Hybrid linear lever multi-degree-of-freedom controllable lifting type fruit picker

Abstract

A hybrid linear lever multi-degree-of-freedom controllable lifting type fruit picker comprises a multi-connecting-rod mechanical arm and a scissors fork type hydraulic lifting table, wherein one end of a connecting rod I of the multi-connecting-rod mechanical arm is connected onto a rack, the other end of the connecting rod I is connected with one end of a connecting rod II, the other end of the connecting rod II is connected with one end of a connecting rod III, and the other end of the connecting rod III is connected onto an execution terminal. One end of a connecting rod IV is connected with the connecting rod I and the connecting rod II, the other end is connected with one end of a connecting rod V, the other end of the connecting rod V is connected with a first corner of a first triangular connecting plate through a revolute pair V, a second corner of the first triangular connecting plate is connected with one end of a connecting rod VII, and the other end of the connecting rod VII is connected onto the execution terminal. A scissors fork mechanism of the scissors fork type hydraulic lifting table is reinforced by six-rod closed-loop sub-chains. The multi-connecting-rod mechanical arm can be controlled by a driving system consisting of a servo motor, the multi-connecting-rod mechanical arm has all functions of a traditional multi-connecting-rod mechanical arm, and the motion stability and working efficiency of the mechanism are improved.

Description

technical field [0001] The invention relates to the field of machinery, in particular to a hybrid linear lever multi-degree-of-freedom controllable lifting type fruit picker. Background technique [0002] Controllable mechanism is the frontier field of modern mechanism research. It has many advantages such as good flexibility, high output motion accuracy, fast running speed, and strong bearing capacity. Controllable mechanism includes adjustable mechanism, variable input mechanism and hybrid drive mechanism. The input mechanism means that the drive device of the single-degree-of-freedom mechanism is replaced by a servo motor controlled by a microcomputer to replace the fixed-speed motor, thereby improving the motion characteristics of the follower. The hybrid input mechanism is driven by motors with different properties (constant motor and servo motor). There is a good compromise between mechanical performance and cost to adapt to the characteristics of work flexibility, and...

AI Technical Summary

Problems solved by technology

[0003] With the development of motor technology and the improvement of control technology, the controllable mechanism provides a broad development space for construction machinery. The multi-degree-of-freedom controllable mechanism driven by the control motor not only has a large working space, flexible actions, and can complete complex and controllable structures. Variable motion trajectory output, and also has the advantages of low manufacturing cost and simple maintenance. The controllable mechanism multi-link manipulator replaces the hydraulic transmission with a multi-degree-of-freedom linkage mechanism, which avoids the high machining accuracy of the hydraulic system. The maintenance cost is high, and problems such as oil leakage are prone to occur. In addition, other multi-link manipulator machines generally install motors at the joints, which will lead to a large moment of inertia of the multi-link manipulator working device, which is prone to residual vibration and dynamics. Poor performance, low transmission efficiency

Images