CN117182869B - Hydraulic manipulator and application thereof in agricultural contaminated land - Google Patents
Hydraulic manipulator and application thereof in agricultural contaminated land Download PDFInfo
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- CN117182869B CN117182869B CN202311475459.2A CN202311475459A CN117182869B CN 117182869 B CN117182869 B CN 117182869B CN 202311475459 A CN202311475459 A CN 202311475459A CN 117182869 B CN117182869 B CN 117182869B
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- 230000000712 assembly Effects 0.000 claims description 6
- 238000000429 assembly Methods 0.000 claims description 6
- 230000002349 favourable effect Effects 0.000 abstract description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000000356 contaminant Substances 0.000 description 1
- 238000006731 degradation reaction Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000003895 groundwater pollution Methods 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005067 remediation Methods 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
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- 239000002352 surface water Substances 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- 238000003911 water pollution Methods 0.000 description 1
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Abstract
The invention belongs to the technical field of manipulators, and relates to a hydraulic manipulator and application thereof in agricultural contaminated lands. The invention comprises a mounting plate, wherein a travelling mechanism is arranged on the lower end face of the mounting plate, a foldable guide plate is rotatably arranged on the upper end face of the mounting plate, and the guide plate comprises two guide frames which are sequentially connected end to end and are enclosed to form a circle; the joint of the two guide frames is hinged through a third hinge shaft which is horizontally arranged; the guide plate is in a horizontal state when unfolded and in a vertical state when folded. Through making the leading truck rotate round the third articulated shaft, make the deflector folding, and then make the deflector vertically place, reduce this hydraulic manipulator's width, be favorable to through narrow space, improve the adaptability in place. Meanwhile, when the guide plate is folded, the working height range of the hydraulic clamping jaw is enlarged. When the guide plate is horizontally placed, the base moves circularly around the guide plate, so that the working horizontal range of the hydraulic clamping jaw is enlarged.
Description
Technical Field
The invention belongs to the technical field of manipulators, and relates to a hydraulic manipulator and application thereof in agricultural contaminated lands.
Background
With the rapid development of economic construction, agricultural land pollution is also receiving more and more attention. The pollution of agricultural land causes the accumulation of harmful substances in crops and the entry of the harmful substances into human bodies through food chains, which causes various diseases and causes great risks to human health. Meanwhile, the pollution of agricultural lands also causes serious damage to the ecological environment, and the ecological functions of the cultivated lands and rural landscapes are affected. Other environmental problems, such as other secondary ecological problems resulting in atmospheric pollution, surface water pollution, groundwater pollution, and ecological system degradation, are also added. Therefore, the treatment of agricultural polluted lands is also receiving more and more attention.
Because robots can operate in complex environments, they find increasing application in the remediation of agricultural contaminated sites, such as transferring contaminants, harvesting, and the like. The manipulator works on agricultural land, and movement and operation of the manipulator are easily limited due to the influence of plants and topography. The general manipulator cannot adjust the external dimension according to the change of the field.
In order to solve the problems, the invention provides a hydraulic manipulator and application thereof in agricultural contaminated lands.
Disclosure of Invention
In order to solve the problems in the background technology, the invention provides a hydraulic manipulator and application thereof in agricultural contaminated lands.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
the hydraulic manipulator comprises a mounting plate, wherein a travelling mechanism is arranged on the lower end surface of the mounting plate, a foldable guide plate is rotatably arranged on the upper end surface of the mounting plate, the guide plate comprises two semicircular guide frames, and the two guide frames are sequentially connected end to end and encircle to form a circle; the joint of the two guide frames is hinged through a third hinge shaft which is horizontally arranged; the guide plate is in a horizontal state when unfolded and in a vertical state when folded; an annular T-shaped groove is coaxially formed in the guide plate, a base is slidably connected in the T-shaped groove through a connecting piece, a degree-of-freedom mechanical arm is mounted on the base, and a hydraulic clamping jaw is mounted at one end, far away from the base, of the degree-of-freedom mechanical arm.
