CN106609521A - Variable-freedom-degree multi-connection-rod mechanism driven by servo motor - Google Patents
Variable-freedom-degree multi-connection-rod mechanism driven by servo motor Download PDFInfo
- Publication number
- CN106609521A CN106609521A CN201611078765.2A CN201611078765A CN106609521A CN 106609521 A CN106609521 A CN 106609521A CN 201611078765 A CN201611078765 A CN 201611078765A CN 106609521 A CN106609521 A CN 106609521A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- locking device
- rod
- connection
- freedom
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 30
- 210000000707 wrist Anatomy 0.000 claims abstract description 19
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 230000007547 defect Effects 0.000 abstract 1
- 240000000111 Saccharum officinarum Species 0.000 description 6
- 235000007201 Saccharum officinarum Nutrition 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 5
- 239000012530 fluid Substances 0.000 description 3
- 239000010720 hydraulic oil Substances 0.000 description 3
- 239000003921 oil Substances 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/301—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom with more than two arms (boom included), e.g. two-part boom with additional dipper-arm
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/40—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets
- E02F3/413—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets with grabbing device
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/425—Drive systems for dipper-arms, backhoes or the like
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Transmission Devices (AREA)
Abstract
A variable-freedom-degree multi-connection-rod mechanism driven by a servo motor is composed of a base 1, a driving rod 13, a first connection rod 15, a first connection piece 5, a fourth connection rod 4, a big arm 2, a wrist connection rod 6, a second connection rod 22, a third connection rod 26, a servo drive device, a first locking device 23 and a second locking device 24. The big arm 2 is connected to the base through a first rotation pair 10. The first locking device 23 and the second locking device 24 are installed on the seventh rotation pair 16 and the tenth rotation pair 19 correspondingly. The servo drive device comprises the first servo motor. The first servo motor is connected with the driving rod 13 so as to drive the driving rod 13 to rotate. The first locking device 23 and the second locking device 24 conduct locking in an electromagnetic manner. According to the variable-freedom-degree multi-connection-rod mechanism driven by the servo motor, a hydraulic mechanism is replaced by the connection rod transmission mechanism, and the defects that the hydraulic mechanism is prone to leaking oil, complicated in mechanism and the like are overcome. Because the locking devices are arranged on the rotation pairs, the variable-freedom-degree multi-connection-rod mechanism driven by the servo motor is suitable for different working conditions, and the number of the adopted motor is smaller than the number of freedom degrees of the mechanism.
Description
Technical field
The present invention relates to mechanical field, particularly a kind of employing servomotor drive can variable freedom multi-connecting-rod mechanism.
Background technology
Over the years, because the personnel of labour market are in short supply, human cost rises year by year, promotes cane catching machine in Caulis Sacchari sinensis
Extensive application in harvesting processing operation.Cane catching machine has mechanical type and fluid pressure type two types, and the mechanical arm of current cane catching machine is big
Majority is hydraulic-driven, there is problems with as the medium of transmission power using hydraulic oil due to hydraulic drive：Its startability
Poor, easily because producing leakage after inner member abrasion, and the hydraulic oil for leaking pollutes the environment, and affects sugarcane raw material
Quality；Hydraulic oil temperature influence is larger, and aggregate efficiency is relatively low, there is noise and vibration sometimes.It sometimes appear that overheated, powerless in work
Etc. phenomenon；Hydraulic Elements requirement on machining accuracy is high, and matching requirements are strict, and manufacture is more difficult, and maintenance in use requires skill
Art is higher, and difficulty is larger.With the increase of cane catching machine function, its hydraulic system becomes increasingly complex, and breaks down more using unexpected
Property, disguise.Mechanical type cane catching machine be using mechanical transmissioning piece realize grab sugarcane action, using it is sturdy and durable the advantages of, but pass
The single-degree-of-freedom mechanical type cane catching machine of system can not complete the action of complexity, and range of application is extremely limited, mechanical type controllable mechanism electricity
Dynamic cane catching machine, with linkage hydraulic drive is instead of, and when driving lever is driven by servomotor, easily realizes automatization, number
Controlization is controlled, and solves some shortcomings of hydraulic system presence, but there is needs outfit and linkage degree of freedom equivalent amount
Controlled motor being controlled big and high cost the problem of mechanism's weight, movement inertia that complex structure is brought.
Variable Freedom Mechanism is by the functional requirement that is combined into new topological structure to adapt to different phase.Can apply at present
It is also little in actual Variable Freedom Mechanism, had not seen the Variable Freedom Mechanism for being applied to cane catching machine.
