CN108925225A - A kind of agricultural product picking mechanical arm of rigidity and flexibility joint driving - Google Patents
A kind of agricultural product picking mechanical arm of rigidity and flexibility joint driving Download PDFInfo
- Publication number
- CN108925225A CN108925225A CN201810984986.9A CN201810984986A CN108925225A CN 108925225 A CN108925225 A CN 108925225A CN 201810984986 A CN201810984986 A CN 201810984986A CN 108925225 A CN108925225 A CN 108925225A
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- cylinder
- workbench
- hole
- spring
- air inlet
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/006—Harvesting of standing crops of tomatoes
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
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Abstract
The invention discloses a kind of agricultural product picking mechanical arms of rigidity and flexibility joint driving, including software driver, workbench is equipped with below software driver, software driver and workbench are cooperatively connected, workbench side wall is equipped with air inlet pipe and exhaust tube, air inlet pipe and exhaust tube are connected to workbench, driving main body is equipped with below workbench, it drives and is equipped with driving cylinder on the left of body interior, it drives and is equipped with stop cylinder on the right side of body interior, cylinder and workbench is driven to be cooperatively connected, worktable upper surface is equipped with contact baroswitch, stop cylinder and contact baroswitch are cooperatively connected, it is big with output torque to solve traditional rigid machine people, move fast and accurate feature；For the agricultural product Rigid Manipulators easy damaged such as tomato, the inadequate problem of flexible manipulator power output devises a kind of agricultural product picking mechanical arm of rigidity and flexibility joint driving herein；Guarantee also to protect agriculture while power output.
Description
Technical field
The present invention relates to manipulator field, specially a kind of agricultural product picking mechanical arm of rigidity and flexibility joint driving.
Background technique
Soft robot is fabricated by flexibility material, high-flexibility, can change the form of itself on a large scale
And the protection to object may be implemented using the flexibility of itself；Traditional rigid machine people has output torque big, fortune
Move fast and accurate feature；For the agricultural product Rigid Manipulators easy damaged such as tomato, flexible manipulator power output is inadequate to be asked
Topic devises a kind of agricultural product picking mechanical arm of rigidity and flexibility joint driving herein；Also to agriculture while guarantee power output
It is protected.
Summary of the invention
It is above-mentioned to solve it is an object of that present invention to provide a kind of agricultural product picking mechanical arm of rigidity and flexibility joint driving
The problem of being proposed in background technique.
A kind of agricultural product picking mechanical arm of rigidity and flexibility joint driving, including software driver, the software driving
Workbench is equipped with below device, the software driver and workbench are cooperatively connected, and the workbench side wall is equipped with air inlet pipe and pumping
Tracheae, the air inlet pipe and exhaust tube are connected to workbench, and driving main body, the driving main body are equipped with below the workbench
Inside left is equipped with driving cylinder, and stop cylinder is equipped on the right side of driving body interior, and the driving cylinder and workbench cooperation connect
It connects, the worktable upper surface is equipped with contact baroswitch, and the stop cylinder and contact baroswitch are cooperatively connected.
