CN106717541B - A kind of controllable straight line telescopic lever formula machine for picking fruits of revolution multiple degrees of freedom - Google Patents
A kind of controllable straight line telescopic lever formula machine for picking fruits of revolution multiple degrees of freedom Download PDFInfo
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- CN106717541B CN106717541B CN201611025234.7A CN201611025234A CN106717541B CN 106717541 B CN106717541 B CN 106717541B CN 201611025234 A CN201611025234 A CN 201611025234A CN 106717541 B CN106717541 B CN 106717541B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/20—Platforms with lifting and lowering devices
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Abstract
A kind of controllable straight line telescopic lever formula machine for picking fruits of revolution multiple degrees of freedom, including multi link mechanical arm and fork hydraulic lifting platform, one one end of connecting rod of the multi link mechanical arm is connected to the other end in rack and connect with two one end of connecting rod, two other end of connecting rod is connect with three one end of connecting rod, and three other end of connecting rod, which is connected to, to be executed in terminal.Four one end of connecting rod connect the other end with connecting rod one and connecting rod two simultaneously and connect with five one end of connecting rod, five other end of connecting rod connect connection by first jiao of revolute pair five and the first triangular connecting plate, second jiao of first triangular connecting plate is connect with connecting rod July 1st end, and seven other end of connecting rod is executed in terminal by being connected to.The present invention can control multi link mechanical arm by the drive system realization being made of servo motor, not only make it have the repertoire of traditional multi link mechanical arm, but also improve the stability and working efficiency of mechanism kinematic.
Description
Technical field
The present invention relates to machinery field, specifically a kind of controllable straight line telescopic lever formula machine for picking fruits of revolution multiple degrees of freedom.
Background technique
Controllable mechanism is the Disciplinary Frontiers of modern mechanisms research, it has flexible, output kinematic accuracy height, operation speed
Degree is fast, and bearing capacity waits by force many advantages, and controllable mechanism includes adjustable mechanism, variable-input mechanism and hybrid drive, becomes defeated
Enter mechanism and refer to that the driving device of mechanism with single degree of freedom replaces constant speed motor by micro-processor controlled servo motor, so as to improve from
Moving part kinetic characteristic, Hybrid Input Five―bar Mechanism is driven using motor of different nature (constant motor and servo motor), in machine
There is a good compromise that it is controllable, adjustable to be well positioned to meet modern mechanical to adapt to working flexibility feature in tool performance and cost
Requirement, in the epoch of flexible production, hybrid drive has very big application space.
With the development of motor technology and the raising of control technology, controllable mechanism provides wide development for engineering machinery
Space, by control motor-driven multiple degrees of freedom controllable mechanism not only have big working space, flexible movements, it is achievable complicated and
Variable motion profile output, while also having many advantages, such as that manufacturing cost is low, maintenance is simple, controllable-mechanism type multi link machine
Hydraulic system requirement on machining accuracy is high, and maintenance is protected due to, instead of hydraulic drive, being avoided with multiple degrees of freedom link mechanism for tool arm
It supports at high cost, the problems such as being easy to produce oil leak, and motor is generally mounted on joint by other multi link mechanical arm machines,
It is big to will lead to multi link mechanical arm equipment rotary inertia in this way, it is poor to be also easy to produce residual oscillation, dynamic performance, transmission efficiency
It is low.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of controllable straight line telescopic lever formulas of revolution multiple degrees of freedom to pluck fruit
Machine.