The content of the invention
It is an object of the invention to provide a kind of employing servomotor for cane catching machine drive can variable freedom more connect
Linkage, overcomes the shortcomings of fluid pressure type cane catching machine hydraulic system element required precision height, complex structure, easy oil leakage, overcomes open chain
The motor of structure is required for being arranged on the shortcoming of joint position, and the quantity of controllable drive motor is connected less than cane catching machine
The degree of freedom of linkage, overcomes the electronic cane catching machine structure of existing machinery formula to need to be equipped with the control with linkage degree of freedom equivalent amount
Motor processed simplifies the complexity of structure the shortcoming that is controlled, the weight of reducing mechanism, movement inertia, volume and cost.
For achieving the above object, the invention provides a kind of employing servomotor drive can variable freedom multi-connecting-rod mechanism, by base
1st, driving lever 13, first connecting rod 15, the first connector 5, fourth link 4, large arm 2, wrist connecting rod 6, second connecting rod the 22, the 3rd connect
Bar 26, servo drive, the first locking device 23 and the second locking device 24 are constituted；The large arm 2 is rotated by first
Secondary 10 are connected on base, and the other end of large arm 2 rotates secondary 8 and is connected with wrist connecting rod 6 by the 3rd；The driving lever 13 passes through
5th rotates secondary 12 is connected with base 1, and the other end rotates secondary 14 and is connected with first connecting rod 15 by the 6th, and first connecting rod 15 passes through
7th rotates secondary 16 is connected with the first connector 5；First connector 5 is connected by eighth-turn dynamic secondary 17 with second connecting rod 22
Connect, the other end of second connecting rod 22 rotates secondary 7 and is connected with wrist connecting rod 6 by the 9th；The fourth link 4 is rotated by the 13rd
Secondary 20 are connected with base 1, and one end rotates secondary 18 and is connected with the first connector 5 by the tenth, and middle part rotates by the 11st
Secondary 19 are connected with third connecting rod 26, and the other end of third connecting rod 26 is connected by rotating secondary 25 with large arm 2；First locking
The locking device 24 of device 23 and second is separately mounted to the 7th rotation the secondary 16 and the 11st and rotates on secondary 19, suitable according to different operating modes
When lock；Servo drive includes the first servomotor, is connected to drive it to rotate with driving lever 13；First locking device 23
Locked using electromagnetic mode with the second locking device 24.
When being applied to grab sugarcane operation by two degrees of freedom closed chain hybrid-driven linkage mechanism of the present invention, it is only necessary to the bottom of by
Seat 1 is coupled together with rubber-tyred or crawler type walking mechanism, and wrist connecting rod 6 is coupled together with wrist 27, paw 28.
The present invention adopts controllable many bar closed chain mechanisms, and the motor for overcoming open-chain structure is required for being arranged on joint position
The shortcoming put, improves the stationarity and reliability of arm operation, and without cumulative error, precision is higher；Compact conformation, rigidity is high,
Large carrying capacity, inertia are low, dynamic property is good, arm motion track flexible and diverse.Install locking device additional on linkage,
And allow it to be locked according to the different operating modes of mechanism and loosen specific rotation pair, the degree of freedom of mechanism is reduced in good time, realize
In the case where expected requirement is completed, the quantity of the controllable drive motor for using is less than the degree of freedom of cane catching machine linkage, profit
Two degrees of freedom is capable of achieving with a driving lever and grabs sugarcane operation, overcome existing cane catching machine to need outfit same with linkage degree of freedom
The shortcoming being controlled etc. the controlled motor of quantity, simplifies the complexity of structure, the weight of reducing mechanism, movement inertia,
Volume and cost, increased the controllability and stability of mechanism, improve work efficiency.Also overcome fluid pressure type cane catching machine simultaneously
Hydraulic system element required precision height, complex structure, easy oil leakage, poor reliability, the low shortcoming of transmission efficiency.
Description of the drawings
Fig. 1 be a kind of employing servomotor of the present invention drive can variable freedom multi-connecting-rod mechanism structural representation
Figure.