Further, a first motor is fixedly arranged on the upper end surface of the mounting plate, and the top end of an output shaft of the first motor is coaxially and fixedly connected with a rotary table; both guide frames are arranged on the turntable; the mounting plate is fixedly provided with a support column, and the third hinge shaft is fixedly arranged at the upper end of the support column; the turntable is provided with two first driving components for driving the guide plates to fold, and the two first driving components are in one-to-one correspondence with the two guide frames.
Further, each first driving assembly comprises a telescopic rod, a first hinge shaft and a second hinge shaft; one end of the telescopic rod is hinged with the turntable through a first hinge shaft, and the other end of the telescopic rod is hinged with the middle of the guide frame through a second hinge shaft; the first hinge shaft and the second hinge shaft are parallel to the third hinge shaft.
Further, the first driving assembly further comprises a second motor, the second motor is fixedly arranged on the turntable, and a motor shaft of the second motor is fixedly connected with the first hinge shaft in a coaxial manner; the telescopic link is connected firmly with first articulated shaft.
Further, the outer circumferential surface of each guide frame is provided with a mounting groove, and a second driving assembly for driving the base to slide along the T-shaped groove is arranged in the mounting groove;
a second chute is formed in the inner wall of the upper end of each mounting groove, a first chute is formed in the inner wall of the lower end of each mounting groove, and the second chute is vertically opposite to the first chute; when the guide plate is unfolded to be round, the two mounting grooves, the two first sliding grooves and the two second sliding grooves are all closed round;
the second driving component comprises a third motor, a gear and a toothed ring;
a toothed ring is fixedly arranged on the inner wall of each mounting groove; when the guide plate is unfolded, the two toothed rings enclose a closed circle; the third motor is slidably arranged in the first chute, and a motor shaft of the third motor is vertically upwards; the motor shaft of the third motor is coaxially and fixedly connected with a rotating rod, and the upper end of the rotating rod is arranged in the second chute in a sliding way; the gear is coaxially fixed on the rotating rod and meshed with the toothed ring;
one side of the connecting piece, which faces the guide frame, is fixedly connected with a second connecting rod, one end, far away from the connecting piece, of the second connecting rod is fixedly connected with a connecting ring, and the connecting ring is rotationally sleeved on the rotating rod.
Further, the mounting plate is provided with four support assemblies, and the four support assemblies are divided into two groups, namely two groups;
each group of support components comprises support pipes, the support pipes are vertically arranged, a guide rod is arranged in each support pipe in a sliding mode up and down, an upper groove is formed in the upper end of each guide rod, and an electromagnet is fixedly arranged in each upper groove; the electromagnet is matched with the guide frame, the lower end of the guide rod is provided with a lower groove, a hydraulic cylinder is installed in the lower groove, the output end of the hydraulic cylinder is vertically upwards, the upper end of the hydraulic cylinder is fixedly connected with the top wall of the lower groove of the guide rod, and the lower end of the hydraulic cylinder is fixedly connected with the support tube.
Further, the connecting piece comprises a first connecting rod and a connecting plate; the first connecting rod is arranged in the T-shaped groove in a sliding mode, the connecting plate is fixedly connected with the first connecting rod, the base is arranged on the connecting plate, and the second connecting rod is fixedly connected with the connecting plate.
Further, the travelling mechanism comprises a roller and a driving structure; the lower terminal surface of mounting panel is installed a plurality of gyro wheels that drive the mounting panel and remove, installs drive structure on the mounting panel, and drive structure is connected with the gyro wheel drive.
