CN108925225B - Rigid and flexible combined driven agricultural product picking manipulator - Google Patents
Rigid and flexible combined driven agricultural product picking manipulator Download PDFInfo
- Publication number
- CN108925225B CN108925225B CN201810984986.9A CN201810984986A CN108925225B CN 108925225 B CN108925225 B CN 108925225B CN 201810984986 A CN201810984986 A CN 201810984986A CN 108925225 B CN108925225 B CN 108925225B
- Authority
- CN
- China
- Prior art keywords
- pipe
- communicated
- hole
- spring
- air
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
-
- 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
-
- 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
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Actuator (AREA)
Abstract
The invention discloses a rigid and flexible combined driven agricultural product picking manipulator which comprises a soft driver, wherein a workbench is arranged below the soft driver, the soft driver is connected with the workbench in a matched manner, an air inlet pipe and an air exhaust pipe are arranged on the side wall of the workbench, the air inlet pipe and the air exhaust pipe are both communicated with the workbench, a driving main body is arranged below the workbench, a driving air cylinder is arranged on the left side inside the driving main body, a stop air cylinder is arranged on the right side inside the driving main body, the driving air cylinder is connected with the workbench in a matched manner, a contact air pressure switch is arranged on the upper surface of the workbench, and the stop air cylinder is connected with the contact air pressure switch in a matched manner, so that the traditional rigid robot has the characteristics of large output moment and quick and accurate movement; aiming at the problems that rigid manipulators of agricultural products such as tomatoes are easy to damage and the output force of flexible manipulators is insufficient, the rigid and flexible combined driven agricultural product picking manipulator is designed; the output force is ensured and the pesticide is protected.
Description
Technical Field
The invention relates to the field of manipulators, in particular to a rigid and flexible combined driven agricultural product picking manipulator.
Background
The soft robot is made of flexible materials, has high flexibility, can change the form of the soft robot in a large range and can protect a target object by utilizing the flexibility of the soft robot; the traditional rigid robot has the characteristics of large output moment, quick and accurate movement; aiming at the problems that rigid manipulators of agricultural products such as tomatoes are easy to damage and the output force of flexible manipulators is insufficient, the rigid and flexible combined driven agricultural product picking manipulator is designed; the output force is ensured and the pesticide is protected.
Disclosure of Invention
The invention aims to provide a rigid and flexible combined driven agricultural product picking manipulator so as to solve the problems in the background technology.
The utility model provides a rigidity and flexible joint drive's agricultural product picking manipulator, includes the software driver, software driver below is equipped with the workstation, the software driver is connected with the workstation cooperation, the workstation lateral wall is equipped with intake pipe and exhaust tube, intake pipe and exhaust tube all communicate with the workstation, the workstation below is equipped with the drive main part, the inside left side of drive main part is equipped with the actuating cylinder, and the inside right side of drive main part is equipped with the stop cylinder, the actuating cylinder is connected with the workstation cooperation, the workstation upper surface is equipped with contact air pressure switch, the stop cylinder is connected with contact air pressure switch cooperation.
