CN106314586B - A kind of intelligence Chinese herbal medicine acquisition robot - Google Patents
A kind of intelligence Chinese herbal medicine acquisition robot Download PDFInfo
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- CN106314586B CN106314586B CN201610923602.3A CN201610923602A CN106314586B CN 106314586 B CN106314586 B CN 106314586B CN 201610923602 A CN201610923602 A CN 201610923602A CN 106314586 B CN106314586 B CN 106314586B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D13/00—Diggers, e.g. potato ploughs
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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Abstract
The present invention discloses a kind of intelligent Chinese herbal medicine acquisition robot, including pedestal, mechanical arm and two second climbing arms, it is characterised in that：The steering engine fixed seat of the mechanical arm is mounted on above the mechanical arm fixed seat of pedestal, and the 5th hydraulic cylinder body rear end of described two second climbing arms is mounted in the second climbing arm fixed seat；The present invention makes the fixation medicinal material part of two grippers fix medicinal material and pulls up come this design can carry out intact the pulling up of medicinal material by steering engine, first hydraulic cylinder and the second hydraulic cylinder collaborative work on tool arm.
Description
Technical field
The present invention relates to robot field, more particularly to a kind of intelligent Chinese herbal medicine acquires robot.
Background technology
Some grow the herbal medicine on overhanging cliff, manually go picking not only costly, but also the danger for picking personnel
Also big, and will accidentally it be in peril of one's life, but grow the medicinal material in overhanging cliff for some there is prodigious medical value, institute
To be directed to this problem, the present invention provides a kind of automatic robot of gathering medicinal herbs that can be walked on overhanging cliff, by the
One climbing arm and the second climbing arm make machine be secured firmly on overhanging cliff, and the medicinal material of needs is picked by tool arm and is put
The inside at storage medicinal material.
Invention content
In view of the above-mentioned problems, the present invention, which provides a kind of intelligent Chinese herbal medicine, acquires robot, pass through steering engine on tool arm, first
Hydraulic cylinder and second hydraulic cylinder collaborative work make the fixation medicinal material part of two grippers fix medicinal material and pull up, this sets
Meter can carry out intact the pulling up of medicinal material.
Technical solution used in the present invention is：A kind of intelligence Chinese herbal medicine acquisition robot, including pedestal, mechanical arm and two
A second climbing arm, it is characterised in that：The steering engine fixed seat of the mechanical arm is mounted on above the mechanical arm fixed seat of pedestal,
5th hydraulic cylinder body rear end of the two second climbing arms is mounted in the second climbing arm fixed seat；
The pedestal includes bottom plate, mechanical arm fixed seat, stores at medicinal material, two the second climbing arm fixed seats, described
Bottom plate be a rectangular plank, substrate rearward position be equipped with storage medicinal material at, storage medicinal material on front side of
Equipped with mechanical arm fixed seat, the rearward position below bottom plate sets that there are two the second climbing arm fixed seats, below the bottom plate before
Side position is equipped with the first climbing arm, the first climbing arm include two third hydraulic cylinders, third hydraulic cylinder top plate, two first lead
Rail, two the first sliding blocks, four second cameras, two second camera fixed seats, two the 4th hydraulic cylinders, two the 4th liquid
Cylinder pressure fixed plate, four the first circular cones, two the second circular cones, the cylinder body upper end of described two third hydraulic cylinders is all fixedly mounted
In the bottom of bottom plate, piston rod end is fixedly mounted with third hydraulic cylinder top plate upper surface；The third hydraulic cylinder top plate
It is a rectangular plank, is set there are two the first guide rail in its bottom surface, forward position sets that there are two the 4th hydraulic pressure in its bottom surface
Cylinder fixed plate；The second camera fixed seat is fixedly mounted on the 4th hydraulic cylinder fixed plate bottom, and described second takes the photograph
As head is fixedly mounted on second camera fixed seat lower part；First sliding block is a rectangular plank, in the above
Position is set there are one groove, in its lower section the position at 45 degree angles of rear side set there are one rectangular plank, described first
Groove above sliding block is slidably mounted on the first guide rail, bottom surface and the first sliding block of two the first circular cones and second circular cone