Preferably, the workbench includes upper backup pad and lower supporting plate, and the upper backup pad and lower supporting plate, which are fixed, to be connected
It connects, the air inlet pipe and exhaust tube are connect with upper backup pad, and the contact baroswitch is set at upper backup pad center, described
Contact baroswitch includes inner tube, and said inner tube side wall is equipped with outlet nozzle, and outlet nozzle is connected to inner tube, said inner tube and air inlet
Pipe connection, is socketed with outer tube on the outside of inner tube, and the outer tube is slidably connected with inner tube, and outer pipe bottom is equipped with the first spring, and described the
One spring top is fixedly connected with outer pipe bottom, and the bottom end of the first spring is fixedly connected with upper backup pad, and the outer tube wall is set
There is communicating pipe, described communicating pipe one end is connected to outer tube, and the other end and stop cylinder are cooperatively connected, and envelope is equipped at the top of the outer tube
Lid, the driving cylinder includes drivig cylinder, is equipped with drive rod in the drivig cylinder at central axes, and the drive rod is hollow
Bar, the lower supporting plate middle part are equipped with first through hole, and the first through hole is connected to drive rod, and the lower supporting plate upper surface is handed over
Mistake is set there are two strip groove, is equipped with sealing plate in the first through hole, and the sealing plate top is equipped with second spring, and described the
Two spring tops are fixedly connected with upper backup pad lower surface, and second spring bottom end is fixedly connected with sealing plate upper surface, described close
Sealing plate lower part is equipped with third spring, and the third spring bottom end is fixedly connected with drive rod upper surface, third spring top with it is close
Sealing plate lower surface is fixedly connected, and the drive rod bottom is equipped with plectane, and the plectane is slidably connected with drivig cylinder, the plectane
Outside is equipped with sealing ring, and the drivig cylinder bottom is equipped with drivig cylinder air inlet pipe, the drivig cylinder air inlet pipe and driving cylinder
Body connection, the both ends of the strip groove are equipped with lower chambers, and stripe shape groove is connected to lower chambers, the upper backup pad following table
Face central symmetry is set there are four upper chamber, and the upper chamber and lower chambers are tightly connected, and the upper chamber and software driver connect
Logical, the stop cylinder includes stop cylinder body, and scotch is equipped in the stopper cylinder body, and the scotch and stop cylinder body slide
Connection, the scotch inside are equipped with L-type through-hole, and scotch upper surface is equipped with connecting rod, and the connecting rod is hollow stem, connection
Bar top is threadedly coupled with lower supporting plate, and the connecting rod bottom end is threadedly coupled with scotch, and connecting rod bottom end and L-type through-hole
One end is connected to, and edge is equipped with the second through-hole on the lower supporting plate, and second through-hole top is connected to communicating pipe, and second is logical
Hole bottom end is connected to connecting rod, baffle is equipped between the stop cylinder body and drivig cylinder, it is several fixed to be equipped in the middle part of the baffle
Hyte part, the positioning component include limiting groove, and the limiting groove bottom is equipped with third through-hole, the third through-hole and L
The connection of the shape through-hole other end, the limiting groove is interior to be equipped with limited block, and the limited block is slidably connected with limiting groove, the limit
Position block front end face is equipped with gag lever post, is equipped with the 4th spring, the 4th spring one end and limited block front end on the outside of the gag lever post
Face is fixedly connected, and the other end is fixedly connected with limiting groove inner wall.
Preferably, the exhaust tube is connected to one of upper chamber.
Preferably, the communicating pipe is hollow tube.
Preferably, it is threadedly coupled at the top of the drive rod with lower supporting plate.
Preferably, two strip groove across settings, and the center of strip groove is connected to first through hole.
The invention has the benefit that inflating into driving cylinder, driving cylinder drives workbench to travel forward, and drives soft
Body driver moves to position to be clamped, when contact baroswitch touches object to be captured, object docking to be captured
It touches baroswitch and generates pressure, inflated at this time into air inlet pipe, the gas being filled with enters stop cylinder, so that driving cylinder stops
It only works, and drives the gas being filled in cylinder that software driver is driven to wrap object to be captured, need object pine
When opening, pumping pipe end is connected with aspiration pump, starting aspiration pump is evacuated software driver, then achievable object is put
It sets.
Outer tube is staggered communicating pipe by the active force of the first spring with outlet nozzle, when pressure of the capping by object to be grabbed
When, outer tube moves downward, and outlet nozzle is connected to communicating pipe at this time, be filled with gas to air inlet pipe at this time, gas via outlet nozzle into
Enter into communicating pipe, and drive stop cylinder moving, the movement of stop cylinder makes to drive cylinder out of service.