The invention relates to an application of a hydraulic manipulator in agricultural polluted lands, which comprises the following specific steps:
s1, moving the mounting plate to a proper position through a travelling mechanism;
s2, when the guide plate is in a horizontal unfolding state, the base moves circularly along the guide plate, the operation direction of the hydraulic clamping jaw is changed, and the grabbing range of the hydraulic clamping jaw is enlarged;
s3, when the site is limited, the guide frames rotate around a third hinge shaft, so that the two guide frames are overlapped together, the guide plates are in a vertical folding state, then the guide plates rotate, the length directions of the guide plates and the mounting plate are consistent, and the width of the hydraulic manipulator is reduced; at this time, when the base slides along the mounting groove, the operation height of the hydraulic clamping jaw is changed, and the working height range of the hydraulic clamping jaw is enlarged.
Compared with the prior art, the invention has the following beneficial effects: through making the leading truck rotate round the third articulated shaft, make the deflector folding, and then make the deflector vertically place, then drive the deflector through first motor and rotate, reduce this hydraulic manipulator's width, be favorable to through narrow space, improve the adaptability in place. Meanwhile, when the guide plate is folded, the working height range of the hydraulic clamping jaw is enlarged.
When the guide plate is horizontally placed, the base moves circularly around the guide plate, so that the working horizontal range of the hydraulic clamping jaw is enlarged.
Drawings
FIG. 1 is a schematic view of the structure of the guide plate in the unfolded state according to the present invention;
FIG. 2 is a schematic view of the structure of the guide plate in a folded state according to the present invention;
FIG. 3 is a partial cross-sectional view of the present invention;
FIG. 4 is an enlarged view of portion A of FIG. 3 in accordance with the present invention;
FIG. 5 is an enlarged view of portion B of FIG. 3 in accordance with the present invention;
fig. 6 is a cross-sectional view of a support tube in accordance with the present invention.
In the figure: 1. a mounting plate; 2. a roller; 3. a driving structure; 4. a first motor; 5. a support tube; 6. a base; 7. a degree of freedom mechanical arm; 8. a hydraulic clamping jaw; 9. a telescopic rod; 10. a guide frame; 11. a turntable; 12. a second motor; 13. a first chute; 14. a T-shaped groove; 15. a mounting groove; 16. a second chute; 17. a connecting plate; 18. a first connecting rod; 19. a third motor; 20. a gear; 21. a connecting ring; 22. a rotating rod; 23. a second connecting rod; 24. a guide rod; 25. an electromagnet; 26. and a hydraulic cylinder.
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 6, the technical scheme adopted by the invention is as follows: the hydraulic manipulator comprises a mounting plate 1, a travelling mechanism, a foldable guide plate, a degree-of-freedom mechanical arm 7 and a hydraulic clamping jaw 8.
The running gear is installed on the lower terminal surface of mounting panel 1. The hydraulic manipulator moves through a travelling mechanism. The travelling mechanism comprises a roller 2 and a driving structure 3. A plurality of rollers 2 are mounted on the lower end surface of the mounting plate 1. The mounting plate 1 is provided with a driving structure 3, and the driving structure 3 is in driving connection with the roller 2. The driving structure 3 is conventional and will not be described here.
The upper end face of the mounting plate 1 is fixedly provided with a first motor 4, the top end of an output shaft of the first motor 4 is coaxially and fixedly connected with a rotary table 11, and the guide plate is rotatably arranged on the rotary table 11. The guide plate comprises two semicircular guide frames 10, and the two guide frames 10 are hinged end to end in sequence and encircle to form a circle. The turntable 11 is fixedly provided with a support column, the upper end of the support column is fixedly provided with a third hinge shaft, and the third hinge shaft is horizontally arranged. The joint of the two guide frames 10 is hinged through a third hinge shaft, and the third hinge shaft is positioned on the upper end surface of the guide frame 10. Both guide frames 10 are rotated about the third hinge shaft, and the two guide frames 10 are folded to fold the guide plate. The guide plate is in a horizontal state when unfolded, and is in a vertical state when folded.