Preferably, the workbench comprises an upper supporting plate and a lower supporting plate, the upper supporting plate and the lower supporting plate are fixedly connected, the air inlet pipe and the exhaust pipe are connected with the upper supporting plate, the contact air pressure switch is arranged at the center of the upper supporting plate and comprises an inner pipe, the side wall of the inner pipe is provided with an air outlet nozzle, the air outlet nozzle is communicated with the inner pipe, the inner pipe is communicated with the air inlet pipe, the outer side of the inner pipe is sleeved with an outer pipe, the outer pipe is in sliding connection with the inner pipe, the bottom of the outer pipe is provided with a first spring, the top of the first spring is fixedly connected with the bottom of the outer pipe, the bottom of the first spring is fixedly connected with the upper supporting plate, the side wall of the outer pipe is provided with a communicating pipe, one end of the communicating pipe is communicated with the outer pipe, the other end of the communicating pipe is in matched connection with a stop cylinder, the top of the outer pipe is provided with a sealing cover, the driving cylinder comprises a driving cylinder body, the central axis of the driving cylinder is provided with a driving rod, the driving rod is a hollow rod, a first through hole is arranged in the middle of the lower supporting plate and communicated with the driving rod, two strip-shaped grooves are alternately arranged on the upper surface of the lower supporting plate, a sealing plate is arranged in the first through hole, a second spring is arranged on the upper portion of the sealing plate, the top end of the second spring is fixedly connected with the lower surface of the upper supporting plate, the bottom end of the second spring is fixedly connected with the upper surface of the sealing plate, a third spring is arranged on the lower portion of the sealing plate, the bottom end of the third spring is fixedly connected with the upper surface of the driving rod, the top end of the third spring is fixedly connected with the lower surface of the sealing plate, a circular plate is arranged at the bottom of the driving rod and is in sliding connection with the driving cylinder, a sealing ring is arranged on the outer side of the circular plate, a driving cylinder air inlet pipe is arranged at the bottom of the driving cylinder and communicated with the driving cylinder, the utility model discloses a stop spring, including bar recess, lower backup pad, stopper, stop spring, stopper, spring, stopper, connecting rod top and lower backup pad threaded connection, connecting rod bottom and stopper threaded connection, and connecting rod bottom and L type through-hole one end intercommunication, lower backup pad upper edge portion is equipped with the second through-hole, second through-hole top and communicating pipe intercommunication, and second through-hole bottom and connecting rod intercommunication, be equipped with the baffle between stopper cylinder and the drive cylinder, the baffle middle part is equipped with a plurality of locating component, the locating component includes spacing recess, spacing recess bottom is equipped with third through-hole, third through-hole and L shape through-hole other end intercommunication, be equipped with the stopper in the spacing recess, stopper and spacing recess sliding connection are equipped with stopper, four preceding terminal surfaces are equipped with spacing spring, the stopper is fixed with four terminal surfaces and is connected to the preceding spring, the other end is fixed with the stopper.
Preferably, the exhaust pipe is communicated with one of the upper chambers.
Preferably, the communicating pipe is a hollow pipe.
Preferably, the top of the driving rod is in threaded connection with the lower supporting plate.
Preferably, the two strip-shaped grooves are arranged in a cross shape, and the centers of the strip-shaped grooves are communicated with the first through hole.
The beneficial effects of the invention are as follows: the air charging device comprises an air inlet pipe, a working table, a driving cylinder, a soft driver, an air sucking pipe, an air inlet pipe, a stop cylinder, an air sucking pipe, an air sucking pump, a working table, a contact air pressure switch, an air inlet pipe, a stop cylinder, a driving cylinder and an air sucking pipe.
The outer tube receives the effort of first spring, and communicating pipe staggers with the mouth of giving vent to anger, and when the closing cap received the pressure of waiting to snatch the object, outer tube down motion, the mouth of giving vent to anger communicates with communicating pipe this moment, fills gas to the intake pipe this moment, and gas enters into in the communicating pipe through the mouth of giving vent to anger to the motion of drive stop cylinder, the motion of stop cylinder makes the drive cylinder stop operation.
When the workbench is required to be driven to move, air is introduced into the air inlet pipe of the driving cylinder body, the charged air pushes the circular plate, the circular plate drives the driving rod connected with the circular plate to move, when the driving rod moves, the workbench can be synchronously driven to move, when the outer pipe is stressed, the stop cylinder fixes the position of the circular plate, at the moment, the air charged below the circular plate enters the driving rod, the sealing plate in the first through hole is jacked up through the driving rod, when the sealing plate moves to a certain height, the strip-shaped groove is communicated with the first through hole, the charged air finally enters the soft driver, the soft driver is driven to grasp an object to be grasped, and after grasping is finished, the air charging to the air inlet pipe of the driving cylinder body is stopped.
When the grabbed object is required to be loosened, the air pump is started to pump air, the air in the soft driver is pumped out, and at the moment, the soft driver can loosen the object.
