Four-axis seedling taking mechanical arm

Abstract

The utility model relates to a four -axis seedling taking mechanical arm belongs to agricultural machinery technical field. The mechanical arm includes base, big arm, small arm and end effector, forms four -axis mechanical arm structure. Base realizes horizontal rotation through worm and worm gear drive mechanism, and big arm and small arm realize rotation through drive motor and transmission gear set respectively, and end effector realizes the opening and closing of gripper through gripper control motor and transmission mechanism, to complete the grabbing and release of tobacco seedling. The present application realizes the automation of tobacco seedling taking process, improves the taking efficiency and accuracy, reduces the artificial cost, has higher motion accuracy and flexibility, can adapt to different taking seedling position and angle requirement, reduces the damage to tobacco seedling, improves the survival rate of tobacco seedling.

Description

Technical Field

[0001] This utility model relates to a four-axis seedling-picking robotic arm, belonging to the field of agricultural machinery technology. Background Technology

[0002] Tobacco has a long history of cultivation in my country, and cultivation techniques are constantly being innovated. Currently, Yunnan Province is my country's largest and most important flue-cured tobacco producing area, accounting for approximately 40% of the national total output. Guizhou is the second largest flue-cured tobacco producing area, and other provinces also have flue-cured tobacco cultivation on a certain scale. Yunnan and Guizhou are mostly mountainous regions with complex terrain, making it difficult for existing robotic arms to operate on slopes. Currently, tobacco transplanting mainly relies on semi-automatic transplanters, with seedling collection still primarily done manually, resulting in low efficiency (approximately 0.5 mu / day per person), high costs, and uneven plant spacing. The complex mountainous terrain makes it difficult for existing robotic arms to operate on slopes. While previously patented tobacco seedling transplanters integrate seedling collection functions, their robotic arms suffer from drawbacks such as bulky structures, low transmission efficiency, and insufficient end-effector positioning accuracy, affecting transplant survival rates. Therefore, designing an efficient, precise, and terrain-adaptable seedling collection robotic arm is of great significance for improving the mechanization level of tobacco transplanting and reducing labor costs. Summary of the Invention

[0003] The technical problem to be solved by this invention is: This invention provides a four-axis seedling picking robotic arm to automate the process of picking tobacco seedlings, improve the efficiency and accuracy of picking seedlings, and reduce labor costs.

[0004] The technical solution of this utility model is: a four-axis seedling picking robotic arm, including a base 1, a large arm 3, a small arm 4, and an end effector 5;

[0005] The base 1, upper arm 3, lower arm 4 and end effector 5 are connected in sequence to form a four-axis robotic arm structure;

[0006] The base 1 achieves horizontal rotation through a worm gear transmission mechanism 6, the upper arm 3 and the lower arm 4 achieve rotation through a drive motor and a transmission gear set, respectively, and the end effector 5 achieves the opening and closing of the gripper through a gripper control motor and transmission mechanism, thereby completing the gripping and release of the tobacco seedlings.

[0007] Furthermore, the base 1 includes a drive motor 1-1, a worm gear 1-2, a worm wheel 1-3, a base rotating shaft 1-4, a base rotating worm wheel box 1-5, a base flange cover 1-6, a base rotating worm shaft upper flange cover 1-7, and a turntable 2;

[0008] The worm 1-2 and worm wheel 1-3 form a worm gear transmission mechanism 6. The rotational movement of the waist of the robotic arm is realized by the worm gear transmission mechanism 6. The worm 1-2 is the driving element, driven by the drive motor 1-1, and drives the worm wheel 1-3 to rotate through meshing transmission, thereby driving the base rotating shaft 1-4 to rotate. The drive motor 1-1 is installed on one side of the base rotating worm gear box 1-5, and the worm gear transmission mechanism 6 is installed inside the base rotating worm gear box 1-5. The base 1 is also provided with a base flange cover 1-6 and a base rotating worm shaft flange cover 1-7.

[0009] The base rotating shaft 1-4 is rigidly connected to the waist main shaft. When the base rotating shaft 1-4 rotates, the waist main shaft drives the turntable 2 to rotate accordingly, thereby realizing the rotational motion of the waist. The external base rotating worm gear box 1-5 is designed as a closed transmission.