Specific embodiment
A kind of employing servomotor drive can variable freedom multi-connecting-rod mechanism, by base 1, driving lever 13, first connecting rod
15th, the first connector 5, fourth link 4, large arm 2, wrist connecting rod 6, second connecting rod 22, third connecting rod 26, servo drive,
First locking device 23 and the second locking device 24 are constituted；The base 1 is arranged on removable revolving dial；It is described big
Arm 2 rotates secondary 10 and is connected on base by first, and the other end of large arm 2 rotates secondary 8 and is connected with wrist connecting rod 6 by the 3rd；
The driving lever 13 rotates secondary 12 and is connected with base 1 by the 5th, and the other end rotates secondary 14 and connects with first connecting rod 15 by the 6th
Connect, first connecting rod 15 rotates secondary 16 and is connected with the first connector 5 by the 7th；First connector 5 is by the dynamic pair of eighth-turn
17 are connected with second connecting rod 22, and the other end of second connecting rod 22 rotates secondary 7 and is connected with wrist connecting rod 6 by the 9th；Described 4th connects
Bar 4 rotates secondary 20 and is connected with base 1 by the 13rd, and one end rotates secondary 18 and is connected with the first connector 5 by the tenth, in
Portion rotates secondary 19 and is connected with third connecting rod 26 by the 11st, and the other end of third connecting rod 26 is by rotating secondary 25 with the phase of large arm 2
Connection；The locking device 24 of first locking device 23 and second is separately mounted to the 7th rotation the secondary 16 and the 11st and rotates secondary 19
On, locked in good time according to different operating modes；Servo drive includes the first servomotor, is connected to drive its turn with driving lever 13
It is dynamic；First locking device 23 and the second locking device 24 are locked using electromagnetic mode.
By a kind of employing servomotor of the present invention drive can the multi-connecting-rod mechanism of variable freedom be applied to grab sugarcane and make
During industry, it is only necessary to couple together base 1 with rubber-tyred or crawler type walking mechanism, wrist connecting rod 6 connects with wrist 27, paw 28
Pick up and.
In each operating mode work, during lifting operating mode, the first locking device 23 and the second locking device 24 are locked, the 7th turn
Dynamic secondary 16 and the 11st rotates secondary 19 loses degree of freedom, and now driving lever 13 is connected by first connecting rod 15, third connecting rod 26, first
Fitting 5, the collective effect of fourth link 4, large arm 2, second connecting rod 22 lifts on wrist connecting rod 6.The independent pitching of wrist connecting rod 6
During operating mode, the first locking device 23 is opened, and the 7th rotates secondary 16 degree of affranchising, and the second locking device 24 is locked, the 11st turn
Dynamic secondary 19 lose degree of freedom, and now driving lever 13 is by the presence of first connecting rod 15, the first connector 5 and second connecting rod 22
Make the pitching of wrist connecting rod 6.First locking device 7 and the second locking device 29 select respectively tight lock according to different working conditions
Or open, complete jointly large arm 2 lift, the motion such as the pitching of wrist connecting rod 6 and wrist 27, that realizes paw 28 grabs sugarcane operation,
First locking device 23 and the second locking device 24 can be locked using electromagnetic mode, and control is easily realized.
Claims (1)
1. a kind of employing servomotor drive can variable freedom multi-connecting-rod mechanism, it is characterised in that by base 1, driving lever 13,
First connecting rod 15, the first connector 5, fourth link 4, large arm 2, wrist connecting rod 6, second connecting rod 22, third connecting rod 26, servo drive
Dynamic device, the first locking device 23 and the second locking device 24 are constituted；The base 1 is arranged on removable revolving dial；
The large arm 2 rotates secondary 10 and is connected on base by first, and the other end of large arm 2 rotates secondary 8 with the phase of wrist connecting rod 6 by the 3rd
Connection；The driving lever 13 rotates secondary 12 and is connected with base 1 by the 5th, and the other end rotates secondary 14 and first connecting rod by the 6th
15 connections, first connecting rod 15 rotates secondary 16 and is connected with the first connector 5 by the 7th；First connector 5 passes through eighth-turn
Dynamic secondary 17 are connected with second connecting rod 22, and the other end of second connecting rod 22 rotates secondary 7 and is connected with wrist connecting rod 6 by the 9th；Described
Double leval jib 4 rotates secondary 20 and is connected with base 1 by the 13rd, and one end rotates secondary 18 and is connected with the first connector 5 by the tenth
Connect, middle part rotates secondary 19 and is connected with third connecting rod 26 by the 11st, the other end of third connecting rod 26 by rotate pair 25 with it is big
Arm 2 is connected；It is secondary 16 and the 11st turns that the locking device 24 of first locking device 23 and second is separately mounted to the 7th rotation
On dynamic secondary 19, locked in good time according to different operating modes；Servo drive includes the first servomotor, is connected to drive with driving lever 13