To achieve the goals above, the invention adopts the following technical scheme：
A kind of controllable straight line telescopic lever formula machine for picking fruits of revolution multiple degrees of freedom, including rack, execution terminal, connecting rod one, company
Bar two, connecting rod three, connecting rod four, connecting rod five, connecting rod seven, connecting rod eight, connecting rod nine, connecting rod ten, connecting rod 11, connecting rod 13, connecting rod
14, connecting rod 16, connecting rod 17, connecting rod 18 and sliding sleeve,
One one end of connecting rod is connected on the rack by revolute pair one, and one other end of connecting rod passes through revolute pair two and connecting rod 21
End connection, two other end of connecting rod are connect by revolute pair three with three one end of connecting rod, and three other end of connecting rod, which is connected to, to be executed in terminal,
Four one end of connecting rod is connect with connecting rod one and connecting rod two simultaneously by revolute pair two, and four other end of connecting rod passes through revolute pair four and connecting rod
The connection of five one end, five other end of connecting rod connect connection, the first triangle by first jiao of revolute pair five and the first triangular connecting plate
Second jiao of connecting plate is connect by revolute pair six with connecting rod July 1st end, and seven other end of connecting rod, which is connected to, to be executed in terminal, and first
The third angle of triangular connecting plate is connected on connecting rod three by revolute pair seven, and connecting rod Aug. 1st end is connected to rack by revolute pair eight
On, eight other end of connecting rod is connect by first jiao of revolute pair nine and the second triangular connecting plate, and the second of the second triangular connecting plate
Angle is connect by revolute pair ten with ten one end of connecting rod, and ten other end of connecting rod is connected on connecting rod three by revolute pair 11, and second
The third angle of triangular connecting plate is connect by revolute pair 12 with 11 one end of connecting rod, and 11 other end of connecting rod passes through revolute pair ten
Three connect with first jiao of third triangular connecting plate, and second jiao of third triangular connecting plate passes through revolute pair 14 and connecting rod 13
One end connection, 13 other end of connecting rod are connected on the rack by revolute pair 15, and the third angle of third triangular connecting plate passes through
Revolute pair 16 is connect with 14 one end of connecting rod, and 14 other end of connecting rod passes through revolute pair 17 and the 4th triangular connecting plate first
Angle connection, the 4th second jiao of triangular connecting plate are connect by revolute pair 18 with 16 one end of connecting rod, and 16 other end of connecting rod is logical
Revolute pair 19 to be crossed to connect with connecting rod ten July 1st end, 17 other end of connecting rod connects on the rack also by revolute pair 15, the
Four triangular connecting plate the third angles are connect by revolute pair 20 with 18 end of connecting rod, and 18 other end of connecting rod passes through revolute pair two
11 are connected on sliding sleeve, and sliding sleeve is sleeved on connecting rod three, and nine one end of connecting rod passes through revolute pair nine and the second triangular connecting plate
First jiao of connection, nine other end of connecting rod are connected on connecting rod two by revolute pair 22.
Compared with prior art, the beneficial effect that the present invention has：
The present invention not only has that multiple degrees of freedom controllable mechanism working space is big, flexible movements, achievable Comlex-locus
The advantages of output, compares multi-freedom-degreecontrollable controllable mechanism type multi link mechanical arm driven by the internal combustion engine, and present invention employs electric power
The controllable mechanism of driving can control multi link mechanical arm equipment by the drive system realization being made of servo motor
System may be implemented flexibility campaign and intelligent programmable work, not only make it have whole function of traditional multi link mechanical arm
Can, and improve the stability and working efficiency of mechanism kinematic.Motor is mounted on equipment pedestal, is overcome existing
Moving operation machinery arm motor is mounted on joint, generated poor rigidity, rotary inertia are big, react it is insensitive, easily produce
The disadvantages of raw residual oscillation, joint error is easy accumulation, have many advantages, such as that structure is simple, it is low in cost, while there is no accumulation
The features such as error, precision be higher, compact-sized, large carrying capacity, rigidity are high and end effector inertia is small.Fork hydraulic liter
Platform drops after the reinforcement of six bar closed-loop subchains with lifting is steady, stabilized structure, loading capacity is big, failure rate is low, reliable for operation, peace
Overall height effect, mobile feature flexible, easy to operate, maintenance is simple and convenient.
Detailed description of the invention
Fig. 1 is that a kind of overall structure for turning round the controllable straight line telescopic lever formula machine for picking fruits of multiple degrees of freedom of the present invention is shown
It is intended to.
Specific embodiment
Technical solution of the present invention is further elaborated below by embodiment.