The turntable 11 is provided with a first driving component for driving the guide plate to fold or unfold. The first driving components are two, and the two first driving components are in one-to-one correspondence with the two guide frames 10.
Each first drive assembly comprises a telescopic rod 9, a first hinge shaft, a second motor 12. The second motor 12 is fixedly installed on the turntable 11, and a motor shaft of the second motor 12 is fixedly connected with the first hinge shaft in a coaxial manner. One end of the telescopic rod 9 is fixedly connected with the first hinge shaft, and the other end of the telescopic rod 9 is hinged with the middle of the guide frame 10 through the second hinge shaft. The first hinge shaft and the second hinge shaft are horizontally arranged and are parallel to the third hinge shaft.
The mounting plate 1 is provided with four support assemblies, wherein the four support assemblies are divided into two groups. The two groups of support components are respectively arranged on two sides of the mounting plate 1.
Each group of support components comprises support pipes 5, the support pipes 5 are vertically arranged, guide rods 24 are arranged in each support pipe 5 in a vertical sliding mode, upper grooves are formed in the upper ends of the guide rods 24, and electromagnets 25 are fixedly arranged in the upper grooves. The electromagnet 25 is matched with the guide frame 10, and the guide frame 10 is made of iron materials. When the electromagnet 25 is electrified, the electromagnet 25 and the guide frame 10 are attracted, so that the guide frame 10 is more stable. The lower extreme of guide bar 24 has seted up the lower pocket, installs pneumatic cylinder 26 in the lower pocket, and the output of pneumatic cylinder 26 is vertical upwards, and the upper end of pneumatic cylinder 26 links firmly with the roof of guide bar 24 lower pocket, and the lower extreme of pneumatic cylinder 26 links firmly with stay tube 5.
When the guide plate is in a horizontal state, the lowest point of the guide plate is located below the third hinge shaft. When the guide plate is folded, the height of the lowest point of the guide plate is made flush with the third hinge shaft, i.e., the height of the lowest point of the guide plate becomes high. The guide plate is then rotated, the lowermost end of the guide plate is moved over the electromagnet 25, the hydraulic cylinder 26 is extended, the guide rod 24 is slid upward, and the electromagnet 25 is brought into contact with the guide frame 10, so that the support assembly supports the guide frame 10.
The guide plate is coaxially provided with an annular T-shaped groove 14, and the T-shaped groove 14 is connected with the base 6 in a sliding way through a connecting piece. The connecting piece comprises a first connecting rod 18 and a connecting plate 17. The first connecting rod 18 is slidably arranged in the T-shaped groove 14, the connecting plate 17 is fixedly connected with the first connecting rod 18, and the base 6 is arranged on the connecting plate 17. The base 6 is provided with a degree of freedom mechanical arm 7. One end of the freedom degree mechanical arm 7, which is far away from the slideway, is connected with a hydraulic clamping jaw 8. The base 6 slides along the T-shaped groove 14 through the connecting plate 17 and the first connecting rod 18, so that the working range of the hydraulic clamping jaw 8 is enlarged.
The outer circumference of each guide frame 10 is coaxially provided with a mounting groove 15, the inner wall of the upper end of each mounting groove 15 is provided with a second sliding groove 16, the inner wall of the lower end of each mounting groove 15 is provided with a first sliding groove 13, and the second sliding grooves 16 are vertically opposite to the first sliding grooves 13. When the guide plate is unfolded into a circular shape, the two mounting grooves 15, the two first sliding grooves 13 and the two second sliding grooves 16 are all enclosed into a closed ring shape.
A second driving component for driving the base 6 to slide is arranged in the mounting groove 15. The second drive assembly comprises a third motor 19, a gear 20, a toothed ring.
