Hybrid-driven parallel sugarcane picking machine mechanism with closed chain structure

Abstract

A hybrid-driven parallel sugarcane picking machine mechanism with a closed chain structure is characterized in that the mechanism is provided with a boom, a boom connecting rod, a boom driving rod, aforearm, a forearm connecting rod, a forearm driving rod, a connecting rod, an electric drive pusher, a wrist connecting rod, a wrist, a paw, a base, a rotating platform and a servo driving device; one end of the forearm is connected to the wrist connecting rod; the other end of the forearm is connected to one end of the forearm connecting rod; the forearm connecting rod is connected to one end ofthe forearm driving rod; the other end of the forearm driving rod is connected to the base; one end of the wrist connecting rod is connected to the forearm; one end of the boom connecting rod is connected to the middle of the boom; the other end of the boom connecting rod is connected to one end of the boom driving rod; and the other end of the boom driving rod is connected to the rotating platform. By installing two motors on the working platform, the mechanism overcomes the shortcomings of large rotational inertia, poor dynamic performance and the complicated structure of an articulated manipulator of a series structure. The mechanism combines the advantages of the constant speed motor and the servo motor, and has the advantages of easy control, sensitive response and low manufacturingand maintenance cost.

Description

technical field [0001] The invention relates to the field of sugarcane machinery, in particular to a parallel sugarcane grabbing machine mechanism with a hybrid drive closed-chain structure. Background technique [0002] In the past few years, due to the shortage of personnel in the labor market, labor costs have increased year by year, which has promoted the wide application of sugarcane grabbers in sugarcane harvesting and processing operations. There are two types of sugarcane grabbers: mechanical and hydraulic. At present, most of the mechanical arms of the cane grabber are hydraulically driven. Since the hydraulic transmission uses hydraulic oil as the medium for power transmission, there are the following problems: its starting performance is poor, and it is easy to cause Leakage occurs after internal components are worn, and the leaked hydraulic oil will pollute the environment and affect the quality of sugarcane raw materials; hydraulic oil is greatly affected by tem...

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a hybrid drive closed-chain structure parallel sugarcane grabbing machine mechanism, which overcomes the shortcomings of the hydraulic system components of the hydraulic sugarcane grabbing machine, such as high precision requirements, complex structure, and easy oil leakage, and solves the problem that the drive motor of the open chain structure is installed. At the position of the joint, the problems of large moment of inertia, decreased dynamic performance, large cumulative error, small bearing capacity and complex structure of the arm are caused. At the same time, the problem of high cost caused by the use of servo motors is solved.

It overcomes the shortcomings of the hydraulic system components of the hydraulic sugarcane grabbing machine, such as high precision requirements, complex structure, and easy oil leakage.

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