A rotary multi-degree-of-freedom controllable linear lever telescopic fruit picker

Abstract

A rotary multi-degree-of-freedom controllable linear lever retractable fruit picker comprises a multi-connection-rod mechanical arm and a scissor and fork type hydraulic lifting table. One end of a first connection rod of the multi-connection-rod mechanical arm is connected with a machine rack, the other end of the first connection rod is connected with one end of a second connection rod, the other end of the second connection rod is connected with one end of a third connection rod, and the other end of the third connection rod is connected to an execution terminal. One end of a fourth connection rod is connected with the first connection rod and the second connection rod at the same time, the other end of the fourth connection rod is connected with one end of a fifth connection rod, the other end of the fifth connection rod is connected with a first corner of a first triangular connection plate through a fifth rotary pair, a second corner of the first triangular connection plate is connected with one end of a seventh connection rod, and the other end of the seventh connection rod is connected to an execution terminal. The multi-connection-rod mechanical arm is controlled by means of a driving system composed of a servo motor, all functions of a traditional multi-connection-rod mechanical arm are achieved, and the operation stability and work efficiency of the mechanism are improved.

Description

technical field [0001] The invention relates to the field of machinery, in particular to a multi-degree-of-freedom controllable linear lever telescopic 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 precision, fast running speed and strong bearing capacity. Controllable mechanism includes adjustable mechanism, variable input mechanism and hybrid drive mechanism. The input mechanism refers to the driving device of the single-degree-of-freedom mechanism, which is replaced by a servo motor controlled by a microcomputer to improve the motion characteristics of the follower. The hybrid input mechanism is driven by motors of different properties (constant motors and servo motors). There is a good compromise between mechanical performance and cost to adapt to the flexible characteristics of the work, which can well meet the controllable and adj...

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

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