second pulley being rotatably connected with the first vertical shaft, the second pulley being fixedly connected with the first supporting arm, and the second pulley and the first pulley being transmissionally connected through a first synchronous belt.

[0011] Preferably, the second driving mechanism comprises a second motor fixed on the mounting base, a third pulley arranged on the second motor, a fourth pulley and a fifth pulley sleeved on the first vertical shaft, and a sixth pulley sleeved on the second vertical shaft, the fourth pulley and the fifth pulley being rotatably connected with the first vertical shaft, the fourth pulley being fixedly connected with the fifth pulley, the third pulley and the fourth pulley being transmissionally connected through a second synchronous belt, the sixth pulley being fixedly connected with the second vertical shaft, the fifth pulley and the sixth pulley being transmissionally connected through a third synchronous belt, the second vertical shaft being rotatably connected with the first supporting arm, and the second vertical shaft being fixedly connected with the second supporting arm.

[0012] Preferably, the spherical gear mechanism comprises a spherical gear housing and a spherical gear arranged in the spherical gear housing, two sets of driving gear mechanisms for driving the spherical gear to rotate are arranged on the spherical gear housing, each driving gear mechanism comprises a driving gear and a driving motor for driving the driving gear to rotate, and the axes of the driving gears of the two driving gear mechanisms are perpendicular to each other.

[0013] Preferably, the mechanical gripper comprises a gripper base, a movable claw is symmetrically arranged at the front end of the gripper base, the movable claw is slidably connected with the gripper base, a gripper motor is arranged on the gripper base, a rocker arm is arranged on the output shaft of the gripper motor, the middle part of the rocker arm is connected with the output shaft of the gripper motor, connecting rods are arranged at both ends of the rocker arm, a connecting part corresponding to the connecting rod is arranged on each movable claw, one end of the connecting rod is hingedly connected with the rocker arm, and the other end is hingedly connected with the connecting part at the corresponding end.

[0014] Compared with the prior art, the utility model has the advantages of:

[0015] The utility model introduces the translation mechanism and the lifting mechanism to realize efficient horizontal motion and vertical motion, ensure the reliability of mechanical arm operation, introduce the spherical gear mechanism as the wrist, simplify the complex joint configuration of traditional six axis mechanical arm, reduce the manufacturing cost, still strengthen the flexibility and response performance of mechanical arm, introduce the SCARA structure as the upper arm of mechanical arm, realize the design scheme of low cost, high efficiency, the whole structure has the outstanding load capacity and dynamic performance, can satisfy the diversification demand of complex operation scene. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is the structural schematic diagram of the utility model;

[0017] Figure 2 It is the structural schematic diagram of translation mechanism, lifting mechanism;

[0018] Figure 3 It is the structural schematic diagram of upper arm;

[0019] Figure 4 It is the structural schematic diagram of spherical gear mechanism;

[0020] Figure 5 It is the structural schematic diagram of mechanical gripper;

[0021] Reference numerals in the drawings: 1, support frame; 11, translation mechanism; 2, support; 21, lifting mechanism; 3, mounting seat; 4, upper arm; 41, first support arm; 42, second support arm; 43, first motor; 44, second motor; 5, spherical gear mechanism; 51, spherical gear shell; 52, spherical gear; 53, driving gear mechanism; 6, mechanical gripper; 61, gripper seat; 62, movable claw; 63, rocker arm; 64, connecting rod; 65, connecting part. DETAILED DESCRIPTION

[0022] The utility model is further described below in combination with specific embodiments. It should be understood that these embodiments are only used to illustrate the utility model and are not used to limit the scope of the utility model. In addition, it should be understood that after reading the content taught by the utility model, those skilled in the art can make various changes or modifications to the utility model, and these equivalent forms also fall within the scope defined by the present application.

[0023] Embodiment: as shown in the attached Figures 1-5 The utility model discloses a kind of fruit and vegetable picking mechanical arms based on SCARA structure, including support frame 1 and the support 2 of vertical arrangement on support frame 1, the support 2 is slidably connected with support frame 1, and translation mechanism 11 for driving support 2 horizontal sliding is provided on support frame 1.

[0024] Specifically, the support frame 1 can be composed of a support beam and support legs mounted at the bottom of the support beam, the bottom of the support leg is provided with a support, and the support is provided with a screw hole, the translation mechanism 11 includes a first lead screw horizontally arranged at the side of the support beam, the first lead screw is rotationally connected with the support beam, and a first motor is arranged at one end of the first lead screw, the first motor is fixed on the end of the support beam through a screw, and the support 2 is provided with a first nut matched with the first lead screw, and the first motor can drive the support 2 to translate when started. Preferably, in order to ensure the stability of the translation of the support, the support frame 1 is provided with a first sliding rail parallel to the first lead screw, and the back of the support 2 is provided with a first sliding block matched with the first sliding rail.