When the outer tube bears pressure, the gas that the intake pipe lets in enters into the second through-hole along communicating pipe, later passes through connecting rod and L type through-hole in proper order, enters into locating component, and the gas that the intake pipe lets in is through exerting pressure to the stopper for the gag lever post stretches out, carries out spacingly to the plectane, prevents that the plectane from continuing upwards moving.
Drawings
Fig. 1 is an isometric view of a rigid and flexible combined drive agricultural product picking robot according to the present invention.
Fig. 2 is a schematic structural view of an agricultural product picking manipulator driven by combination of rigidity and flexibility.
Fig. 3 is a partial enlarged view of fig. 2 at a.
Fig. 4 is a partial enlarged view at B in fig. 2.
Fig. 5 is a partial enlarged view of fig. 2 at C.
Wherein: 1. a software driver; 2. a work table; 21. an upper support plate; 211. an upper chamber; 22. a lower support plate; 221. a strip-shaped groove; 222. a lower chamber; 223. a second through hole; 225. a second spring; 226. a sealing plate; 227. a first through hole; 228. a third spring; 3. a driving cylinder; 31. a driving cylinder; 32. a driving rod; 33. a circular plate; 34. a seal ring; 5. a stop cylinder; 51. a stop cylinder; 52. a connecting rod; 53. a stopper; 54. an L-shaped through hole; 55. a baffle; 551. a third through hole; 552. a limit groove; 553. a limiting block; 554. a limit rod; 555. a fourth spring; 6. an air inlet pipe; 7. an exhaust pipe; 8. a communicating pipe; 9. a contact air pressure switch; 91. an outer tube; 92. an inner tube; 93. a cover; 94. a first spring; 95. an air outlet nozzle; 10. and driving the cylinder body air inlet pipe.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1 to 5, a rigid and flexible combined driving agricultural product picking manipulator comprises a soft driver 1, a workbench 2 is arranged below the soft driver 1, the soft driver 1 is connected with the workbench 2 in a matched mode, an air inlet pipe 6 and an air exhaust pipe 7 are arranged on the side wall of the workbench 2, the air inlet pipe 6 and the air exhaust pipe 7 are communicated with the workbench 2, a driving main body is arranged below the workbench 2, a driving air cylinder 3 is arranged on the left side inside the driving main body, a stop air cylinder 5 is arranged on the right side inside the driving main body, the driving air cylinder 3 is connected with the workbench 2 in a matched mode, a contact air pressure switch 9 is arranged on the upper surface of the workbench 2, and the stop air cylinder 5 is connected with the contact air pressure switch 9 in a matched mode. The air is inflated into the driving air cylinder 3, the driving air cylinder 3 drives the workbench 2 to move forwards, the soft driver 1 is driven to move to a position to be clamped, when the contact air pressure switch 9 touches an object to be clamped, the object to be clamped generates pressure to the contact air pressure switch 9, the air is inflated into the air inlet pipe 6 at the moment, the air inflated into the stop air cylinder 5 is enabled to stop working of the driving air cylinder 3, the air inflated into the driving air cylinder 3 drives the soft driver 1 to wrap the object to be clamped, when the object is required to be loosened, the tail end of the air exhaust pipe 7 is connected with an air exhaust pump, the air exhaust pump 7 is started to exhaust the soft driver 1, and then the placement of the object can be completed.
The workbench 2 comprises an upper supporting plate 21 and a lower supporting plate 22, the upper supporting plate 21 and the lower supporting plate 22 are fixedly connected, the air inlet pipe 6 and the exhaust pipe 7 are connected with the upper supporting plate 21, the contact air pressure switch 9 is arranged at the center of the upper supporting plate 21 and comprises an inner pipe 92, an air outlet nozzle 95 is arranged on the side wall of the inner pipe 92 and is communicated with the inner pipe 92, the inner pipe 92 is communicated with the air inlet pipe 6, an outer pipe 91 is sleeved on the outer side of the inner pipe 92, the outer pipe 91 is slidably connected with the inner pipe 92, a first spring 94 is arranged at the bottom of the outer pipe 91, the top of the first spring 94 is fixedly connected with the bottom of the outer pipe 91, the bottom of the first spring 94 is fixedly connected with the upper supporting plate 21, a communicating pipe 8 is arranged on the side wall of the outer pipe 91, one end of the communicating pipe 8 is communicated with the outer pipe 91, the other end of the communicating pipe is cooperatively connected with the stop cylinder 5, the communicating pipe 8 is a hollow pipe, and the top of the outer pipe 91 is provided with a sealing cover 93. The outer tube 91 is acted by the first spring 94, the communicating tube 8 is staggered with the air outlet nozzle 95, when the sealing cover 93 is acted by the pressure of an object to be grabbed, the outer tube 91 moves downwards, the air outlet nozzle 95 is communicated with the communicating tube 8 at this time, air is filled into the air inlet tube 6 at this time, the air enters the communicating tube 8 through the air outlet nozzle 95, the stop cylinder 5 is driven to move, and the driving cylinder 3 stops running due to the movement of the stop cylinder 5.