A toothed ring is fixedly arranged on the inner wall of each mounting groove 15. When the guide plate is unfolded, the two toothed rings enclose a closed circle. The third motor 19 is slidably mounted in the first chute 13, with the motor shaft of the third motor 19 being vertically upward. A rotating rod 22 is coaxially and fixedly connected to the motor shaft of the third motor 19, and the upper end of the rotating rod 22 is slidably arranged in the second sliding groove 16. The gear 20 is coaxially fixed on the rotating rod 22, and the gear 20 is meshed with the toothed ring.
A second connecting rod 23 is fixedly arranged on one side of the connecting plate 17, which faces the guide frame 10, a connecting ring 21 is fixedly arranged on one end, far away from the connecting plate 17, of the second connecting rod 23, and the connecting ring 21 is rotatably sleeved on the rotating rod 22.
Working principle: in the initial state, the guide plate is in a unfolded state and is in a horizontal state. The electromagnet 25 is electrified, and the mounting groove 15 adsorbs the guide frame 10. Assuming that the middle of the guide frame 10 is in contact with the electromagnet 25 at this time, the third hinge axis is parallel to the width direction of the mounting plate 1.
The roller 2 is driven to roll by the driving structure 3, so that the mounting plate 1 walks, and the hydraulic manipulator moves to a proper place.
The third motor 19 is started, the third motor 19 drives the gear 20 to rotate through the rotating rod 22, and the connecting ring 21 does not rotate. The gear 20 revolves around the axis of the guide plate while rotating by the ring gear. Further, the third motor 19 and the rotating lever 22 revolve around the axis of the guide plate, the rotating lever 22 slides in the first chute 13, and the third motor 19 slides in the second chute 16. The rotating rod 22 drives the connecting ring 21 to revolve synchronously. The connecting ring 21 drives the connecting plate 17 to revolve around the axis of the guide plate through the second connecting rod 23, so that the first connecting rod 18 slides along the T-shaped groove 14, and the degree-of-freedom mechanical arm 7 and the hydraulic clamping jaw 8 do circular motion around the guide plate. The working range of the hydraulic clamping jaw 8 is enlarged.
When the field is limited, the guide plate can be folded and rotated 90 degrees on the mounting plate 1, so that the width of the hydraulic manipulator is reduced, and the field adaptability is improved.
Specifically, the electromagnet 25 is turned off first, and the electromagnet 25 and the guide frame 10 no longer have an adsorption force. Then, the second motor 12 is started, the second motor 12 drives the first hinge shaft to rotate, the telescopic rod 9 further rotates around the first hinge shaft, and the telescopic rod 9 pushes the guide frame 10 to enable the guide frame 10 to rotate around the third hinge shaft. Thereby gradually moving the two guide frames 10 to the vertical state. When the guide frame 10 rotates upwards, the second hinge shaft is gradually lifted, so that the telescopic rod 9 is gradually extended. Until the guide frames 10 are attached to each other, the guide plates are folded and in an upright state, and the second motor 12 is stopped. During the upward rotation of the guide frame 10, the guide frame 10 is separated from the electromagnet 25 due to the gradual elevation of the middle of the guide frame 10.
As shown in fig. 6, the first motor 4 is started, the first motor 4 drives the turntable 11 to rotate, and the turntable 11 drives the guide plate to rotate, so that the guide plate rotates by 90 degrees, and the guide plate is consistent with the length direction of the mounting plate 1, so that the width of the hydraulic manipulator is reduced, and the hydraulic manipulator can pass through a narrow space. At this time, the lower end of the guide plate is opposite to the electromagnet 25, the hydraulic cylinder 26 is started to move the guide rod 24 upwards, the electromagnet 25 is abutted against the guide frame 10, then the hydraulic cylinder 26 is closed, and the electromagnet 25 is started to enable the electromagnet 25 to be attracted to the guide frame 10. The support assembly has a supporting effect on the guide frame 10 to make the guide plate more stable. At this time, the base 6 slides along the T-shaped groove 14, so that the working height of the hydraulic clamping jaw 8 is increased, and the working height range of the hydraulic manipulator can be enlarged.