[0025] The support 2 is provided with a mounting seat 3, the mounting seat 3 is slidingly connected with the support 2, and a lifting mechanism 21 for driving the mounting seat 3 to move up and down is arranged on the support 2, specifically, the lifting mechanism 21 includes a second lead screw vertically arranged on the support 2, the second lead screw is rotationally connected with the support 2, and a second motor is arranged at one end of the second lead screw, the mounting seat 3 is provided with a second nut matched with the second lead screw, and the second motor can drive the mounting seat 3 to move up and down when started. Preferably, in order to ensure the stability of the height adjustment of the mounting seat, a second sliding rail is vertically arranged on the support 2, and a second sliding block matched with the second sliding rail is arranged on the mounting seat 3.

[0026] The mounting seat 3 is provided with an upper arm 4 of SCARA structure, specifically, the upper arm 4 includes a first support arm 41 rotationally connected with the mounting seat 3 through a first vertical shaft, and a first drive mechanism for driving the first support arm 41 to rotate around the axis of the first vertical shaft is arranged on the mounting seat 3, the first support arm 41 is connected with a second support arm 42 at the end away from the mounting seat 3 through a second vertical shaft, and the first support arm 41 and / or the mounting seat 3 is provided with a second drive mechanism for driving the second support arm 42 to rotate around the axis of the second vertical shaft.

[0027] Preferably, in order to reduce the cost, the first driving mechanism comprises a first motor 43 fixed on the mounting base 3, a first pulley mounted on the first motor 43, and a second pulley sleeved on the first vertical shaft, the second pulley is in rotational connection with the first vertical shaft, the second pulley is in fixed connection with the first supporting arm 41, and the second pulley and the first pulley are in transmission connection through a first synchronous belt. The second driving mechanism comprises a second motor 44 fixed on the mounting base 3, a third pulley mounted on the second motor 44, a fourth pulley and a fifth pulley sleeved on the first vertical shaft, and a sixth pulley sleeved on the second vertical shaft, the fourth pulley and the fifth pulley are in rotational connection with the first vertical shaft, the fourth pulley is in fixed connection with the fifth pulley, the third pulley and the fourth pulley are in transmission connection through a second synchronous belt, the sixth pulley is in fixed connection with the second vertical shaft, the fifth pulley and the sixth pulley are in transmission connection through a third synchronous belt, the second vertical shaft is in rotational connection with the first supporting arm 41, and the second vertical shaft is in fixed connection with the second supporting arm 42.

[0028] The upper arm 4 is provided with a spherical gear mechanism 5 at one end away from the mounting base 3, the spherical gear mechanism 5 is a prior art, which is a spherical joint mechanism and can realize movement in a three-degree-of-freedom range, and has various applications. The spherical gear mechanism 5 comprises a spherical gear housing 51 and a spherical gear 52 arranged in the spherical gear housing 51. The spherical gear housing 51 is provided with two sets of driving gear mechanisms 53 for driving the spherical gear 52 to rotate. Each driving gear mechanism 53 comprises a driving gear and a driving motor for driving the driving gear to rotate, and the axial lines of the driving gears of the two driving gear mechanisms 53 are perpendicular to each other.

[0029] The output end of the spherical gear mechanism 5 is provided with a mechanical gripper 6. Preferably, the mechanical gripper 6 comprises a gripper base 61, and the front end of the gripper base 61 is symmetrically provided with movable claws 62. The front end surface of the gripper base 61 is provided with sliding rails, and the movable claws 62 are provided with sliding grooves matched with the sliding rails. The movable claws 62 are in sliding connection with the gripper base 61. The gripper base 61 is provided with a gripper motor fixed thereon by screws. The output shaft of the gripper motor is provided with a rocker arm 63 located on the side of the gripper base 61 away from the gripper motor. The middle part of the rocker arm 63 is in key connection with the output shaft of the gripper motor. The two ends of the rocker arm 63 are provided with connecting rods 64, which are symmetrically arranged with the center of the rocker arm 63 as the center. Each movable claw 62 is provided with a connecting part 65 matched with the connecting rod 64. One end of the connecting rod 64 is hinged to the rocker arm 63, and the other end is hinged to the connecting part 65 of the corresponding end. The two movable claws 62 are provided with detachable blades at one end close to each other, and the blades extend out of the movable claws 62. The two movable claws 62 and the blades on the movable claws 62 can be brought close to or far away from each other by the forward and reverse rotation of the gripper motor, so as to complete the picking of fruits and vegetables.

