一种基于绳索机构的重力补偿方案在菠萝采摘中的应用

The Application of Gravity Compensation Device Based on Rope Pulley Mechanism in Pineapple Harvesting

针对小型手持工程机械和农用机械使用中产生的肌肉劳损和效率低下的问题,提出了一种力臂重力补偿方案。通过推导力臂与角度的关系,考虑绳索与垂直方向夹角的关系,建立静力学模型,得出凸轮的轮廓曲线,并且用弹簧将力臂进行补偿,可实现工作范围内任意角度力矩的完全补偿或过盈补偿。在一个小型化菠萝采摘机构上的应用,表明这个基于绳索机构的重力补偿方案能够较好地符合预期。

To deal with the muscular fatigue and low efficiency under the circumstances of using small size engineering or agricultural machine,a passive gravity compensation system is designed.It establishes a static mechanical model,and attains the contour of the cam by deducing the relationship between angle and the arm of force by considering the angle between the flexing rope and vertical direction.In order to verify the practicability,it has been applied in pineapple harvesting.Utilizing the disc cam and tension spring mechanism,the system can implement gravity compensation within any angle in operation.The system works ideally.