The driving cylinder 3 comprises a driving cylinder body 31, a driving rod 32 is arranged at the central axis in the driving cylinder body 31, the driving rod 32 is a hollow rod, the top of the driving rod 32 is in threaded connection with the lower support plate 22, a first through hole 227 is arranged in the middle of the lower support plate 22, the first through hole 227 is communicated with the driving rod 32, two strip-shaped grooves 221 are alternately arranged on the upper surface of the lower support plate 22, the two strip-shaped grooves 221 are arranged in a cross shape, the center of each strip-shaped groove 221 is communicated with the first through hole 227, a sealing plate 226 is arranged in each first through hole 227, a second spring 225 is arranged on the upper part of the sealing plate 226, the top end of the second spring 225 is fixedly connected with the lower surface of the upper support plate 21, the bottom end of the second spring 225 is fixedly connected with the upper surface of the sealing plate 226, the lower part of the sealing plate 226 is provided with a third spring 228, the bottom end of the third spring 228 is fixedly connected with the upper surface of the driving rod 32, the top end of the third spring 228 is fixedly connected with the lower surface of the sealing plate 226, the bottom of the driving rod 32 is provided with a circular plate 33, the circular plate 33 is slidably connected with the driving cylinder 31, the outer side of the circular plate 33 is provided with a sealing ring 34, the bottom of the driving cylinder 31 is provided with a driving cylinder 31 air inlet pipe 6, the driving cylinder air inlet pipe 10 is communicated with the driving cylinder 31, two ends of the bar-shaped groove 221 are respectively provided with a lower cavity 222, the bar-shaped groove 221 is communicated with the lower cavity 222, four upper cavities 211 are symmetrically arranged on the center of the lower surface of the upper supporting plate 21, the upper cavities 211 are in sealing connection with the lower cavity 222, and the upper cavities 211 are communicated with the soft driver 1. When the workbench 2 is required to be driven to move, air is introduced into the air inlet pipe 10 of the driving cylinder body, the charged air pushes the circular plate 33, the circular plate 33 drives the driving rod 32 connected with the circular plate 33 to move, when the driving rod 32 moves, the workbench 2 can be synchronously driven to move, when the outer pipe 91 is pressurized, the stop cylinder 51 fixes the position of the circular plate 33, at the moment, the air charged below the circular plate 33 enters the driving rod 32 and jacks up the sealing plate 226 in the first through hole 227 through the driving rod 32, when the sealing plate 226 moves to a certain height, the strip-shaped groove 221 is communicated with the first through hole 227, the charged air finally enters the soft driver 1, the soft driver 1 is driven to grasp an object to be grasped, and the air is stopped to be charged into the air inlet pipe 10 of the driving cylinder body after the grasping is finished.
The exhaust pipe 7 is communicated with one of the upper chambers 211. When the object to be grabbed needs to be loosened, the air pump is started to pump air, the air in the soft driver 1 is pumped out, and at the moment, the soft driver 1 can loosen the object.
