Multi-degree-of-freedom walnut tree branch pruning mechanical arm

Abstract

The utility model relates to the technical field of agricultural mechanical equipment, and discloses a multi-degree-of-freedom walnut tree branch pruning mechanical arm which comprises a chassis, a mechanical arm body is arranged above the chassis, one end of the mechanical arm body is rotationally connected with a rotating shaft, the upper surface of the rotating shaft is fixedly connected with a connecting block, and a hydraulic cylinder is fixedly installed in the connecting block; the output end of the hydraulic cylinder is fixedly connected with a mounting block, an electric saw is fixedly mounted on the upper surface of the mounting block, and one side of the hydraulic cylinder is fixedly connected with a fixing rod. The telescopic structure that the double electric clamping jaws are matched with the sliding frame is adopted, the clamping distance can be flexibly adjusted according to the thickness and length of branches, the clamping stability and adaptability are remarkably improved, meanwhile, the clamping jaw gear connecting position can be conveniently lubricated, and the phenomenon that equipment is stuck or breaks down due to long-time friction is reduced; and the height of the mechanical arm body can be conveniently adjusted, and the flexible adaptability of pruning operation under different tree height conditions is improved.

Description

Technical Field

[0001] This utility model relates to the field of agricultural machinery and equipment technology, and in particular to a multi-degree-of-freedom walnut tree branch pruning robotic arm. Background Technology

[0002] Walnut trees, also known as walnut trees, belong to the Juglandaceae family. They originated in Central Asia and are now widely cultivated in China and other regions. They are divided into wild hickory and artificially improved varieties. Improved varieties are characterized by high yield and thin shells, while wild varieties have thick shells, more oil, and a richer flavor. Pruning walnut trees can not only improve yield and quality but also enhance their resistance to adverse conditions, thus achieving sustainable high yields.

[0003] A search revealed that Chinese Patent CN210406306U discloses a boom device for a manipulator used for pruning tree trunk lateral branches. Current manipulators can only prune the side of the trunk opposite to the manipulator, requiring manual movement to the other side to prune the branches there, which is inconvenient. Therefore, a rotating support assembly allows the manipulator to prune branches around the support assembly without the need for other directional adjustment mechanisms. The curved arm assembly allows the manipulator to prune branches on the side of the trunk furthest from the support assembly without horizontal displacement of the support assembly, improving pruning efficiency and making it more convenient to use.

[0004] The aforementioned robotic arm facilitates pruning branches at different locations. However, when pruning walnut branches using the robotic arm, the process requires grippers to hold the branches before cutting them. Typically, only one gripper is installed at one end of the robotic arm, and the gripping force is limited. When gripping thicker branches, a single gripper may struggle to support the weight, potentially causing the branch to fall after being cut due to instability, increasing safety hazards. Furthermore, existing grippers typically utilize gear transmission for clamping, and the repeated friction between multiple gears during clamping can lead to dulling and difficulty in timely lubrication, resulting in gripper malfunction and difficulty in closing the clamp. Utility Model Content

[0005] The purpose of this invention is to address the shortcomings of existing technologies by proposing a multi-degree-of-freedom walnut branch pruning robotic arm.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a multi-degree-of-freedom walnut branch pruning robotic arm, comprising a chassis, a robotic arm body disposed above the chassis, a rotating shaft rotatably connected to one end of the robotic arm body, a connecting block fixedly connected to the upper surface of the rotating shaft, a hydraulic cylinder fixedly installed inside the connecting block, an installation block fixedly connected to the output end of the hydraulic cylinder, an electric saw fixedly installed on the upper surface of the installation block, a fixed rod fixedly connected to one side of the hydraulic cylinder, a sliding rod slidably connected to the outside of the fixed rod, one end of the sliding rod fixedly connected to one side of the installation block, and a clamping mechanism disposed on one side of the robotic arm body;

[0007] The clamping mechanism includes two electric grippers, which are disposed on one side of the robotic arm.

[0008] As a further description of the above technical solution:

[0009] A fixed box is fixedly connected to one side of the rotating shaft, and a sliding frame is slidably connected inside the fixed box. One of the electric grippers is fixedly connected to one side of the rotating shaft, and the other electric gripper is fixedly connected to one side of the sliding frame. A rack plate is fixedly connected to the inner wall of the sliding frame, and a stepper motor is fixedly installed on the upper surface of the fixed box.

[0010] As a further description of the above technical solution:

[0011] The output end of the stepper motor is fixedly connected to a gear column, which is rotatably connected inside the fixed box. The gear column and the rack plate are meshed. An oil tank is fixedly connected to the upper surface of the fixed box. An oil filling pipe is connected through the upper surface of the oil tank. One end of the oil filling pipe is threaded with an oil blocking cap.