[0010] Furthermore, the boom 3 includes a housing I10, a boom drive motor 3-1, a boom body 3-2, a boom rotation shaft 3-3, and a boom transmission gear set 7;

[0011] The boom drive motor 3-1 is mounted on the swivel platform 2 and is connected to the boom rotation shaft 3-3 through the boom transmission gear set 7, driving the boom body 3-2 to rotate around the boom rotation shaft 3-3. The outer shell I10 is mounted on the swivel platform 2.

[0012] Furthermore, the forearm 4 includes a housing II11, a forearm drive motor 4-1, a forearm body 4-2, a forearm rotation shaft 4-3, and a forearm transmission gear set 8;

[0013] The forearm drive motor 4-1 is installed on the upper arm body 3-2 of the upper arm 3, and is connected to the forearm rotation shaft 4-3 through the forearm transmission gear set 8, driving the forearm body 4-2 to rotate around the forearm rotation shaft 4-3. The outer shell II11 is installed at the end of the drive upper arm body 3-2.

[0014] Furthermore, the end effector 5 includes a gripper transmission mechanism 9, a housing Ⅲ12, a gripper shaft drive motor 5-1, a gripper shaft 5-2, a gripper control motor 5-3, and a gripper body 5-4;

[0015] The gripper shaft drive motor 5-1 is installed at the end of the forearm body 4-2 and is connected to the gripper shaft 5-2 through a transmission gear set. It drives the gripper body 5-4 connected to the gripper shaft 5-2 to rotate and controls the opening and closing of the gripper body 5-4 through the gripper control motor 5-3 for gripping and releasing tobacco seedlings. The outer shell Ⅲ12 is installed at the end of the forearm body 4-2.

[0016] Furthermore, the gripper body 5-4 adopts a symmetrical structure, and the gripper surface is provided with anti-slip texture.

[0017] The beneficial effects of this utility model are:

[0018] 1. This utility model automates the process of tobacco seedling collection, improving the efficiency of seedling collection. Compared with manual seedling collection, the efficiency can be increased several times.

[0019] 2. This utility model adopts a four-axis robotic arm structure, which has high motion precision and flexibility, and can adapt to different seedling picking positions and angle requirements; the gripper design of the end effector can accurately grasp the tobacco seedlings, reduce damage to the seedlings, and improve the survival rate of the seedlings;

[0020] 3. The entire robotic arm structure of this utility model is compact and reasonable, easy to install and maintain, and reduces the cost of use. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 This is a schematic diagram of the structure of the base of the present invention;

[0023] Figure 3 This is a schematic diagram of the structure of the base (without the rotating platform) of the present invention;

[0024] Figure 4 This is a cross-sectional view of the base of the present invention;

[0025] Figure 5 This is a schematic diagram of the structure of the upper arm and forearm of the present invention;

[0026] Figure 6 This is a top view of the upper and lower arms (without outer shells I and II) of the present invention;

[0027] Figure 7 This is a schematic diagram of the end effector of the present invention;

[0028] Figure 8 This is a schematic diagram of the end effector (without housing III) of the present invention.

[0029] The labels in the diagram are as follows: 1-Base, 2-Turntable, 3-Upright arm, 4-Lean arm, 5-End effector, 6-Worm gear transmission mechanism, 7-Upright arm transmission gear set, 8-Lean arm transmission gear set, 9-Gripper transmission mechanism, 10-Outer shell I, 11-Outer shell II, 12-Outer shell III, 1-1 Drive motor, 1-2 Worm, 1-3 Worm gear, 1-4 Base rotating shaft, 1-5 Base rotating worm gear box, 1-6 Base flange cover, 1-7 Base rotating worm shaft flange cover, 3-1 Upright arm drive motor, 3-2 Upright arm body, 3-3 Upright arm rotating shaft, 4-1 Lean arm drive motor, 4-2 Lean arm body, 4-3 Lean arm rotating shaft, 5-1 Gripper shaft drive motor, 5-2 Gripper shaft, 5-3 Gripper control motor, 5-4 Gripper body. Detailed Implementation

[0030] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0031] Example 1: As Figures 1-8 As shown, a four-axis seedling-picking robotic arm includes a base 1, a large arm 3, a small arm 4, and an end effector 5;

[0032] The base 1, upper arm 3, lower arm 4 and end effector 5 are connected in sequence to form a four-axis robotic arm structure;

[0033] The base 1 achieves horizontal rotation through a worm gear transmission mechanism 6, the upper arm 3 and the lower arm 4 achieve rotation through a drive motor and a transmission gear set, respectively, and the end effector 5 achieves the opening and closing of the gripper through a gripper control motor and transmission mechanism, thereby completing the gripping and release of the tobacco seedlings.