The application of the hydraulic manipulator in agricultural contaminated land comprises the following specific steps:
s1, moving the hydraulic manipulator to a proper position through a travelling mechanism;
s2, when the guide plate is in a horizontal unfolding state, the base 6 moves circularly along the guide plate, the operation direction of the hydraulic clamping jaw 8 is changed, and the grabbing range of the hydraulic clamping jaw 8 is enlarged;
s3, when the site is limited, the guide frames 10 are rotated around a third hinge shaft, so that the two guide frames 10 are overlapped together, the guide plates are in a vertical folding state, then the guide plates are rotated, the length directions of the guide plates and the mounting plate 1 are consistent, and the width of the hydraulic manipulator is reduced; at this time, when the base 6 slides along the mounting groove 15, the operation height of the hydraulic clamping jaw 8 is changed, and the working height range of the hydraulic clamping jaw 8 is enlarged.
Although the present invention has been described with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements and changes may be made without departing from the spirit and principles of the present invention.
Claims (6)
1. A hydraulic manipulator, characterized in that: the automatic guide device comprises a mounting plate (1), wherein a travelling mechanism is arranged on the lower end face of the mounting plate (1), a foldable guide plate is rotatably arranged on the upper end face of the mounting plate (1), the guide plate comprises two semicircular guide frames (10), and the two guide frames (10) are sequentially connected end to end and encircle to form a circle; the joint of the two guide frames (10) is hinged through a third hinge shaft which is horizontally arranged; the guide plate is in a horizontal state when unfolded and in a vertical state when folded; an annular T-shaped groove (14) is coaxially formed in the guide plate, a base (6) is slidably connected in the T-shaped groove (14) through a connecting piece, a degree-of-freedom mechanical arm (7) is mounted on the base (6), and a hydraulic clamping jaw (8) is mounted at one end, far away from the base (6), of the degree-of-freedom mechanical arm (7);
the upper end face of the mounting plate (1) is fixedly provided with a first motor (4), and the top end of an output shaft of the first motor (4) is coaxially and fixedly connected with a rotary table (11); both guide frames (10) are arranged on the turntable (11); the support column is fixedly arranged on the mounting plate (1), and the third hinge shaft is fixedly arranged at the upper end of the support column; the turntable (11) is provided with two first driving components for driving the guide plates to fold, and the two first driving components are in one-to-one correspondence with the two guide frames (10);
the outer circumferential surface of each guide frame (10) is provided with a mounting groove (15), and a second driving assembly for driving the base (6) to slide along the T-shaped groove (14) is arranged in the mounting groove (15);
a second chute (16) is formed in the inner wall of the upper end of each mounting groove (15), a first chute (13) is formed in the inner wall of the lower end of each mounting groove (15), and the second chute (16) is opposite to the first chute (13) up and down; when the guide plate is unfolded to be round, the two mounting grooves (15), the two first sliding grooves (13) and the two second sliding grooves (16) are all closed round;
the second driving assembly comprises a third motor (19), a gear (20) and a toothed ring;
a toothed ring is fixedly arranged on the inner wall of each mounting groove (15); when the guide plate is unfolded, the two toothed rings enclose a closed circle; the third motor (19) is slidably arranged in the first chute (13), and a motor shaft of the third motor (19) is vertically upwards; a rotating rod (22) is coaxially and fixedly connected to a motor shaft of the third motor (19), and the upper end of the rotating rod (22) is slidably arranged in the second chute (16); the gear (20) is coaxially and fixedly arranged on the rotating rod (22), and the gear (20) is meshed with the toothed ring;
one side of the connecting piece, which faces the guide frame (10), is fixedly connected with a second connecting rod (23), one end, far away from the connecting piece, of the second connecting rod (23) is fixedly connected with a connecting ring (21), and the connecting ring (21) is rotatably sleeved on the rotating rod (22);
the connecting piece comprises a first connecting rod (18) and a connecting plate (17); the first connecting rod (18) is arranged in the T-shaped groove (14) in a sliding mode, the connecting plate (17) is fixedly connected with the first connecting rod (18), the base (6) is arranged on the connecting plate (17), and the second connecting rod (23) is fixedly connected with the connecting plate (17).