The stop cylinder 5 comprises a stop cylinder body 51, a stop block 53 is arranged in the stop cylinder body 51, the stop block 53 is in sliding connection with the stop cylinder body 51, an L-shaped through hole 54 is arranged in the stop block 53, a connecting rod 52 is arranged on the upper surface of the stop block 53, the connecting rod 52 is a hollow rod, the top end of the connecting rod 52 is in threaded connection with the lower support plate 22, the bottom end of the connecting rod 52 is in threaded connection with the stop block 53, the bottom end of the connecting rod 52 is communicated with one end of the L-shaped through hole 54, a second through hole 223 is arranged at the upper edge of the lower support plate 22, the top end of the second through hole 223 is communicated with the communicating pipe 8, the bottom end of the second through hole 223 is communicated with the connecting rod 52, the stop cylinder body 51 is equipped with baffle 55 with drive cylinder body 31 between, the baffle 55 middle part is equipped with a plurality of locating component, locating component includes spacing recess 552, spacing recess 552 bottom is equipped with the third through-hole 551, third through-hole 551 and L shape through-hole 54 other end intercommunication, be equipped with stopper 553 in the spacing recess 552, stopper 553 and spacing recess 552 sliding connection, stopper 553 preceding terminal surface is equipped with gag lever post 554, the gag lever post 554 outside is equipped with fourth spring 555, terminal surface fixed connection before fourth spring 55 one end and stopper 553, the other end and spacing recess 552 inner wall fixed connection. When the outer tube 91 bears pressure, the gas introduced from the gas inlet tube 6 enters the second through hole 223 along the communicating tube 8, then sequentially passes through the connecting rod 52 and the L-shaped through hole 54, and enters the positioning assembly, and the gas introduced from the gas inlet tube 6 is applied with pressure to the limiting block 553, so that the limiting rod 554 extends out to limit the circular plate 33, and the circular plate 33 is prevented from continuously moving upwards.
The specific working principle is as follows: the air is inflated into the driving air cylinder 3, the driving air cylinder 3 drives the workbench 2 to move forwards, the soft driver 1 is driven to move to a position to be clamped, when the contact air pressure switch 9 touches an object to be clamped, the object to be clamped generates pressure to the contact air pressure switch 9, the air is inflated into the air inlet pipe 6 at the moment, the air inflated into the stop air cylinder 5 is enabled to stop working of the driving air cylinder 3, the air inflated into the driving air cylinder 3 drives the soft driver 1 to wrap the object to be clamped, when the object is required to be loosened, the tail end of the air exhaust pipe 7 is connected with an air exhaust pump, the air exhaust pump 7 is started to exhaust the soft driver 1, and then the placement of the object can be completed. The outer tube 91 is acted by the first spring 94, the communicating tube 8 is staggered with the air outlet nozzle 95, when the sealing cover 93 is acted by the pressure of an object to be grabbed, the outer tube 91 moves downwards, the air outlet nozzle 95 is communicated with the communicating tube 8 at this time, air is filled into the air inlet tube 6 at this time, the air enters the communicating tube 8 through the air outlet nozzle 95, the stop cylinder 5 is driven to move, and the driving cylinder 3 stops running due to the movement of the stop cylinder 5. When the workbench 2 is required to be driven to move, air is introduced into the air inlet pipe 10 of the driving cylinder body, the charged air pushes the circular plate 33, the circular plate 33 drives the driving rod 32 connected with the circular plate 33 to move, when the driving rod 32 moves, the workbench 2 can be synchronously driven to move, when the outer pipe 91 is pressurized, the stop cylinder 51 fixes the position of the circular plate 33, at the moment, the air charged below the circular plate 33 enters the driving rod 32 and jacks up the sealing plate 226 in the first through hole 227 through the driving rod 32, when the sealing plate 226 moves to a certain height, the strip-shaped groove 221 is communicated with the first through hole 227, the charged air finally enters the soft driver 1, the soft driver 1 is driven to grasp an object to be grasped, and the air is stopped to be charged into the air inlet pipe 10 of the driving cylinder body after the grasping is finished. When the object to be grabbed needs to be loosened, the air pump is started to pump air, the air in the soft driver 1 is pumped out, and at the moment, the soft driver 1 can loosen the object. When the outer tube 91 bears pressure, the gas introduced from the gas inlet tube 6 enters the second through hole 223 along the communicating tube 8, then sequentially passes through the connecting rod 52 and the L-shaped through hole 54, and enters the positioning assembly, and the gas introduced from the gas inlet tube 6 is applied with pressure to the limiting block 553, so that the limiting rod 554 extends out to limit the circular plate 33, and the circular plate 33 is prevented from continuously moving upwards.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (4)