[0034] Furthermore, the base 1 includes a drive motor 1-1, a worm gear 1-2, a worm wheel 1-3, a base rotating shaft 1-4, a base rotating worm wheel box 1-5, a base flange cover 1-6, a base rotating worm shaft upper flange cover 1-7, and a turntable 2;

[0035] The worm 1-2 and worm wheel 1-3 form a worm gear transmission mechanism 6. The rotational movement of the waist of the robotic arm is realized by the worm gear transmission mechanism 6. The worm 1-2 is the driving element, driven by the drive motor 1-1, and drives the worm wheel 1-3 to rotate through meshing transmission, thereby driving the base rotating shaft 1-4 to rotate. The drive motor 1-1 is installed on one side of the base rotating worm gear box 1-5, and the worm gear transmission mechanism 6 is installed inside the base rotating worm gear box 1-5. The base 1 is also provided with a base flange cover 1-6 and a base rotating worm shaft flange cover 1-7.

[0036] The base rotating shaft 1-4 is rigidly connected to the waist main shaft. When the base rotating shaft 1-4 rotates, the waist main shaft drives the turntable 2 to rotate accordingly, thereby realizing the rotational motion of the waist. The external base rotating worm gear box 1-5 is designed as a closed transmission.

[0037] Furthermore, the boom 3 includes a housing I10, a boom drive motor 3-1, a boom body 3-2, a boom rotation shaft 3-3, and a boom transmission gear set 7;

[0038] The boom drive motor 3-1 is mounted on the swivel platform 2 and is connected to the boom rotation shaft 3-3 through the boom transmission gear set 7, driving the boom body 3-2 to rotate around the boom rotation shaft 3-3. The outer shell I10 is mounted on the swivel platform 2.

[0039] Furthermore, the forearm 4 includes a housing II11, a forearm drive motor 4-1, a forearm body 4-2, a forearm rotation shaft 4-3, and a forearm transmission gear set 8;

[0040] The forearm drive motor 4-1 is installed on the upper arm body 3-2 of the upper arm 3, and is connected to the forearm rotation shaft 4-3 through the forearm transmission gear set 8, driving the forearm body 4-2 to rotate around the forearm rotation shaft 4-3. The outer shell II11 is installed at the end of the drive upper arm body 3-2.

[0041] Furthermore, the end effector 5 includes a gripper transmission mechanism 9, a housing Ⅲ12, a gripper shaft drive motor 5-1, a gripper shaft 5-2, a gripper control motor 5-3, and a gripper body 5-4;

[0042] The gripper shaft drive motor 5-1 is installed at the end of the forearm body 4-2 and is connected to the gripper shaft 5-2 through a transmission gear set. It drives the gripper body 5-4 connected to the gripper shaft 5-2 to rotate and controls the opening and closing of the gripper body 5-4 through the gripper control motor 5-3 for gripping and releasing tobacco seedlings. The outer shell Ⅲ12 is installed at the end of the forearm body 4-2.

[0043] Furthermore, the gripper body 5-4 adopts a symmetrical structure, and the surface of the gripper is provided with anti-slip texture to increase friction and improve gripping stability. At the same time, the gripper body 5-4 is made of stainless steel with good elasticity to reduce damage to the tobacco seedlings.

[0044] Furthermore, the transmission gear sets were optimized. Both the boom drive gear set 7 and the forearm drive gear set 8 use high-precision gears to improve transmission accuracy and efficiency. At the same time, lubricant was applied to the gear surfaces to reduce friction and wear, extending their service life.

[0045] The working process of this utility model is as follows:

[0046] The drive motor 1-1 drives the worm gear 1-2 to rotate, which in turn drives the worm wheel 1-3 to rotate, thereby rotating the base rotation shaft 1-4 and achieving horizontal rotation of the base. The boom drive motor 3-1 drives the boom rotation shaft 3-3 to rotate via the boom transmission gear set 7, causing the boom body 3-2 to rotate around the boom rotation shaft 3-3. The forearm drive motor 4-1 drives the forearm body 4-2 to rotate via the forearm transmission gear set 8, causing the forearm body 4-2 to rotate around the forearm rotation shaft 4-3. The gripper control motor 5-3 controls the opening and closing of the gripper body 5-4 to grasp and release the tobacco seedlings. Through the coordinated movement of the base 1, boom 3, forearm 4, and end effector 5, the end effector 5 reaches the designated position to complete the seedling removal action. The outer shells I 10, II 11, and III 12 are protective shells to ensure that each power transmission mechanism is not affected by the external working environment. This utility model is applicable to automated transplanting operations of crops such as tobacco and vegetables.