When needing to drive movable workbench, it is passed through gas into drivig cylinder air inlet pipe, the gas push plectane being filled with,
Plectane drives drive rod connected to it to move, when drive rod moves, can synchronous drive movable workbench, when outer
When pipe is under pressure, stop cylinder fixes the position of plectane, and the gas being filled with below plectane at this time enters in drive rod, and passes through
The sealing plate in first through hole is jacked up upwards by drive rod, when sealing plate is moved to certain altitude, strip groove and first
Through-hole connection, the gas being filled with enters eventually into software driver, and drive software driver to object to be captured into
Row grasps, and stops inflating to drivig cylinder air inlet pipe after crawl.
When needing to unclamp the object of crawl, starting aspiration pump is evacuated, and the gas in software driver is extracted out, this
When software driver object can be unclamped.
When outer tube bears pressure, the gas that air inlet pipe is passed through successively passes through later along the second through-hole is entered communicating pipe
Connecting rod and L-type through-hole are crossed, positioning component is entered, the gas that air inlet pipe is passed through is by applying pressure to limited block, so that limit
Position bar stretches out, and limits to plectane, prevents plectane from continuing to move up.
Detailed description of the invention
Fig. 1 is a kind of agricultural product picking mechanical arm axonometric drawing of rigidity and flexibility joint driving of the present invention.
Fig. 2 is a kind of agricultural product picking mechanical arm structural schematic diagram of rigidity and flexibility joint driving of the present invention.
Fig. 3 is partial enlarged view at A in Fig. 2.
Fig. 4 is partial enlarged view at B in Fig. 2.
Fig. 5 is partial enlarged view at C in Fig. 2.
Wherein: 1, software driver；2, workbench；21, upper backup pad；211, upper chamber；22, lower supporting plate；221, item
Connected in star；222, lower chambers；223, the second through-hole；225, second spring；226, sealing plate；227, first through hole；228, third
Spring；3, cylinder is driven；31, drivig cylinder；32, drive rod；33, plectane；34, sealing ring；5, stop cylinder；51, stopper cylinder
Body；52, connecting rod；53, scotch；54, L-type through-hole；55, baffle；551, third through-hole；552, limiting groove；553, it limits
Block；554, gag lever post；555, the 4th spring；6, air inlet pipe；7, exhaust tube；8, communicating pipe；9, baroswitch is contacted；91, outer tube；
92, inner tube；93, it covers；94, the first spring；95, outlet nozzle；10, drivig cylinder air inlet pipe.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figures 1 to 5, a kind of agricultural product picking mechanical arm of rigidity and flexibility joint driving, including software driving
Device 1 is equipped with workbench 2 below the software driver 1, and the software driver 1 is cooperatively connected with workbench 2, the work
2 side wall of platform is equipped with air inlet pipe 6 and exhaust tube 7, and the air inlet pipe 6 and exhaust tube 7 are connected to workbench 2, under the workbench 2
Side is equipped with driving main body, and driving cylinder 3 is equipped on the left of the driving body interior, is equipped with stop cylinder on the right side of driving body interior
5, the driving cylinder 3 is cooperatively connected with workbench 2, and 2 upper surface of workbench is equipped with contact baroswitch 9, the stop
Cylinder 5 and contact baroswitch 9 are cooperatively connected.It is inflated into driving cylinder 3, driving cylinder 3 drives workbench 2 to travel forward,
It drives software driver 1 to move to position to be clamped, touches object to be captured when contacting baroswitch 9, it is to be captured
Object generates pressure to contact baroswitch 9, inflates at this time into air inlet pipe 6, the gas being filled with enters stop cylinder 5, makes
Cylinder 3 must be driven to stop working, and drive the gas being filled in cylinder 3 that software driver 1 is driven to wrap up object to be captured
Firmly, when needing to unclamp on object, 7 end of exhaust tube is connected with aspiration pump, and starting aspiration pump 7 is evacuated software driver 1,
The then placement of achievable object.