1. The utility model provides a rigidity and flexible joint drive's agricultural product picking manipulator, its characterized in that includes software driver (1), software driver (1) below is equipped with workstation (2), software driver (1) is connected with workstation (2) cooperation, workstation (2) lateral wall is equipped with intake pipe (6) and exhaust tube (7), intake pipe (6) and exhaust tube (7) all communicate with workstation (2), workstation (2) below is equipped with the drive main part, the inside left side of drive main part is equipped with drive cylinder (3), and the inside right side of drive main part is equipped with stop cylinder (5), drive cylinder (3) are connected with workstation (2) cooperation, workstation (2) upper surface is equipped with contact air pressure switch (9), stop cylinder (5) are connected with contact air pressure switch (9) cooperation; the workbench (2) comprises an upper supporting plate (21) and a lower supporting plate (22), the upper supporting plate (21) and the lower supporting plate (22) are fixedly connected, the air inlet pipe (6) and the exhaust pipe (7) are all connected with the upper supporting plate (21), the contact air pressure switch (9) is arranged at the center of the upper supporting plate (21), the contact air pressure switch (9) comprises an inner pipe (92), the side wall of the inner pipe (92) is provided with an air outlet nozzle (95), the air outlet nozzle (95) is communicated with the inner pipe (92), the inner pipe (92) is communicated with the air inlet pipe (6), the outer side of the inner pipe (92) is sleeved with an outer pipe (91), the outer pipe (91) is in sliding connection with the inner pipe (92), a first spring (94) is arranged at the bottom of the outer pipe (91), the top of the first spring (94) is fixedly connected with the bottom of the outer pipe (91), the bottom of the first spring (94) is fixedly connected with the upper supporting plate (21), the side wall of the outer pipe (91) is provided with an inner pipe (8), one end of the inner pipe (8) is communicated with the outer pipe (91), the other end of the inner pipe is matched with the outer pipe (5), the outer pipe (91) is connected with the outer pipe (91), the top (31) is provided with a driving cylinder (31), the utility model discloses a driving cylinder body (31), including lower backup pad (22), lower axis department is equipped with actuating lever (32) in actuating cylinder body (31), actuating lever (32) are hollow, the middle part is equipped with first through-hole (227), first through-hole (227) and actuating lever (32) intercommunication, lower backup pad (22) upper surface is crisscross to be equipped with two bar recess (221), be equipped with closing plate (226) in first through-hole (227), closing plate (226) upper portion is equipped with second spring (225), second spring (225) top and last backup pad (21) lower surface fixed connection, second spring (225) bottom and closing plate (226) upper surface fixed connection, closing plate (226) lower part is equipped with third spring (228), third spring (228) bottom and closing plate (226) lower surface fixed connection, actuating lever (32) bottom is equipped with seal plate (33), seal plate (33) and actuating cylinder body (31) sliding connection, be equipped with air inlet tube (31) outside air inlet tube (33), actuating cylinder body (31) bottom (31) are equipped with sealing washer (10), the two ends of the strip-shaped groove (221) are respectively provided with a lower cavity (222), the strip-shaped groove (221) is communicated with the lower cavity (222), four upper cavities (211) are arranged on the center of the lower surface of the upper supporting plate (21) in a symmetrical mode, the upper cavities (211) are in sealing connection with the lower cavities (222), the upper cavities (211) are communicated with the soft driver (1), the stop cylinder (5) comprises a stop cylinder body (51), a stop block (53) is arranged in the stop cylinder body (51), the stop block (53) is in sliding connection with the stop cylinder body (51), an L-shaped through hole (54) is arranged in the stop block (53), a connecting rod (52) is arranged on the upper surface of the stop block (53), the connecting rod (52) is a hollow rod, the top end of the connecting rod (52) is in threaded connection with the lower supporting plate (22), the bottom end of the connecting rod (52) is in threaded connection with the stop block (53), the bottom end of the connecting rod (52) is communicated with one end of the L-shaped through hole (54), a second through hole (223) is arranged on the upper edge of the lower supporting plate (22), the second through hole (8) is communicated with the cylinder body (31) and is communicated with the stop block (55), the middle part of the baffle (55) is provided with a plurality of positioning components, each positioning component comprises a limiting groove (552), the bottom of each limiting groove (552) is provided with a third through hole (551), each third through hole (551) is communicated with the other end of each L-shaped through hole (54), each limiting groove (552) is internally provided with a limiting block (553), each limiting block (553) is in sliding connection with each limiting groove (552), the front end face of each limiting block (553) is provided with a limiting rod (554), the outer side of each limiting rod (554) is provided with a fourth spring (555), one end of each fourth spring (555) is fixedly connected with the front end face of each limiting block (553), and the other end of each fourth spring is fixedly connected with the inner wall of each limiting groove (552); the exhaust pipe (7) is communicated with one of the upper chambers (211).