Embodiment 1
A kind of controllable straight line telescopic lever formula machine for picking fruits of revolution multiple degrees of freedom, including multi link mechanical arm and fork hydraulic
Lifting platform,
The multi link mechanical arm includes rack 42, executes terminal 20, connecting rod 1, connecting rod 22, connecting rod 33, connecting rod four
4, connecting rod 55, connecting rod 77, connecting rod 88, connecting rod 99, connecting rod 10, connecting rod 11, connecting rod 13, connecting rod 14,
Connecting rod 16, connecting rod 17, connecting rod 18 and sliding sleeve 19,
One 1 one end of connecting rod is connected in rack 42 by revolute pair 1, and one 1 other end of connecting rod passes through revolute pair 2 102
It is connect with 22 one end of connecting rod, 22 other end of connecting rod is connect by revolute pair 3 103 with 33 one end of connecting rod, 33 other end of connecting rod
It is connected to and executes in terminal 20,44 one end of connecting rod is connect with connecting rod 1 and connecting rod 22 simultaneously by revolute pair 2 102, connecting rod
44 other ends are connect by revolute pair 4 104 with 55 one end of connecting rod, and 55 other end of connecting rod passes through revolute pair 5 105 and first
First jiao of connection of triangular connecting plate 6 connects, and second jiao of the first triangular connecting plate 6 passes through revolute pair 6 106 and connecting rod 771
End connection, 77 other end of connecting rod, which is connected to, to be executed in terminal 20, and the third angle of the first triangular connecting plate 6 passes through revolute pair 7 107
It is connected on connecting rod 33,88 one end of connecting rod is connected in rack 42 by revolute pair 8 108, and 88 other end of connecting rod is by turning
Pair 9 109 is moved with the second triangular connecting plate 21 first jiao is connect, and second jiao of the second triangular connecting plate 21 passes through revolute pair ten
110 connect with 10 one end of connecting rod, and 10 other end of connecting rod is connected on connecting rod 33 by revolute pair 11, the second triangle
The third angle of connecting plate 21 is connect by revolute pair 12 with 11 one end of connecting rod, and 11 other end of connecting rod is by turning
Pair 13 is moved with third triangular connecting plate 12 first jiao is connect, and second jiao of third triangular connecting plate 12 passes through revolute pair
14 connect with 13 one end of connecting rod, and 13 other end of connecting rod is connected in rack 42 by revolute pair 15,
The third angle of third triangular connecting plate 12 is connect by revolute pair 16 with 14 one end of connecting rod, and connecting rod 14 is another
End is connect for 15 first jiaos by revolute pair 17 with the 4th triangular connecting plate, and the 4th 15 second jiaos of triangular connecting plate is by turning
Dynamic pair 18 is connect with 16 one end of connecting rod, and 16 other end of connecting rod passes through revolute pair 19 and connecting rod 17
One end connection, 17 other end of connecting rod is connected in rack 42 also by revolute pair 15, the 4th triangular connecting plate 15 the
Triangle is connect by revolute pair 20 with 18 one end of connecting rod, and 18 other end of connecting rod passes through revolute pair 21
It is connected on sliding sleeve 19, sliding sleeve 19 is sleeved on connecting rod 33, and 99 one end of connecting rod passes through revolute pair 9 109 and the second triangle joint
First jiao of connection of plate 21,99 other end of connecting rod are connected on connecting rod 22 by revolute pair 22.