The workbench 2 includes upper backup pad 21 and lower supporting plate 22, and the upper backup pad 21 and lower supporting plate 22 are fixed
Connection, the air inlet pipe 6 and exhaust tube 7 are connect with upper backup pad 21, and the contact baroswitch 9 is set in upper backup pad 21
At the heart, the contact baroswitch 9 includes inner tube 92, and 92 side wall of said inner tube is equipped with outlet nozzle 95, and outlet nozzle 95 and inner tube
92 connections, said inner tube 92 are connected to air inlet pipe 6, and outer tube 91 is socketed on the outside of inner tube 92, and the outer tube 91 is slided with inner tube 92
Connection, 91 bottom of outer tube are equipped with the first spring 94, and 94 top of the first spring is fixedly connected with 91 bottom of outer tube, the first spring
94 bottom end is fixedly connected with upper backup pad 21, and 91 side wall of outer tube is equipped with communicating pipe 8, described 8 one end of communicating pipe and outer tube
91 connections, the other end and stop cylinder 5 are cooperatively connected, and the communicating pipe 8 is hollow tube, are equipped with capping at the top of the outer tube 91
93.Outer tube 91 is staggered communicating pipe 8 by the active force of the first spring 94 with outlet nozzle 95, when capping 93 is by object to be grabbed
When pressure, outer tube 91 is moved downward, and outlet nozzle 95 is connected to communicating pipe 8 at this time, is filled with gas, gas warp to air inlet pipe 6 at this time
It is entered in communicating pipe 8 by outlet nozzle 95, and stop cylinder 5 is driven to move, the movement of stop cylinder 5 makes that cylinder 3 is driven to stop
Only run.
The driving cylinder 3 includes drivig cylinder 31, is equipped with drive rod 32 in the drivig cylinder 31 at central axes, described
Drive rod 32 is hollow stem, and 32 top of drive rod is threadedly coupled with lower supporting plate 22, is equipped in the middle part of the lower supporting plate 22
First through hole 227, the first through hole 227 are connected to drive rod 32, and 22 upper surface of lower supporting plate is staggeredly set there are two item
Connected in star 221, two 221 across of strip groove settings, and the center of strip groove 221 is connected to first through hole 227, institute
It states and is equipped with sealing plate 226 in first through hole 227,226 top of sealing plate is equipped with second spring 225, the second spring 225
Top is fixedly connected with 21 lower surface of upper backup pad, and 225 bottom end of second spring is fixedly connected with 226 upper surface of sealing plate, described
226 lower part of sealing plate is equipped with third spring 228, and 228 bottom end of third spring is fixedly connected with 32 upper surface of drive rod, third
228 top of spring is fixedly connected with 226 lower surface of sealing plate, and 32 bottom of drive rod is equipped with plectane 33, the plectane 33 with
Drivig cylinder 31 is slidably connected, and sealing ring 34 is equipped on the outside of the plectane 33, and 31 bottom of drivig cylinder is equipped with drivig cylinder
31 air inlet pipe 6, the drivig cylinder air inlet pipe 10 are connected to drivig cylinder 31, and the both ends of the strip groove 221 are equipped with down
Chamber 222, and stripe shape groove 221 is connected to lower chambers 222, the 21 lower surface central symmetry of upper backup pad set that there are four epicoeles
Room 211, the upper chamber 211 are tightly connected with lower chambers 222, and the upper chamber 211 is connected to 1 with software driver.Work as needs
When driving workbench 2 mobile, it is passed through gas into drivig cylinder air inlet pipe 10, the gas push plectane 33 being filled with, 33 band of plectane
Drive rod 32 connected to it is moved to move, when drive rod 32 moves, can synchronous drive workbench 2 it is mobile, when outer
When pipe 91 is under pressure, stop cylinder 51 fixes the position of plectane 33, and the gas being filled with below plectane 33 at this time enters driving
In bar 32, and the sealing plate 226 in first through hole 227 is jacked up upwards via drive rod 32, when sealing plate 226 is moved to centainly
When height, strip groove 221 is connected to first through hole 227, and the gas being filled with enters eventually into software driver 1, and band
Dynamic software driver 1 grasps object to be captured, stops inflating to drivig cylinder air inlet pipe 10 after crawl.