[0012] As a further description of the above technical solution:

[0013] A delivery pipe is connected through one side of the oil tank. A delivery pump is installed through the middle of the delivery pipe. A first connecting pipe is connected through one end of the delivery pipe. A folding pipe is connected through one end of the first connecting pipe. A second connecting pipe is connected through one end of the folding pipe. The second connecting pipe is fixedly connected to one side of one of the electric grippers. An oil outlet pipe is connected through one end of the first and second connecting pipes. A spray head is connected through one side of the oil outlet pipe.

[0014] As a further description of the above technical solution:

[0015] The upper surface of the chassis is provided with a lifting assembly, which includes two fixed frames. The two fixed frames are fixedly connected to the upper surface of the chassis, and a lead screw is rotatably connected inside the fixed frame.

[0016] As a further description of the above technical solution:

[0017] The two lead screws are externally threaded with moving blocks, one end of one lead screw is fixedly connected to a first pulley, and one end of the other lead screw is fixedly connected to a second pulley.

[0018] As a further description of the above technical solution:

[0019] A connecting belt is provided between the first pulley and the second pulley. An external gear ring is fixedly connected to the outside of the second pulley. A stepper motor is fixedly installed on one side of the chassis. A drive gear is fixedly connected to the output end of the stepper motor. The drive gear and the external gear ring are meshed.

[0020] This utility model has the following beneficial effects:

[0021] 1. This utility model, through the setting of the clamping mechanism, enhances the clamping effect on walnut branches by utilizing the clamping force of two electric grippers in the robotic arm for branch pruning. Furthermore, the sliding frame extends and retracts within the fixed box, facilitating the movement of the gripper on the other side and allowing for adjustment of the distance between the two grippers. This helps to adjust the grippers according to branches of different thicknesses and lengths, thereby improving the clamping stability. In addition, the spraying of lubricating oil from the spray head onto the gears of the electric grippers facilitates lubrication of the gear connection, reducing the possibility of dullness caused by prolonged friction between the gears, which could lead to malfunctions of the electric grippers.

[0022] 2. The lifting component in this invention facilitates height adjustment of the robotic arm by moving the moving block. This allows for adjustment of the height of one end of the robotic arm according to the different heights and growth patterns of walnut trees, thus adapting to pruning walnut trees of varying heights. This reduces the difficulty of pruning due to the robotic arm being too low for the walnut trees being too tall. Furthermore, the connection between the two synchronously rotating lead screws and the moving block improves stability when adjusting the height of the walnut trees. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure proposed in this utility model;

[0024] Figure 2 This is a partial structural diagram of the connection point of the mounting block proposed in this utility model;

[0025] Figure 3 This is a schematic diagram of the sliding rod structure proposed in this utility model;

[0026] Figure 4 This is a schematic diagram of the fixing rod structure proposed in this utility model;

[0027] Figure 5 This is a schematic diagram of the oil outlet pipe structure proposed in this utility model;

[0028] Figure 6 This is a schematic diagram of the sliding frame structure proposed in this utility model.

[0029] Legend:

[0030] 1. Chassis; 2. Robotic arm body; 3. Rotating shaft; 4. Electric gripper; 5. Connecting block; 6. Hydraulic cylinder; 7. Mounting block; 8. Electric saw; 9. Fixed rod; 10. Sliding rod; 11. Fixed box; 12. Sliding frame; 13. Rack plate; 14. Stepper motor; 15. Gear column; 16. Oil tank; 17. Filling pipe; 18. Oil blocking cap; 19. Delivery pump; 20. Delivery pipe; 21. First connecting pipe; 22. Folding pipe; 23. Second connecting pipe; 24. Oil outlet pipe; 25. Spray head; 26. Fixed frame; 27. Lead screw; 28. Moving block; 29. ​​First pulley; 30. Second pulley; 31. External gear ring; 32. Connecting belt; 33. Stepper motor; 34. Drive gear. Detailed Implementation

[0031] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0032] As attached Figure 1-6 As shown, this utility model provides an embodiment of a multi-degree-of-freedom walnut branch pruning robotic arm, including a chassis 1, a robotic arm body 2 disposed above the chassis 1, a rotating shaft 3 rotatably connected to one end of the robotic arm body 2, a connecting block 5 fixedly connected to the upper surface of the rotating shaft 3, a hydraulic cylinder 6 fixedly installed inside the connecting block 5, an installation block 7 fixedly connected to the output end of the hydraulic cylinder 6, an electric saw 8 fixedly installed on the upper surface of the installation block 7, a fixed rod 9 fixedly connected to one side of the hydraulic cylinder 6, a sliding rod 10 slidably connected to the outside of the fixed rod 9, one end of the sliding rod 10 fixedly connected to one side of the installation block 7, a clamping mechanism disposed on one side of the robotic arm body 2, the robotic arm body 2 can perform multi-degree-of-freedom movement, the electric saw 8 is used to prune branches, and the sliding rod 10, through the hollow frame shape disposed at one end, facilitates sliding outside the fixed rod 9;

[0033] The gripping mechanism includes two electric grippers 4, which are located on one side of the robotic arm body 2.