Claims (1)
1. a kind of controllable straight line telescopic lever formula machine for picking fruits of revolution multiple degrees of freedom, which is characterized in that including rack, execute terminal,
Connecting rod one, connecting rod two, connecting rod three, connecting rod four, connecting rod five, connecting rod seven, connecting rod eight, connecting rod nine, connecting rod ten, connecting rod 11, connecting rod
13, connecting rod 14, connecting rod 16, connecting rod 17, connecting rod 18 and sliding sleeve,
One one end of connecting rod is connected on the rack by revolute pair one, and one other end of connecting rod is connected by revolute pair two and two one end of connecting rod
It connects, two other end of connecting rod is connect by revolute pair three with three one end of connecting rod, and three other end of connecting rod, which is connected to, to be executed in terminal, connecting rod
Four one end are connect with connecting rod one and connecting rod two simultaneously by revolute pair two, and four other end of connecting rod passes through revolute pair four and connecting rod May Day
End connection, five other end of connecting rod connect connection, the first triangle joint by first jiao of revolute pair five and the first triangular connecting plate
Second jiao of plate is connect by revolute pair six with connecting rod July 1st end, and seven other end of connecting rod, which is connected to, to be executed in terminal, the first triangle
The third angle of connecting plate is connected on connecting rod three by revolute pair seven, and connecting rod Aug. 1st end is connected on the rack by revolute pair eight,
Eight other end of connecting rod is connect by first jiao of revolute pair nine and the second triangular connecting plate, and second jiao of the second triangular connecting plate leads to
It crosses revolute pair ten to connect with ten one end of connecting rod, ten other end of connecting rod is connected on connecting rod three by revolute pair 11, the second triangle
The third angle of connecting plate connect by revolute pair 12 with 11 one end of connecting rod, 11 other end of connecting rod pass through revolute pair 13 and
First jiao of connection of third triangular connecting plate, second jiao of third triangular connecting plate pass through revolute pair 14 and 13 one end of connecting rod
Connection, 13 other end of connecting rod are connected on the rack by revolute pair 15, and the third angle of third triangular connecting plate passes through rotation
Pair 16 is connect with 14 one end of connecting rod, and 14 other end of connecting rod passes through revolute pair 17 and first jiao of the 4th triangular connecting plate company
It connects, the 4th second jiao of triangular connecting plate is connect by revolute pair 18 with 16 one end of connecting rod, and 16 other end of connecting rod is by turning
Dynamic pair 19 is connect with connecting rod ten July 1st end, and 17 other end of connecting rod connects on the rack also by revolute pair 15, and the four or three
Angle connecting plate the third angle is connect by revolute pair 20 with 18 end of connecting rod, and 18 other end of connecting rod passes through revolute pair 21
It is connected on sliding sleeve, sliding sleeve is sleeved on connecting rod three, and nine one end of connecting rod passes through the first of revolute pair nine and the second triangular connecting plate
Angle connection, nine other end of connecting rod are connected on connecting rod two by revolute pair 22.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611025234.7A CN106717541B (en) | 2016-11-21 | 2016-11-21 | A kind of controllable straight line telescopic lever formula machine for picking fruits of revolution multiple degrees of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611025234.7A CN106717541B (en) | 2016-11-21 | 2016-11-21 | A kind of controllable straight line telescopic lever formula machine for picking fruits of revolution multiple degrees of freedom |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106717541A CN106717541A (en) | 2017-05-31 |
| CN106717541B true CN106717541B (en) | 2018-11-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611025234.7A Active CN106717541B (en) | 2016-11-21 | 2016-11-21 | A kind of controllable straight line telescopic lever formula machine for picking fruits of revolution multiple degrees of freedom |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GR1009283B (en) * | 2016-12-08 | 2018-05-02 | Ευαγγελος Μαρκου Σταυρουλακης | Self-operated remotely-controlled beating machine for fruit crop |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3750846A (en) * | 1971-12-01 | 1973-08-07 | Del Mar Eng Lab | Lazy tong type boom structure with extension aid |
| CN102556892A (en) * | 2012-02-20 | 2012-07-11 | 上海大学 | Electric shear type lifting platform |
| CN102577748A (en) * | 2012-03-02 | 2012-07-18 | 绍兴文理学院 | Torreya grandis nut picker |
| CN104255193A (en) * | 2014-08-19 | 2015-01-07 | 刘宝帅 | Apple picking machine and method for operating same |
| CN205114983U (en) * | 2015-11-18 | 2016-03-30 | 南京信息工程大学 | Folding lift platform of safety and stability |
-
2016
- 2016-11-21 CN CN201611025234.7A patent/CN106717541B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3750846A (en) * | 1971-12-01 | 1973-08-07 | Del Mar Eng Lab | Lazy tong type boom structure with extension aid |
| CN102556892A (en) * | 2012-02-20 | 2012-07-11 | 上海大学 | Electric shear type lifting platform |
| CN102577748A (en) * | 2012-03-02 | 2012-07-18 | 绍兴文理学院 | Torreya grandis nut picker |
| CN104255193A (en) * | 2014-08-19 | 2015-01-07 | 刘宝帅 | Apple picking machine and method for operating same |
| CN205114983U (en) * | 2015-11-18 | 2016-03-30 | 南京信息工程大学 | Folding lift platform of safety and stability |
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| CN106717541A (en) | 2017-05-31 |
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