Move its rotation；First locking device 23 and the second locking device 24 are locked using electromagnetic mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611078765.2A CN106609521A (en) | 2016-11-30 | 2016-11-30 | Variable-freedom-degree multi-connection-rod mechanism driven by servo motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611078765.2A CN106609521A (en) | 2016-11-30 | 2016-11-30 | Variable-freedom-degree multi-connection-rod mechanism driven by servo motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106609521A true CN106609521A (en) | 2017-05-03 |
Family
ID=58635949
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611078765.2A Pending CN106609521A (en) | 2016-11-30 | 2016-11-30 | Variable-freedom-degree multi-connection-rod mechanism driven by servo motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106609521A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003034945A (en) * | 2001-07-24 | 2003-02-07 | Hitachi Constr Mach Co Ltd | Offset boom tape construction machinery |
| CN104047310A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Multi-connecting-rod loading mechanism with active metamorphic function |
| CN106609515A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Multi-connecting-rod variable-freedom-degree wood grasping machine provided with servo motors for driving |
| CN106625559A (en) * | 2016-11-28 | 2017-05-10 | 广西大学 | Multi-connecting-rod variable-freedom-degree feed stacking manipulator driven by servo motors |
| CN106625557A (en) * | 2016-11-28 | 2017-05-10 | 广西大学 | Servo drive multi-rod type variable-freedom-degree mechanical arm for assembly work |
-
2016
- 2016-11-30 CN CN201611078765.2A patent/CN106609521A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003034945A (en) * | 2001-07-24 | 2003-02-07 | Hitachi Constr Mach Co Ltd | Offset boom tape construction machinery |
| CN104047310A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Multi-connecting-rod loading mechanism with active metamorphic function |
| CN106609515A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Multi-connecting-rod variable-freedom-degree wood grasping machine provided with servo motors for driving |
| CN106625559A (en) * | 2016-11-28 | 2017-05-10 | 广西大学 | Multi-connecting-rod variable-freedom-degree feed stacking manipulator driven by servo motors |
| CN106625557A (en) * | 2016-11-28 | 2017-05-10 | 广西大学 | Servo drive multi-rod type variable-freedom-degree mechanical arm for assembly work |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106625557A (en) | Servo drive multi-rod type variable-freedom-degree mechanical arm for assembly work | |
| CN106629021A (en) | Timber grab with freedom-degree-variable linkage mechanism | |
| CN106609521A (en) | Variable-freedom-degree multi-connection-rod mechanism driven by servo motor | |
| CN106671129A (en) | Servo drive rod type variable freedom degree mechanical arm for assembling work | |
| CN106759568A (en) | One kind drives variable active degree linkage using servomotor | |
| CN106695774A (en) | Servo-motor-driven connecting rod type variable-freedom-degree simple coating work mechanical arm | |
| CN106625559A (en) | Multi-connecting-rod variable-freedom-degree feed stacking manipulator driven by servo motors | |
| CN106608544A (en) | Feed stacking mechanical arm of variable-degree-of-freedom connecting rod mechanism containing revolving pair locking device | |
| CN106607916A (en) | Connecting rod type variable-degree-of-freedom painting mechanical arm driven by servo motor | |
| CN106608525A (en) | Variable freedom degree connecting rod type timber grab driven by servo motor | |
| CN106607929A (en) | Double servo drive variable freedom degree multi-rod type mechanical arm used for assembling work | |
| CN106609519A (en) | Variable-freedom-degree connecting rod mechanism | |
| CN106625643A (en) | Dual servo motor driven variable-freedom-degree multi-connecting-rod timber grab | |
| CN106826913A (en) | One kind drives variable active degree multi-connecting-rod mechanism using servomotor | |
| CN106609522A (en) | A double servo motor-driven variable-degree of freedom multi-connecting rod mechanism | |
| CN106703094A (en) | Servo motor driven connecting-rod degree-of-freedom-variable simple timber grab | |
| CN106609520A (en) | Variable-activity connecting rod mechanism driven by servo motor | |
| CN106625561A (en) | Variable motion range connection rod mechanism with revolute pair locking device | |
| CN106607915A (en) | Painting mechanical arm of variable-degree-of-freedom connecting rod mechanism | |
| CN106607928A (en) | Servo drive variable freedom degree connecting rod mechanism mechanical arm for assembling work | |
| CN106737575A (en) | One kind is driven using servomotor can variable freedom link-type feed stacking machine arm | |
| CN106607894A (en) | Variable-degree-of-freedom connecting rod mechanism containing revolving pair locking device | |
| CN106607906A (en) | Feed stacking mechanism arm with variable degree-of-freedom link mechanism | |
| CN106607905A (en) | Mechanical arm with variable degree-of-freedom link mechanism for assembling operation | |
| CN106801443A (en) | The link-type that a kind of use servomotor drives can variable freedom timber grab |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170503 |