[0034] As attached Figure 6 As shown, a fixed box 11 is fixedly connected to one side of the rotating shaft 3. A sliding frame 12 is slidably connected inside the fixed box 11. One electric gripper 4 is fixedly connected to one side of the rotating shaft 3, and the other electric gripper 4 is fixedly connected to one side of the sliding frame 12. A rack plate 13 is fixedly connected to the inner wall of the sliding frame 12. A stepper motor 14 is fixedly installed on the upper surface of the fixed box 11. A gear column 15 is fixedly connected to the output end of the stepper motor 14. The gear column 15 is rotatably connected inside the fixed box 11. The gear column 15 and the rack plate 13 are meshed. The sliding frame 12 facilitates the movement of one of the electric grippers 4, thereby facilitating the adjustment of the distance between the two electric grippers 4. With the connection of the rack plate 13, the gear column 15 facilitates the movement of the sliding frame 12.

[0035] As attached Figure 5 As shown, an oil tank 16 is fixedly connected to the upper surface of the fixed box 11. An oil filling pipe 17 is connected through the upper surface of the oil tank 16. One end of the oil filling pipe 17 is threadedly connected to an oil blocking cap 18. A conveying pipe 20 is connected through one side of the oil tank 16. A conveying pump 19 is installed through the middle of the conveying pipe 20. A first connecting pipe 21 is connected through one end of the conveying pipe 20. A folding pipe 22 is connected through one end of the first connecting pipe 21. A second connecting pipe 23 is connected through one end of the folding pipe 22. The second connecting pipe 23 is fixedly connected to one side of one of the electric grippers 4. An oil outlet pipe 24 is connected through one end of the first connecting pipe 21 and the second connecting pipe 23. A spray head 25 is connected through one side of the oil outlet pipe 24. The oil tank 16 is used to store lubricating oil. The folding pipe 22 can be stretched or folded according to the movement of one of the electric grippers 4. The oil outlet pipe 24 is set in an L-shape to facilitate spraying using the spray head 25 at the gear connection point.

[0036] As attached Figure 2 As shown, a lifting assembly is provided on the upper surface of the chassis 1. The lifting assembly includes two fixed frames 26, which are fixedly connected to the upper surface of the chassis 1. A lead screw 27 is rotatably connected inside the fixed frame 26, and a moving block 28 is threadedly connected to the outside of the two lead screws 27. One end of one lead screw 27 is fixedly connected to a first pulley 29, and one end of the other lead screw 27 is fixedly connected to a second pulley 30. A connecting belt 32 is provided between the first pulley 29 and the second pulley 30. An external gear ring 31 is fixedly connected to the outside of the second pulley 30. A stepper motor 33 is fixedly installed on one side of the chassis 1. A drive gear 34 is fixedly connected to the output end of the stepper motor 33. The drive gear 34 and the external gear ring 31 are meshed. The arrangement of the two lead screws 27 facilitates the improvement of the stability of the connection after the moving block 28 is raised and lowered. The first pulley 29, the second pulley 30, and the connecting belt 32 facilitate the synchronous rotation of the two lead screws 27.

[0037] Working principle: After the chassis 1 is installed on the tracked vehicle and moved to the vicinity of the walnut tree, when the height of the robotic arm 2 needs to be adjusted, the stepper motor 33 is turned on. Under the action of the internal gearbox, the output end of the stepper motor drives the drive gear 34 to rotate. Under the action of the drive gear 34 meshing with the external gear ring 31, the second pulley 30 is driven to rotate. Under the connection of the connecting belt 32, the first pulley 29 is driven to rotate, so that the two lead screws 27 can be driven to rotate synchronously at the same time. Under the action of the threaded connection, the moving block 28 is driven to slide outside the two fixed frames 26, while the robotic arm 2 is driven to move up and down to adjust the height.