[0047] The specific embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A four-axis seedling-picking robotic arm, characterized in that: Includes base (1), upper arm (3), lower arm (4), and end effector (5); The base (1), upper arm (3), lower arm (4) and end effector (5) are connected in sequence to form a four-axis robotic arm structure; The base (1) achieves horizontal rotation through a worm gear transmission mechanism (6), the upper arm (3) and the lower arm (4) achieve rotation through a drive motor and a transmission gear set, respectively, and the end effector (5) achieves the opening and closing of the gripper through a gripper control motor and transmission mechanism, thereby completing the gripping and release of the tobacco seedlings.

2. The four-axis seedling-picking robotic arm according to claim 1, characterized in that: The base (1) includes a drive motor (1-1), a worm (1-2), a worm wheel (1-3), a base rotating shaft (1-4), a base rotating worm wheel box (1-5), a base flange cover (1-6), a base rotating worm shaft upper flange cover (1-7), and a turntable (2); The worm (1-2) and worm wheel (1-3) form a worm gear transmission mechanism (6). The rotational motion of the waist of the robotic arm is realized by the worm gear transmission mechanism (6). The worm (1-2) is the driving element, driven by the drive motor (1-1), and drives the worm wheel (1-3) to rotate through meshing transmission, thereby driving the base rotating shaft (1-4) to rotate. The drive motor (1-1) is installed on one side of the base rotating worm gear box (1-5), and the worm gear transmission mechanism (6) is installed inside the base rotating worm gear box (1-5). The base (1) is also provided with a base flange cover (1-6) and a base rotating worm shaft flange cover (1-7). The base rotating shaft (1-4) is rigidly connected to the waist main shaft. When the base rotating shaft (1-4) rotates, the waist main shaft drives the turntable (2) to rotate accordingly, thereby realizing the rotational motion of the waist. The external base rotating worm gear box (1-5) is designed as a closed transmission.

3. The four-axis seedling-picking robotic arm according to claim 1, characterized in that: The boom (3) includes a housing I (10), a boom drive motor (3-1), a boom body (3-2), a boom rotating shaft (3-3), and a boom transmission gear set (7); The boom drive motor (3-1) is installed on the rotating platform (2) and connected to the boom rotation shaft (3-3) through the boom transmission gear set (7), driving the boom body (3-2) to rotate around the boom rotation shaft (3-3). The outer shell I (10) is installed on the rotating platform (2).

4. The four-axis seedling-picking robotic arm according to claim 1, characterized in that: The forearm (4) includes a housing II (11), a forearm drive motor (4-1), a forearm body (4-2), a forearm rotation shaft (4-3), and a forearm transmission gear set (8); The forearm drive motor (4-1) is installed on the upper arm body (3-2) of the upper arm (3), and is connected to the forearm rotation shaft (4-3) through the forearm transmission gear set (8), driving the forearm body (4-2) to rotate around the forearm rotation shaft (4-3). The outer shell II (11) is installed at the end of the drive upper arm body (3-2).

5. The four-axis seedling-picking robotic arm according to claim 1, characterized in that: The end effector (5) includes a gripper transmission mechanism (9), a housing Ⅲ (12), a gripper shaft drive motor (5-1), a gripper shaft (5-2), a gripper control motor (5-3), and a gripper body (5-4); The gripper shaft drive motor (5-1) is installed at the end of the forearm body (4-2) and is connected to the gripper shaft (5-2) through a transmission gear set. It drives the gripper body (5-4) connected to the gripper shaft (5-2) to rotate and controls the opening and closing of the gripper body (5-4) through the gripper control motor (5-3) for gripping and releasing tobacco seedlings. The outer shell Ⅲ (12) is installed at the end of the forearm body (4-2).

6. The four-axis seedling-picking robotic arm according to claim 1, characterized in that: The gripper body (5-4) adopts a symmetrical structure, and the gripper surface is provided with anti-slip texture.

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