Claims

1. A fruit and vegetable harvesting robotic arm based on a SCARA structure, characterized in that: The device includes a support frame (1) and a bracket (2) vertically mounted on the support frame (1). The bracket (2) is slidably connected to the support frame (1), and the support frame (1) is provided with a translation mechanism (11) for driving the bracket (2) to slide horizontally. The bracket (2) is provided with a mounting seat (3), which is slidably connected to the bracket (2). The bracket (2) is provided with a lifting mechanism (21) for driving the mounting seat (3) to move up and down. The mounting seat (3) is provided with an upper arm (4) of a SCARA structure. The end of the upper arm (4) away from the mounting seat (3) is provided with a ball gear mechanism (5), and the output end of the ball gear mechanism (5) is provided with a mechanical gripper (6).

2. The fruit and vegetable harvesting robotic arm based on a SCARA structure according to claim 1, characterized in that: The translation mechanism (11) includes a first lead screw arranged horizontally on the top of the support frame (1), the first lead screw is rotatably connected to the support frame (1), and a first motor is provided at one end of the first lead screw. The bracket (2) is provided with a first nut that is adapted to the first lead screw.

3. The fruit and vegetable harvesting robotic arm based on a SCARA structure according to claim 2, characterized in that: The support frame (1) is provided with a first slide rail parallel to the first lead screw, and the bracket (2) is provided with a first slider adapted to the first slide rail.

4. The fruit and vegetable harvesting robotic arm based on a SCARA structure according to claim 1, characterized in that: The lifting mechanism (21) includes a second lead screw arranged vertically on the bracket (2), the second lead screw is rotatably connected to the bracket (2), and a second motor is provided at one end of the second lead screw. The mounting base (3) is provided with a second nut that is compatible with the second lead screw.

5. A fruit and vegetable harvesting robotic arm based on a SCARA structure according to claim 4, characterized in that: The bracket (2) is vertically provided with a second slide rail, and the mounting base (3) is provided with a second slider that is adapted to the second slide rail.

6. The fruit and vegetable harvesting robotic arm based on a SCARA structure according to claim 1, characterized in that: The upper arm (4) includes a first support arm (41) rotatably connected to the mounting base (3) via a first vertical axis, and a first drive mechanism is provided on the mounting base (3) for driving the first support arm (41) to rotate around the axis of the first vertical axis. The end of the first support arm (41) away from the mounting base (3) is connected to a second support arm (42) via a second vertical axis. The first support arm (41) and / or the mounting base (3) are provided with a second drive mechanism for driving the second support arm (42) to rotate around the axis of the second vertical axis.

7. A fruit and vegetable harvesting robotic arm based on a SCARA structure according to claim 6, characterized in that: The first drive mechanism includes a first motor (43) fixed on the mounting base (3), a first pulley mounted on the first motor (43) and a second pulley sleeved on the first vertical shaft. The second pulley is rotatably connected to the first vertical shaft and is fixedly connected to the first support arm (41). The second pulley and the first pulley are connected by a first synchronous belt drive.

8. A fruit and vegetable harvesting robotic arm based on a SCARA structure according to claim 6, characterized in that: The second drive mechanism includes a second motor (44) fixed on the mounting base (3), a third pulley mounted on the second motor (44), a fourth pulley and a fifth pulley sleeved on the first vertical shaft, and a sixth pulley sleeved on the second vertical shaft. The fourth pulley and the fifth pulley are rotatably connected to the first vertical shaft, and the fourth pulley and the fifth pulley are fixedly connected. The third pulley and the fourth pulley are connected by a second synchronous belt drive. The sixth pulley is fixedly connected to the second vertical shaft, and the fifth pulley and the sixth pulley are connected by a third synchronous belt drive. The second vertical shaft is rotatably connected to the first support arm (41), and the second vertical shaft is fixedly connected to the second support arm (42).

9. A fruit and vegetable harvesting robotic arm based on a SCARA structure according to claim 1, characterized in that: The spherical gear mechanism (5) includes a spherical gear housing (51) and a spherical gear (52) disposed inside the spherical gear housing (51). The spherical gear housing (51) is provided with two sets of drive gear mechanisms (53) for driving the spherical gear (52) to rotate. The drive gear mechanism (53) includes a drive gear and a drive motor for driving the drive gear to rotate, and the axis lines of the drive gears of the two drive gear mechanisms (53) are perpendicular to each other.

10. A fruit and vegetable harvesting robotic arm based on a SCARA structure according to claim 1, characterized in that: The mechanical gripper (6) includes a gripper base (61), with movable claws (62) symmetrically arranged at the front end of the gripper base (61). The movable claws (62) are slidably connected to the gripper base (61). A gripper motor is provided on the gripper base (61), and a rocker arm (63) is provided on the output shaft of the gripper motor. The middle part of the rocker arm (63) is connected to the output shaft of the gripper motor. Both ends of the rocker arm (63) are provided with connecting rods (64). Each movable claw (62) is provided with a connecting part (65) adapted to the connecting rod (64). One end of the connecting rod (64) is hinged to the rocker arm (63), and the other end is hinged to the corresponding connecting part (65).

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