[0038] When using the electric gripper 4 to clamp the branch, first turn on the stepper motor 14. Under the action of the output end, the gear column 15 is driven to rotate, which in turn drives the rack plate 13 to move under the meshing action. When the sliding frame 12 slides inside the fixed box 11, it drives one of the electric grippers 4 and the second connecting pipe 23 to move, widening the distance between the two electric grippers 4. After adjusting to a suitable position, turn on the electric gripper 4 to clamp the branch. Then turn on the electric saw 8. When the output end of the hydraulic cylinder 6 drives the electric saw 8 to move down through the mounting block 7, the branch is cut. If the electric gripper 4 becomes dull during use, turn on the delivery pump 19. Under the connection of the delivery pipe 20, the lubricating oil in the oil tank 16 is delivered to the inside of the oil outlet pipe 24 through the action of the first connecting pipe 21, the second connecting pipe 23 and the folding pipe 22. The oil is then sprayed out by the spray head 25, so that it can be sprayed onto the connection of the gear to lubricate it.

[0039] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A multi-degree-of-freedom walnut branch pruning robotic arm, comprising a chassis (1), characterized in that: A robotic arm body (2) is provided above the chassis (1). One end of the robotic arm body (2) is rotatably connected to a rotating shaft (3). A connecting block (5) is fixedly connected to the upper surface of the rotating shaft (3). A hydraulic cylinder (6) is fixedly installed inside the connecting block (5). An installation block (7) is fixedly connected to the output end of the hydraulic cylinder (6). An electric saw (8) is fixedly installed on the upper surface of the installation block (7). A fixing rod (9) is fixedly connected to one side of the hydraulic cylinder (6). A sliding rod (10) is slidably connected to the outside of the fixing rod (9). One end of the sliding rod (10) is fixedly connected to one side of the installation block (7). A clamping mechanism is provided on one side of the robotic arm body (2). The clamping mechanism includes two electric grippers (4), which are disposed on one side of the robotic arm body (2).

2. The multi-degree-of-freedom walnut branch pruning robotic arm according to claim 1, characterized in that: A fixed box (11) is fixedly connected to one side of the rotating shaft (3). A sliding frame (12) is slidably connected inside the fixed box (11). One of the electric grippers (4) is fixedly connected to one side of the rotating shaft (3), and the other electric gripper (4) is fixedly connected to one side of the sliding frame (12). A rack plate (13) is fixedly connected to the inner wall of the sliding frame (12). A stepper motor (14) is fixedly installed on the upper surface of the fixed box (11).

3. The multi-degree-of-freedom walnut branch pruning robotic arm according to claim 2, characterized in that: The output end of the stepper motor (14) is fixedly connected to a gear column (15), which is rotatably connected inside the fixed box (11). The gear column (15) and the rack plate (13) are meshed. An oil tank (16) is fixedly connected to the upper surface of the fixed box (11). An oil filling pipe (17) is connected through the upper surface of the oil tank (16). One end of the oil filling pipe (17) is threadedly connected to an oil blocking cap (18).

4. The multi-degree-of-freedom walnut branch pruning robotic arm according to claim 3, characterized in that: A delivery pipe (20) is connected through one side of the oil tank (16). A delivery pump (19) is installed through the middle of the delivery pipe (20). A first connecting pipe (21) is connected through one end of the delivery pipe (20). A folded pipe (22) is connected through one end of the first connecting pipe (21). A second connecting pipe (23) is connected through one end of the folded pipe (22). The second connecting pipe (23) is fixedly connected to one side of one of the electric grippers (4). An oil outlet pipe (24) is connected through one end of the first connecting pipe (21) and the second connecting pipe (23). A spray head (25) is connected through one side of the oil outlet pipe (24).

5. The multi-degree-of-freedom walnut branch pruning robotic arm according to claim 1, characterized in that: The upper surface of the chassis (1) is provided with a lifting assembly, which includes two fixed frames (26). The two fixed frames (26) are fixedly connected to the upper surface of the chassis (1), and a lead screw (27) is rotatably connected inside the fixed frame (26).

6. The multi-degree-of-freedom walnut branch pruning robotic arm according to claim 5, characterized in that: The two lead screws (27) are externally threaded with moving blocks (28), one end of one lead screw (27) is fixedly connected to a first pulley (29), and one end of the other lead screw (27) is fixedly connected to a second pulley (30).

7. The multi-degree-of-freedom walnut branch pruning robotic arm according to claim 6, characterized in that: A connecting belt (32) is provided between the first pulley (29) and the second pulley (30). An external gear ring (31) is fixedly connected to the outside of the second pulley (30). A stepper motor (33) is fixedly installed on one side of the chassis (1). A drive gear (34) is fixedly connected to the output end of the stepper motor (33). The drive gear (34) and the external gear ring (31) are meshed.

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