Full flexible controlled mechanical arm

Abstract

The invention discloses a full flexible controlled mechanical arm, and belongs to the technical field of intelligent robots. The full flexible controlled mechanical arm is characterized by comprising N same crosses, flexible rods, a center frame, N same spacer sleeves and fastening nuts, wherein the centers of the crosses are provided with inner holes; four tops of each cross are provided with end holes and arranged horizontally; the flexible rods and the center frames are made of elastic materials and vertically arranged in parallel; on the top, the first cross is fixed with four flexible rods and the center frame through fastening nuts; in the middle, the center frame penetrates through center inner holes of N same crosses and N same spaced sleeves, the center frame and the spaced sleeves are arranged at intervals, and the four flexible rods penetrates through the end holes of N crosses; and at the bottom, the center frame and the last cross at the bottom are fixed through fastening nuts. The full flexible controlled mechanical arm is stable and reliable in performance, unique in structure, high in adaptability and simple in control mode, and compared with the traditional mechanical arm, the full flexible controlled mechanical arm has the advantage of reducing complexity.

Description

technical field [0001] The invention belongs to the technical field of intelligent robots, and in particular relates to a fully flexible controllable mechanical arm. Background technique [0002] Domestic research on agricultural robots began in the mid-1990s, which started relatively late compared to developed countries. However, many colleges and research institutes are conducting research on picking robots and intelligent agricultural machinery. In China, the research on fruit and vegetable picking robots has just started, and most of the research is carried out on a certain part of the picking robots. The pneumatic flexible end effector developed by the Key Laboratory of Machinery Manufacturing and Automation of the Ministry of Education of Zhejiang University of Technology is mainly composed of 1 pneumatic flexible torsion joint and 3 pneumatic flexible bending joints. The torsional joint is used as the wrist and the 3 bending joints are installed On the twist joint t...

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Problems solved by technology

This kind of steel needle still needs to be imported to Israel, and it is expensive and consumes a lot, resulting in high cost and maintenance costs, which is not applicable in actual production

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