The exhaust tube 7 is connected to one of upper chamber 211.When needing to unclamp the object of crawl, start aspiration pump
It is evacuated, the gas in software driver 1 is extracted out, software driver 1 can unclamp object at this time.
The stop cylinder 5 includes stop cylinder body 51, is equipped with scotch 53, the scotch 53 in the stop cylinder body 51
It is slidably connected with stop cylinder body 51, L-type through-hole 54 is equipped with inside the scotch 53,53 upper surface of scotch is equipped with connecting rod
52, the connecting rod 52 is hollow stem, and 52 top of connecting rod is threadedly coupled with lower supporting plate 22,52 bottom end of connecting rod and is stopped
Motion block 53 is threadedly coupled, and 52 bottom end of connecting rod is connected to 54 one end of L-type through-hole, and edge is equipped with second on the lower supporting plate 22
Through-hole 223,223 top of the second through-hole is connected to communicating pipe 8, and 223 bottom end of the second through-hole is connected to connecting rod 52, described
It is equipped with baffle 55 between stop cylinder body 51 and drivig cylinder 31, is equipped with several positioning components, the positioning in the middle part of the baffle 55
Component includes limiting groove 552, and 552 bottom of limiting groove is equipped with third through-hole 551, and the third through-hole 551 and L shape are logical
The connection of 54 other end of hole, the limiting groove 552 is interior to be equipped with limited block 553, and the limited block 553 is slided with limiting groove 552
Connection, 553 front end face of limited block are equipped with gag lever post 554, are equipped with the 4th spring 555 on the outside of the gag lever post 554, and described the
Four springs, 55 one end is fixedly connected with 553 front end face of limited block, and the other end is fixedly connected with 552 inner wall of limiting groove.Work as outer tube
When 91 receiving pressure, the gas that air inlet pipe 6 is passed through successively passes through connecting rod along the second through-hole 223 is entered communicating pipe 8 later
52 and L-type through-hole 54, positioning component is entered, the gas that air inlet pipe 6 is passed through is by applying pressure to limited block 553, so that limit
Position bar 554 stretches out, and limits to plectane 33, prevents plectane 33 from continuing to move up.
Concrete operating principle: inflating into driving cylinder 3, and driving cylinder 3 drives workbench 2 to travel forward, and drives software
Driver 1 moves to position to be clamped, when contact baroswitch 9 touches object to be captured, object docking to be captured
It touches baroswitch 9 and generates pressure, inflated at this time into air inlet pipe 6, the gas being filled with enters stop cylinder 5, so that driving gas
Cylinder 3 stops working, and drives the gas that is filled in cylinder 3 that software driver 1 is driven to wrap object to be captured, need by
When object unclamps, 7 end of exhaust tube is connected with aspiration pump, and starting aspiration pump 7 is evacuated software driver 1, then achievable
The placement of object.Outer tube 91 is staggered communicating pipe 8 by the active force of the first spring 94 with outlet nozzle 95, when capping 93 is by wait grab
When taking the pressure of object, outer tube 91 is moved downward, and outlet nozzle 95 is connected to communicating pipe 8 at this time, is filled with gas to air inlet pipe 6 at this time
Body, gas enter in communicating pipe 8 via outlet nozzle 95, and stop cylinder 5 is driven to move, and the movement of stop cylinder 5 makes to drive
Cylinder 3 of taking offence is out of service.When needing to drive workbench 2 mobile, it is passed through gas into drivig cylinder air inlet pipe 10, the gas being filled with
Body pushes plectane 33, and plectane 33 drives drive rod 32 connected to it to move, when drive rod 32 moves, can synchronize
Drive workbench 2 mobile, when outer tube 91 is under pressure, stop cylinder 51 fixes the position of plectane 33, at this time under plectane 33
The gas being just filled with enters in drive rod 32, and jacks up the sealing plate 226 in first through hole 227 upwards via drive rod 32,
When sealing plate 226 is moved to certain altitude, strip groove 221 is connected to first through hole 227, and the gas being filled with enters eventually into
In software driver 1, and software driver 1 is driven to grasp object to be captured, stopped after crawl to driving
Cylinder body air inlet pipe 10 is inflated.When needing to unclamp the object of crawl, starting aspiration pump is evacuated, will be in software driver 1
Gas extraction, software driver 1 can unclamp object at this time.When outer tube 91 bears pressure, gas that air inlet pipe 6 is passed through along
It enters the second through-hole 223 communicating pipe 8, successively passes through connecting rod 52 and L-type through-hole 54 later, enter positioning component, air inlet
The gas that pipe 6 is passed through, so that gag lever post 554 stretches out, limits plectane 33, prevents by applying pressure to limited block 553
Plectane 33 continues to move up.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (6)
1. a kind of agricultural product picking mechanical arm of rigidity and flexibility joint driving, which is characterized in that including software driver (1),
Workbench (2) are equipped with below the software driver (1), the software driver (1) and workbench (2) are cooperatively connected, described
Workbench (2) side wall is equipped with air inlet pipe (6) and exhaust tube (7), and the air inlet pipe (6) and exhaust tube (7) connect with workbench (2)
It is logical, it is equipped with driving main body below the workbench (2), is equipped with driving cylinder (3) on the left of the driving body interior, drives main body
Inner right side is equipped with stop cylinder (5), and the driving cylinder (3) and workbench (2) are cooperatively connected, table on the workbench (2)
Face is equipped with contact baroswitch (9), and the stop cylinder (5) and contact baroswitch (9) are cooperatively connected.
2. a kind of agricultural product picking mechanical arm of rigidity and flexibility joint driving according to claim 1, which is characterized in that
The workbench (2) includes upper backup pad (21) and lower supporting plate (22), and the upper backup pad (21) and lower supporting plate (22) are solid
Fixed connection, the air inlet pipe (6) and exhaust tube (7) are connect with upper backup pad (21), and the contact baroswitch (9) is set to upper
At support plate (21) center, the contact baroswitch (9) includes inner tube (92), and said inner tube (92) side wall is equipped with outlet nozzle
(95), and outlet nozzle (95) is connected to inner tube (92), and said inner tube (92) is connected to air inlet pipe (6), socket on the outside of inner tube (92)
Having outer tube (91), the outer tube (91) is slidably connected with inner tube (92), and outer tube (91) bottom is equipped with the first spring (94), and described the
It is fixedly connected at the top of one spring (94) with outer tube (91) bottom, the bottom end and upper backup pad (21) of the first spring (94) are fixed to be connected
It connects, outer tube (91) side wall is equipped with communicating pipe (8), and described communicating pipe (8) one end is connected to outer tube (91), the other end and stop
Cylinder (5) is cooperatively connected, and capping (93) is equipped at the top of the outer tube (91), and the driving cylinder (3) includes drivig cylinder (31),
Drive rod (32) are equipped at the interior central axes of the drivig cylinder (31), the drive rod (32) is hollow stem, the lower supporting plate
(22) middle part is equipped with first through hole (227), and the first through hole (227) is connected to drive rod (32), the lower supporting plate (22)
Upper surface is staggeredly set there are two strip groove (221), and the first through hole (227) is interior to be equipped with sealing plate (226), the sealing plate
(226) top is equipped with second spring (225), and second spring (225) top is fixedly connected with upper backup pad (21) lower surface,
Second spring (225) bottom end is fixedly connected with sealing plate (226) upper surface, and sealing plate (226) lower part is equipped with third spring
(228), third spring (228) bottom end is fixedly connected with drive rod (32) upper surface, third spring (228) top and sealing
Plate (226) lower surface is fixedly connected, and drive rod (32) bottom is equipped with plectane (33), the plectane (33) and drivig cylinder