2. The hydraulic manipulator of claim 1, wherein: each first driving component comprises a telescopic rod (9), a first hinge shaft and a second hinge shaft; one end of the telescopic rod (9) is hinged with the turntable (11) through a first hinge shaft, and the other end of the telescopic rod (9) is hinged with the middle of the guide frame (10) through a second hinge shaft; the first hinge shaft and the second hinge shaft are parallel to the third hinge shaft.
3. The hydraulic manipulator of claim 2, wherein: the first driving assembly further comprises a second motor (12), the second motor (12) is fixedly arranged on the rotary table (11), and a motor shaft of the second motor (12) is fixedly connected with the first hinge shaft in a coaxial manner; the telescopic rod (9) is fixedly connected with the first hinge shaft.
4. The hydraulic manipulator of claim 1, wherein: the mounting plate (1) is provided with four support assemblies, and the four support assemblies are divided into two groups, namely two groups;
each group of support components comprises support pipes (5), the support pipes (5) are vertically arranged, guide rods (24) are arranged in each support pipe (5) in a sliding mode up and down, upper grooves are formed in the upper ends of the guide rods (24), and electromagnets (25) are fixedly arranged in the upper grooves; the electromagnet (25) is matched with the guide frame (10), the lower end of the guide rod (24) is provided with a lower groove, a hydraulic cylinder (26) is arranged in the lower groove, the output end of the hydraulic cylinder (26) is vertically upwards, the upper end of the hydraulic cylinder (26) is fixedly connected with the top wall of the lower groove of the guide rod (24), and the lower end of the hydraulic cylinder (26) is fixedly connected with the support tube (5).
5. The hydraulic manipulator of claim 1, wherein: the travelling mechanism comprises a roller (2) and a driving structure (3); the lower terminal surface of mounting panel (1) is installed a plurality of gyro wheels (2) that drive mounting panel (1) and remove, installs drive structure (3) on mounting panel (1), and drive structure (3) are connected with gyro wheel (2) drive.
6. Use of a hydraulic manipulator according to claim 1 in agricultural contaminated areas, comprising the following specific steps:
s1, moving the mounting plate (1) to a proper position through a travelling mechanism;
s2, when the guide plate is in a horizontal unfolding state, the base (6) moves circularly along the guide plate, the operation direction of the hydraulic clamping jaw (8) is changed, and the grabbing range of the hydraulic clamping jaw (8) is enlarged;
s3, when the site is limited, the guide frames (10) rotate around a third hinge shaft, so that the two guide frames (10) are overlapped, the guide plates are in a vertical folding state, then the guide plates rotate, the length directions of the guide plates and the mounting plate (1) are consistent, and the width of the hydraulic manipulator is reduced; at this time, when the base (6) slides along the mounting groove, the operation height of the hydraulic clamping jaw (8) is changed, and the working height range of the hydraulic clamping jaw (8) is enlarged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311475459.2A CN117182869B (en) | 2023-11-08 | 2023-11-08 | Hydraulic manipulator and application thereof in agricultural contaminated land |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311475459.2A CN117182869B (en) | 2023-11-08 | 2023-11-08 | Hydraulic manipulator and application thereof in agricultural contaminated land |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117182869A CN117182869A (en) | 2023-12-08 |
| CN117182869B true CN117182869B (en) | 2024-01-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202311475459.2A Active CN117182869B (en) | 2023-11-08 | 2023-11-08 | Hydraulic manipulator and application thereof in agricultural contaminated land |
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| CN212812854U (en) * | 2020-08-21 | 2021-03-30 | 仲恺农业工程学院 | Fruit picking robot |
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