The plank of the degree of lower backside is fixedly connected；The 4th hydraulic cylinder body front end is fixedly mounted on the 4th hydraulic cylinder fixed plate
Below, it is fixedly connected before tailpiece of the piston rod and the first sliding block；
The mechanical arm includes steering engine fixed seat, steering engine, the first extension sleeve, the first telescopic rod, first hydraulic cylinder,
One lens fixed seat, two the first cameras, sliding slot, the first gripper, the second gripper, second hydraulic cylinders, the rudder
Machine fixed seat bottom surface is fixedly mounted on above mechanical arm fixed seat；The steering engine is placed straight up, and bottom surface is fixedly mounted
Inside steering engine fixed seat, motor shaft is fixedly connected with position below the first extension sleeve；First telescopic rod is
One cuboid, front end face centre position are set there are one rectangular plank, and the position on the left side before plank, which is equipped with, to be slided
Slot is fixedly connected in the position on its right side with the first gripper, and the first telescopic rod aft section is slidably mounted on first
In extension sleeve；The first hydraulic cylinder rear end of the cylinder block is fixedly mounted on the supporting rack above the first extension sleeve, is lived
Stopper rod end is fixedly mounted on above the first telescopic rod on supporting rack；It is slidably mounted on sliding slot behind first gripper
In, the second hydraulic cylinder cylinder body right end is fixedly mounted in the groove of the second gripper medial surface, piston rod end with
The groove of first gripper medial surface is fixedly connected；
The second climbing arm stretches including the 5th hydraulic cylinder, the 5th hydraulic cylinder top plate, the second extension sleeve, second
Bar, the 6th hydraulic cylinder, the 7th hydraulic cylinder fixed plate, the 7th hydraulic cylinder, the 8th hydraulic cylinder fixed seat, the 7th hydraulic cylinder top plate,
Two guide rails, the 8th hydraulic cylinder, the second sliding block, two third circular cones, the 4th circular cone, the 5th hydraulic cylinder body rear end are fixed
Before the second climbing arm fixed seat, piston rod end is fixedly connected with the downside of the 5th hydraulic cylinder top plate；It is described
The 6th hydraulic cylinder body rear end be fixedly mounted in the support plate above the second extension sleeve, piston rod end is stretched with second
Support plate is fixedly connected above contracting bar；The 7th hydraulic cylinder body upper end is fixedly mounted under the 7th hydraulic cylinder fixed plate
Face, piston rod end are fixedly connected with the 7th hydraulic cylinder top plate upper surface, and the 7th hydraulic cylinder top plate is one rectangular
The plank of shape, the second guide rail is equipped in the centre position of its bottom surface, and the 8th hydraulic cylinder fixed seat is equipped in its front position, described
The 8th hydraulic cylinder body front end be fixedly mounted on behind the 8th hydraulic cylinder fixed seat, before piston rod end and the second sliding block
It is fixedly connected；Second sliding block is a rectangular plank, and position is set there are one groove in the above, in its lower section after
Position at the degree angle of side is set there are one rectangular plank, and the groove above second sliding block is slidably mounted on second and leads
On rail, the bottom surface of described two third circular cones and the 4th circular cone is connect with the plank of the degree of the second sliding block lower backside.
Further, on the right side of second extension sleeve in left side be fixedly connected before the 5th hydraulic cylinder top plate, described the
Two telescopic rods are slidably mounted on inside the second extension sleeve, on the left of second extension sleeve on right side and before the 5th hydraulic cylinder top plate
It is fixedly connected, second telescopic rod is slidably mounted on inside the second extension sleeve.
The advantageous effect that the present invention is brought：The present invention by first climbing arm and second climbing arm inside the first circular cone,
Second circular cone and third circular cone, the 4th circular cone make robot firmly be fixed on overhanging cliff, pass through steering engine on tool arm,
One hydraulic cylinder and second hydraulic cylinder collaborative work make the fixation medicinal material part of two grippers fix medicinal material and pull up, this
Design can carry out intact the pulling up of medicinal material.
Description of the drawings
Fig. 1, Fig. 2 be the present invention be completed after structural schematic diagram.
Fig. 3 is the structural schematic diagram of the pedestal of the present invention.
Fig. 4 is the structural schematic diagram of the mechanical arm of the present invention.
Fig. 5 is the structural schematic diagram of the first climbing arm of the present invention.
Fig. 6 is the structural schematic diagram of the second climbing arm of the present invention.
Drawing reference numeral：1- pedestals, 2- mechanical arms, 3- first climb arm, 4- second climbs arm, 101- bottom plates, 102- machineries
Arm fixed seat, 103- are stored at medicinal material, 104- second climbs arm fixed seat, 201- steering engines fixed seat, 202- steering engines, 203- first
Extension sleeve, the first telescopic rods of 204-, 205- first hydraulic cylinders, the first lens fixed seats of 206-, the first cameras of 207-,
208- guide rails, the first grippers of 209-, the second grippers of 210-, 211- second hydraulic cylinders, 301- thirds hydraulic cylinder, 302- thirds
Hydraulic cylinder top plate, the first guide rails of 303-, the first sliding blocks of 304-, 305- second cameras, 306- second cameras fixed seat, 307-
4th hydraulic cylinder, the 4th hydraulic cylinder fixed plates of 308-, the first circular cones of 309-, the second circular cones of 310-, the 5th hydraulic cylinders of 401-, 402-
5th hydraulic cylinder top plate, the second extension sleeves of 403-, the second telescopic rods of 404-, the 6th hydraulic cylinders of 405-, the 7th hydraulic cylinders of 406-
Fixed plate, the 7th hydraulic cylinders of 407-, the 8th hydraulic cylinder fixed seats of 408-, the 7th hydraulic cylinder top plates of 409-, the second guide rails of 410-,
The 8th hydraulic cylinders of 411-, the second sliding blocks of 412-, 413- thirds circular cone, the 4th circular cones of 414-.
Specific implementation mode
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
Embodiment as shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, a kind of intelligence Chinese herbal medicine acquires robot, including pedestal
1, mechanical arm 2 and two second climbing arms 4, it is characterised in that：The steering engine fixed seat 201 of the mechanical arm 2 is mounted on pedestal 1
Mechanical arm fixed seat 102 above, described two second climbing arms 4 401 rear end of the cylinder block of the 5th hydraulic cylinder be mounted on second
It climbs in arm fixed seat 104；
The pedestal includes bottom plate 101, mechanical arm fixed seat 102,103, two second climbing arms are solid at storage medicinal material
Reservation 104, the bottom plate 101 are a rectangular planks, and the rearward position on bottom plate 101 is equipped at storage medicinal material
103,103 front sides are equipped with mechanical arm fixed seat 102 at storage medicinal material, and the rearward position below bottom plate 101 sets that there are two the
Two climbing arm fixed seats 104, the forward position below bottom plate 101 are equipped with the first climbing arm 3, and the first climbing arm 3 includes two
Third hydraulic cylinder 301, the camera shooting of 302, two, third hydraulic cylinder top plate, 303, two, the first guide rail the first sliding block 304, four second
First 305, two second camera fixed seats 306, two the 4th hydraulic cylinders, 307, two the 4th hydraulic cylinder fixed plates 308, four
First the second circular cone 310 of 309, two, circular cone, the cylinder body upper end of described two third hydraulic cylinders 301 is fixedly arranged at bottom plate
101 bottom, piston rod end are fixedly mounted with 302 upper surface of third hydraulic cylinder top plate；The third hydraulic cylinder top plate
302 be a rectangular plank, is set there are two the first guide rail 303 in its bottom surface, and in its bottom surface, forward position sets that there are two the
Four hydraulic cylinder fixed plates 308；The second camera fixed seat 306 is fixedly mounted on 308 bottom of the 4th hydraulic cylinder fixed plate
On, the second camera 305 is fixedly mounted on 306 lower part of second camera fixed seat；First sliding block 304 is one
A rectangular plank, in the above position set there are one groove, there are one the position at 45 degree of angles of rear side is set in its lower section
Rectangular plank, the groove above first sliding block 304 are slidably mounted on the first guide rail 303, two the first circular cones
309 and the bottom surface of second circular cone 310 be fixedly connected with 45 degree of 304 lower backside of the first sliding block of plank；Described
Four hydraulic cylinders, 307 cylinder body front end is fixedly mounted on behind the 4th hydraulic cylinder fixed plate 308, tailpiece of the piston rod and the first sliding block 304
Before be fixedly connected；
The mechanical arm include steering engine fixed seat 201, steering engine 202, the first extension sleeve 203, the first telescopic rod 204,
First hydraulic cylinder 205,206, two the first cameras 207 of the first lens fixed seat, sliding slot 208, the first gripper 209,
Two grippers 210, second hydraulic cylinder 211,201 bottom surface of steering engine fixed seat are fixedly mounted in mechanical arm fixed seat 102
Face；The steering engine 202 is placed straight up, and bottom surface is fixedly mounted on 201 the inside of steering engine fixed seat, motor shaft and first
Position is fixedly connected below extension sleeve 203；First telescopic rod 204 is a cuboid, front end face interposition
It installs there are one rectangular plank, the position on the left side before plank is equipped with sliding slot 208, the position and first on its right side
Gripper 209 is fixedly connected, and 204 aft section of the first telescopic rod is slidably mounted in the first extension sleeve 203；It is described
205 rear end of the cylinder block of first hydraulic cylinder be fixedly mounted on the supporting rack above the first extension sleeve 203, piston rod end is solid
Dingan County is on the first telescopic rod 204 above supporting rack；It is slidably mounted in sliding slot 208 behind first gripper 209,
The 211 cylinder body right end of second hydraulic cylinder is fixedly mounted in the groove of 210 medial surface of the second gripper, piston rod end
It is fixedly connected with the groove of 209 medial surface of the first gripper；
The described second climbing arm include the 5th hydraulic cylinder 401, the 5th hydraulic cylinder top plate 402, the second extension sleeve 403,
Second telescopic rod 404, the 6th hydraulic cylinder 405, the 7th hydraulic cylinder fixed plate 406, the 7th hydraulic cylinder 407, the 8th hydraulic cylinder are fixed
412, two the 408, the 7th hydraulic cylinder top plate 409 of seat, the second guide rail 410, the 8th hydraulic cylinder 411, the second sliding block third circular cones
413, the 4th circular cone 414,401 rear end of the cylinder block of the 5th hydraulic cylinder are fixedly mounted on 104 front of the second climbing arm fixed seat,
Its piston rod end is fixedly connected with the downside of the 5th hydraulic cylinder top plate 402；6th hydraulic cylinder, 405 rear end of the cylinder block is solid
Dingan County is in the support plate above the second extension sleeve 403, and support plate is solid above with the second telescopic rod 404 for piston rod end
Fixed connection；7th hydraulic cylinder, the 407 cylinder body upper end is fixedly mounted on the 7th hydraulic cylinder fixed plate 406 in the following, its piston rod
End is fixedly connected with 409 upper surface of the 7th hydraulic cylinder top plate, and the 7th hydraulic cylinder top plate 409 is a rectangular plate
Son, the second guide rail 410 is equipped in the centre position of its bottom surface, and the 8th hydraulic cylinder fixed seat 408 is equipped in its front position, described
411 cylinder body front end of the 8th hydraulic cylinder be fixedly mounted on behind the 8th hydraulic cylinder fixed seat 408, piston rod end with second slide
412 front of block is fixedly connected；Second sliding block 412 is a rectangular plank, and position is set there are one recessed in the above
Slot, in its lower section the position at 45 degree angles of rear side set there are one rectangular plank, it is recessed above second sliding block 412
Slot is slidably mounted on the second guide rail 410, the bottom surface and second of described two third circular cones 413 and the 4th circular cone 414
45 degree of plank of 412 lower backside of sliding block connects.
Further, 403 right side of the second extension sleeve in left side is fixedly connected with 402 front of the 5th hydraulic cylinder top plate, institute
The second telescopic rod 404 stated is slidably mounted on the inside of the second extension sleeve 403,403 left side of the second extension sleeve on right side and the
Five hydraulic cylinder top plates, 402 front is fixedly connected, and second telescopic rod 404 is slidably mounted on 403 the inside of the second extension sleeve.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Operation principle of the present invention：The present invention finds medicinal material when in use by putting it to operating position, by positioning
Position, cooperated the first circular cone 309 and the by the third hydraulic cylinder 301 and the 4th hydraulic cylinder 307 of the first climbing arm 3
Two circular cones 310 are secured firmly on cliff, then the 6th hydraulic cylinder 405, the 7th hydraulic cylinder 407 and the 8th of the second climbing arm 4
Hydraulic cylinder 411, which cooperates, to be fixed to third circular cone 413 and the 4th circular cone 414 on cliff, then the third of the first climbing arm 3
Hydraulic cylinder 301 and the 4th hydraulic cylinder 307 cooperate extracts cliff the first circular cone 309 and the second circular cone 310, then the 5th liquid
Cylinder pressure 401 works, and entire robot is pushed ahead a distance, and at this moment the first climbing arm 3 repeats above-mentioned action the first circle
Cone 309 and the second circular cone 310 are secured firmly on cliff, when robot is gone to beside herbal medicine, by the steering engine 202 of mechanical arm 2,
First hydraulic cylinder 205 and the collaborative work of second hydraulic cylinder 211 make gripper 211 catch medicinal material, and medicinal material is then put into storage medicine
In 103 at material.
In the description of the present invention, it should be noted that the fingers such as term "upper", "lower", "front", "rear", "left", "right"
The orientation or positional relationship shown is to be based on the orientation or positional relationship shown in the drawings or when invention product use usually puts
The orientation or positional relationship put, is merely for convenience of description of the present invention and simplification of the description, and does not indicate or imply the indicated dress
It sets or element must have a particular orientation, with specific azimuth configuration and operation, therefore should not be understood as the limit to the present invention
System.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, it is not understood to indicate or imply relatively heavy
The property wanted.
Claims (2)
1. a kind of intelligence Chinese herbal medicine acquires robot, including pedestal（1）, mechanical arm（2）With two second climbing arms（4）, special
Sign is：The mechanical arm（2）Steering engine fixed seat（201）Mounted on pedestal（1）Mechanical arm fixed seat（102）Above,
The two second climbing arms（4）The 5th hydraulic cylinder（401）Rear end of the cylinder block is mounted on the second climbing arm fixed seat（104）
On；
The pedestal includes bottom plate（101）, mechanical arm fixed seat（102）, storage medicinal material at（103）, two second climbing arms
Fixed seat（104）, the bottom plate（101）It is a rectangular plank, in bottom plate（101）Rearward position above is equipped with storage
It deposits at medicinal material（103）, at storage medicinal material（103）Front side is equipped with mechanical arm fixed seat（102）, in bottom plate（101）After following
Side position set there are two second climbing arm fixed seat（104）, in bottom plate（101）Following forward position is equipped with the first climbing arm
（3）, the first climbing arm（3）Including two third hydraulic cylinders（301）, third hydraulic cylinder top plate（302）, two the first guide rails
（303）, two the first sliding blocks（304）, four second cameras（305）, two second camera fixed seats（306）, two
Four hydraulic cylinders（307）, two the 4th hydraulic cylinder fixed plates（308）, four the first circular cones（309）, two the second circular cones（310）,
Two third hydraulic cylinders（301）Cylinder body upper end be fixedly arranged at bottom plate（101）Bottom, piston rod end with
Third hydraulic cylinder top plate（302）Upper surface is fixedly mounted；The third hydraulic cylinder top plate（302）It is a rectangular plate
Son is set in its bottom surface there are two the first guide rail（303）, in its bottom surface, forward position is set there are two the 4th hydraulic cylinder fixed plate
（308）；The second camera fixed seat（306）It is fixedly mounted on the 4th hydraulic cylinder fixed plate（308）It is described on bottom
Second camera（305）It is fixedly mounted on second camera fixed seat（306）Lower part；First sliding block（304）It is one
Rectangular plank, in the above position set there are one groove, the position at 45 degree angles of rear side sets that there are one grow in its lower section
Rectangular plank, first sliding block（304）Groove above is slidably mounted on the first guide rail（303）On, two first circles
Cone（309）With second circular cone（310）Bottom surface and the first sliding block（304）45 degree of plank of lower backside is fixedly connected；
4th hydraulic cylinder（307）Cylinder body front end is fixedly mounted on the 4th hydraulic cylinder fixed plate（308）Below, tailpiece of the piston rod with
First sliding block（304）Before be fixedly connected；
The mechanical arm includes steering engine fixed seat（201）, steering engine（202）, the first extension sleeve（203）, the first telescopic rod
（204）, first hydraulic cylinder（205）, the first lens fixed seat（206）, two the first cameras（207）, sliding slot（208）,
One gripper（209）, the second gripper（210）, second hydraulic cylinder（211）, the steering engine fixed seat（201）Peace is fixed in bottom surface
Mounted in mechanical arm fixed seat（102）Above；The steering engine（202）It places straight up, it is solid that bottom surface is fixedly mounted on steering engine
Reservation（201）The inside, motor shaft and the first extension sleeve（203）Below position be fixedly connected；First telescopic rod
（204）It is a cuboid, front end face centre position sets that there are one rectangular plank, the positions on the left side before plank
Equipped with sliding slot（208）, position and the first gripper on its right side（209）It is fixedly connected, first telescopic rod（204）Afterwards
Face part is slidably mounted on the first extension sleeve（203）In；The first hydraulic cylinder（205）Rear end of the cylinder block is fixedly mounted on
One extension sleeve（203）On supporting rack above, piston rod end is fixedly mounted on the first telescopic rod（204）Supporting rack above
On；First gripper（209）It is slidably mounted on sliding slot below（208）In, the second hydraulic cylinder（211）Cylinder body is right
End is fixedly mounted on the second gripper（210）In the groove of medial surface, piston rod end and the first gripper（209）Medial surface
Groove be fixedly connected；
The second climbing arm includes the 5th hydraulic cylinder（401）, the 5th hydraulic cylinder top plate（402）, the second extension sleeve
（403）, the second telescopic rod（404）, the 6th hydraulic cylinder（405）, the 7th hydraulic cylinder fixed plate（406）, the 7th hydraulic cylinder（407）、
8th hydraulic cylinder fixed seat（408）, the 7th hydraulic cylinder top plate（409）, the second guide rail（410）, the 8th hydraulic cylinder（411）, second
Sliding block（412）, two third circular cones（413）, the 4th circular cone（414）, the 5th hydraulic cylinder（401）Rear end of the cylinder block fixes peace
Mounted in the second climbing arm fixed seat（104）Front, piston rod end and the 5th hydraulic cylinder top plate（402）Downside fix connect
It connects；6th hydraulic cylinder（405）Rear end of the cylinder block is fixedly mounted on the second extension sleeve（403）In support plate above,
Piston rod end and the second telescopic rod（404）Support plate is fixedly connected above；7th hydraulic cylinder（407）Cylinder body upper end is solid
Dingan County is mounted in the 7th hydraulic cylinder fixed plate（406）In the following, its piston rod end and the 7th hydraulic cylinder top plate（409）Upper surface is fixed
Connection, the 7th hydraulic cylinder top plate（409）It is a rectangular plank, is led equipped with second in the centre position of its bottom surface
Rail（410）, the 8th hydraulic cylinder fixed seat is equipped in its front position（408）, the 8th hydraulic cylinder（411）Cylinder body front end is solid
Dingan County is mounted in the 8th hydraulic cylinder fixed seat（408）Below, piston rod end and the second sliding block（412）Front is fixedly connected；Institute
The second sliding block stated（412）It is a rectangular plank, position is set there are one groove in the above, in its lower section the 45 of rear side
Position at degree angle is set there are one rectangular plank, second sliding block（412）Groove above is slidably mounted on second
Guide rail（410）On, described two third circular cones（413）With the 4th circular cone（414）Bottom surface and the second sliding block（412）Under
45 degree of plank connection on rear side of face.
2. a kind of intelligent Chinese herbal medicine according to claim 1 acquires robot, it is characterised in that：Second telescopic in left side
Cylinder（403）Right side and the 5th hydraulic cylinder top plate（402）Front is fixedly connected, second telescopic rod（404）It is slidably mounted on
Second extension sleeve（403）The inside, second extension sleeve on right side（403）Left side and the 5th hydraulic cylinder top plate（402）Front is solid
Fixed connection, second telescopic rod（404）It is slidably mounted on the second extension sleeve（403）The inside.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610923602.3A CN106314586B (en) | 2016-10-22 | 2016-10-22 | A kind of intelligence Chinese herbal medicine acquisition robot |
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| CN106314586B true CN106314586B (en) | 2018-09-18 |
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| CN107450595A (en) * | 2017-09-19 | 2017-12-08 | 广东容祺智能科技有限公司 | A kind of system of gathering medicinal herbs based on unmanned plane |
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| CN108860355B (en) * | 2018-05-18 | 2020-09-01 | 安徽商贸职业技术学院 | Y-shaped robot control method |
| CN111620275A (en) * | 2020-06-08 | 2020-09-04 | 湖南翰坤实业有限公司 | Vertical floor operation mechanical arm and aerial work platform |
| CN112516546B (en) * | 2020-12-24 | 2021-10-29 | 上海建为历保科技股份有限公司 | Climbing equipment for maintaining mural painting |
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Effective date of registration: 20180810 Address after: 150000 Lake Jingpo Road, Dalian Road North, Heilongjiang, Harbin Applicant after: Hakda robotics group (Guangzhou) intellectual property Klc Holdings Ltd, Harbin branch Address before: 054900 101 Yao Lou village, Luzhai Township, Linxi County, Xingtai, Hebei Applicant before: Xu Hongen |
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