(31) it is slidably connected, is equipped with sealing ring (34) on the outside of the plectane (33), drivig cylinder (31) bottom is equipped with drivig cylinder
(31) air inlet pipe (6), the drivig cylinder air inlet pipe (10) are connected to drivig cylinder (31), and the two of the strip groove (221)
End is equipped with lower chambers (222), and stripe shape groove (221) is connected to lower chambers (222), in upper backup pad (21) lower surface
The heart is symmetrically arranged with four upper chamber (211), and the upper chamber (211) and lower chambers (222) are tightly connected, the upper chamber
(211) it is connected to software driver (1), the stop cylinder (5) includes stop cylinder body (51), is set in the stop cylinder body (51)
Have scotch (53), the scotch (53) is slidably connected with stop cylinder body (51), and the scotch (53) is internal logical equipped with L-type
Hole (54), scotch (53) upper surface be equipped with connecting rod (52), the connecting rod (52) be hollow stem, connecting rod (52) top with
Lower supporting plate (22) is threadedly coupled, and connecting rod (52) bottom end is threadedly coupled with scotch (53), and connecting rod (52) bottom end
It is connected to L-type through-hole (54) one end, edge is equipped with the second through-hole (223) on the lower supporting plate (22), second through-hole
(223) top is connected to communicating pipe (8), and the second through-hole (223) bottom end is connected to connecting rod (52), the stop cylinder body (51)
Baffle (55) are equipped between drivig cylinder (31), several positioning components, the positioning component are equipped in the middle part of the baffle (55)
Including limiting groove (552), limiting groove (552) bottom is equipped with third through-hole (551), the third through-hole (551) and L
The connection of shape through-hole (54) other end, the limiting groove (552) is interior to be equipped with limited block (553), the limited block (553) and limit
Groove (552) is slidably connected, and limited block (553) front end face is equipped with gag lever post (554), sets on the outside of the gag lever post (554)
There is the 4th spring (555), the 4th spring (55) one end is fixedly connected with limited block (553) front end face, the other end and limit
Groove (552) inner wall is fixedly connected.
3. a kind of agricultural product picking mechanical arm of rigidity and flexibility joint driving according to claim 1, which is characterized in that
The exhaust tube (7) is connected to one of upper chamber (211).
4. a kind of agricultural product picking mechanical arm of rigidity and flexibility joint driving according to claim 1, which is characterized in that
The communicating pipe (8) is hollow tube.
5. a kind of agricultural product picking mechanical arm of rigidity and flexibility joint driving according to claim 1, which is characterized in that
It is threadedly coupled at the top of the drive rod (32) with lower supporting plate (22).
6. a kind of agricultural product picking mechanical arm of rigidity and flexibility joint driving according to claim 1, which is characterized in that
Two strip groove (221) across settings, and the center of strip groove (221) is connected to first through hole (227).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810984986.9A CN108925225B (en) | 2018-08-28 | 2018-08-28 | Rigid and flexible combined driven agricultural product picking manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810984986.9A CN108925225B (en) | 2018-08-28 | 2018-08-28 | Rigid and flexible combined driven agricultural product picking manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108925225A true CN108925225A (en) | 2018-12-04 |
| CN108925225B CN108925225B (en) | 2023-08-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810984986.9A Active CN108925225B (en) | 2018-08-28 | 2018-08-28 | Rigid and flexible combined driven agricultural product picking manipulator |
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| CN (1) | CN108925225B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109875850A (en) * | 2019-04-17 | 2019-06-14 | 浙江理工大学 | A kind of cerebral apoplexy hand convalescence device |
| CN111887026A (en) * | 2020-07-03 | 2020-11-06 | 江苏大学 | Rigidity-flexibility combination-based variable-rigidity picking manipulator |
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