2. A rigid and flexible combined drive agricultural product picking manipulator according to claim 1, characterized in that the communicating tube (8) is a hollow tube.
3. A rigid and flexible combined drive agricultural product picking manipulator according to claim 1, characterized in that the top of the drive rod (32) is screwed with the lower support plate (22).
4. A rigid and flexible combined drive agricultural product picking manipulator according to claim 1, characterized in that two bar-shaped grooves (221) are arranged in a cross shape, and the center of the bar-shaped groove (221) is communicated with the 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 CN108925225A (en) | 2018-12-04 |
| CN108925225B true CN108925225B (en) | 2023-08-18 |
Family
ID=64443214
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 |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108925225B (en) |
Families Citing this family (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 |
| CN111887026B (en) * | 2020-07-03 | 2022-06-21 | 江苏大学 | Rigidity-variable picking manipulator based on rigidity-flexibility combination |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0488918A (en) * | 1990-07-30 | 1992-03-23 | Kubota Corp | Guiding device of fruit vegetable harvester |
| CN102729256A (en) * | 2012-06-28 | 2012-10-17 | 浙江理工大学 | End effector device of under-actuated picking manipulator |
| CN203197923U (en) * | 2013-03-08 | 2013-09-18 | 河北农业大学 | Rigidity and flexibility combined connection underactuation end effector device of strawberry picking mechanical hand |
| CN103386690A (en) * | 2013-07-22 | 2013-11-13 | 山东省科学院自动化研究所 | Double-finger double-driving translation clamping type flexible grip and control method |
| CN105027831A (en) * | 2015-07-09 | 2015-11-11 | 华中农业大学 | Under actuated fruit picking mechanical gripper with rigid and flexible mixed structure |
| CN106717547A (en) * | 2017-01-05 | 2017-05-31 | 成都思农农业科技有限公司 | A kind of practical picking fruit Based Intelligent Control structure |
| WO2017199239A1 (en) * | 2016-05-15 | 2017-11-23 | B.G. Negev Technologies And Applications Ltd., At Ben-Gurion University | Convertible frictionless to frictional fingertips for a gripper to improve robotic grasp robustness |
| CN107398916A (en) * | 2017-09-09 | 2017-11-28 | 北京工业大学 | A kind of flexible mechanical paw of hydraulic drives |
| AU2018100625A4 (en) * | 2018-04-23 | 2018-06-14 | Kunming Chuangpei Intellectual Property Services Co., Ltd. | A fruit picker with fruit storage net pocket |
| CN209047044U (en) * | 2018-08-28 | 2019-07-02 | 浙江理工大学 | A kind of agricultural product picking mechanical arm of rigidity and flexibility joint driving |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016179793A1 (en) * | 2015-05-12 | 2016-11-17 | 江南大学 | Grapple device having serial leaf-spring structure and driven by single-acting cylinders with elastic bellows |
-
2018
- 2018-08-28 CN CN201810984986.9A patent/CN108925225B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0488918A (en) * | 1990-07-30 | 1992-03-23 | Kubota Corp | Guiding device of fruit vegetable harvester |
| CN102729256A (en) * | 2012-06-28 | 2012-10-17 | 浙江理工大学 | End effector device of under-actuated picking manipulator |
| CN203197923U (en) * | 2013-03-08 | 2013-09-18 | 河北农业大学 | Rigidity and flexibility combined connection underactuation end effector device of strawberry picking mechanical hand |
| CN103386690A (en) * | 2013-07-22 | 2013-11-13 | 山东省科学院自动化研究所 | Double-finger double-driving translation clamping type flexible grip and control method |
| CN105027831A (en) * | 2015-07-09 | 2015-11-11 | 华中农业大学 | Under actuated fruit picking mechanical gripper with rigid and flexible mixed structure |
| WO2017199239A1 (en) * | 2016-05-15 | 2017-11-23 | B.G. Negev Technologies And Applications Ltd., At Ben-Gurion University | Convertible frictionless to frictional fingertips for a gripper to improve robotic grasp robustness |
| CN106717547A (en) * | 2017-01-05 | 2017-05-31 | 成都思农农业科技有限公司 | A kind of practical picking fruit Based Intelligent Control structure |
| CN107398916A (en) * | 2017-09-09 | 2017-11-28 | 北京工业大学 | A kind of flexible mechanical paw of hydraulic drives |
| AU2018100625A4 (en) * | 2018-04-23 | 2018-06-14 | Kunming Chuangpei Intellectual Property Services Co., Ltd. | A fruit picker with fruit storage net pocket |
| CN209047044U (en) * | 2018-08-28 | 2019-07-02 | 浙江理工大学 | A kind of agricultural product picking mechanical arm of rigidity and flexibility joint driving |
Non-Patent Citations (1)
| Title |
|---|
| 鲍官军 ; 高峰 ; 荀一 ; 都明宇 ; 杨庆华 ; .气动柔性末端执行器设计及其抓持模型研究.农业工程学报.2009,(第10期),第121-126页. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108925225A (en) | 2018-12-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108925225B (en) | Rigid and flexible combined driven agricultural product picking manipulator | |
| CN104760051B (en) | The two finger mechanical hands with Pneumatic suction cup with clamping air bag | |
| CN108326833B (en) | Super-redundant flexible mechanical arm and use method thereof | |
| CN208179515U (en) | Super redundancy flexible mechanical arm | |
| CN209805637U (en) | miniature disk type motor shell assembly machine | |
| CN212887651U (en) | Pneumatic soft manipulator | |
| CN209954690U (en) | Negative pressure sucker actuator of industrial mechanical arm | |
| CN102367824A (en) | Pneumatic-control-valve-type vibration impact device | |
| CN105834707A (en) | Assembly line for gear pumps | |
| CN209047044U (en) | A kind of agricultural product picking mechanical arm of rigidity and flexibility joint driving | |
| CN209998752U (en) | kinds of precision motion platform | |
| CN211682206U (en) | Grabbing manipulator for assembling pump body of emulsion pump | |
| CN212250648U (en) | Gas-liquid pressure cylinder | |
| CN211630892U (en) | Flexible picking manipulator for forest fruits | |
| CN114378207A (en) | High-efficient manipulator material feeding unit and manipulator | |
| CN217624751U (en) | Handle taking-out device | |
| CN216661638U (en) | Material taking mechanical arm for tire production | |
| CN202037584U (en) | Quick spiral puller | |
| CN106395364B (en) | Transposition mechanical arm is used in a kind of printing of hose pipe shaft | |
| CN106184874B (en) | A kind of equidistant bottle separating device of multiple spot | |
| CN110842957A (en) | Mechanical arm and clamping method for self-adaptive tubular thin-walled part | |
| CN212864123U (en) | Oil filling gun for vehicle | |
| CN220614009U (en) | Automatic unloading manipulator of plastic products | |
| CN219563132U (en) | Novel pneumatic finger | |
| CN220564271U (en) | Soy sauce bottle capping device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |