CN106759568A - One kind drives variable active degree linkage using servomotor - Google Patents
One kind drives variable active degree linkage using servomotor Download PDFInfo
- Publication number
- CN106759568A CN106759568A CN201611078764.8A CN201611078764A CN106759568A CN 106759568 A CN106759568 A CN 106759568A CN 201611078764 A CN201611078764 A CN 201611078764A CN 106759568 A CN106759568 A CN 106759568A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- locking device
- large arm
- servomotor
- base
- 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 claims abstract description 46
- 210000000707 wrist Anatomy 0.000 claims abstract description 29
- 230000003028 elevating effect Effects 0.000 claims abstract description 14
- 240000000111 Saccharum officinarum Species 0.000 abstract description 9
- 235000007201 Saccharum officinarum Nutrition 0.000 abstract description 9
- 230000005540 biological transmission Effects 0.000 abstract description 4
- 238000003754 machining Methods 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 4
- 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
- 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
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method 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
One kind drives variable active degree linkage using servomotor, it is characterised in that including：Base 1, large arm elevating mechanism, wrist connecting rod luffing mechanism, servo drive and the first locking device 9 and the second locking device 19：The large arm elevating mechanism is made up of large arm 14 and elevating mechanism, and the large arm 14 is connected to servo drive on base 1 by the 7th rotation secondary 13 includes the first servomotor, is connected to drive it to rotate with driving lever 3；First locking device 9 and the second locking device 19 are locked using electromagnetic mode.Conventional hydraulic transmission is substituted present invention employs novel link transmission mechanism, the shortcomings of solving hydraulic pressure cane catching machine hydraulic system complexity, easy oil leakage, requirement on machining accuracy high, due to using locking device on pair is rotated, it is to be capable of achieving two frees degree to grab sugarcane operation using a driving lever, reduces motor usage quantity.
Description
Technical field
It is particularly a kind of that variable active degree linkage is driven using servomotor the present invention relates to mechanical field.
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 sugarcane material
Extensive use in harvesting processing operation.Cane catching machine has mechanical 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
It is poor, easily because producing leakage, and the hydraulic oil of leakage to pollute the environment after inner member abrasion, influence sugarcane raw material
Quality；Hydraulic oil temperature influence is larger, and gross efficiency is relatively low, there is noise and vibration sometimes.It sometimes appear that overheat, 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 requires skill in use
Art is higher, and difficulty is larger.With the increase of cane catching machine function, its hydraulic system becomes increasingly complex, and breaks down with more unexpected
Property, disguise.Mechanical cane catching machine is to realize that grabbing sugarcane acts using mechanical transmissioning piece, have the advantages that it is sturdy and durable, but pass
The mechanical cane catching machine of single-degree-of-freedom of system can not complete the action of complexity, and range of application is extremely limited, mechanical controllable mechanism electricity
Dynamic cane catching machine, hydraulic drive is instead of with linkage, when driving lever is driven by servomotor, easily realizes automation, number
Controlization is controlled, and solves some shortcomings of hydraulic system presence, but there is needs outfit and linkage free degree equivalent amount
Controlled motor be 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
Variable active degree connecting rod is driven it is an object of the invention to provide a kind of use servomotor for being applied to cane catching machine
Mechanism, overcomes the shortcomings of fluid pressure type cane catching machine hydraulic system element required precision high, complex structure, easy oil leakage, overcomes open chain knot
The motor of structure is required for being arranged on the shortcoming of joint position, and causes that the quantity of controllable drive motor is less than cane catching machine connecting rod
The free degree of mechanism, overcomes the electronic cane catching machine structure of existing machinery formula to need to be equipped with the control with linkage free degree equivalent amount
Motor simplifies the complexity of structure the shortcoming that is controlled, the weight of reducing mechanism, movement inertia, volume and cost.For
Above-mentioned purpose is realized, variable active degree linkage is driven using servomotor the invention provides one kind, including it is base 1, big
Arm elevating mechanism, wrist connecting rod luffing mechanism, servo drive and the first locking device 9 and the second locking device 19：Institute
State large arm elevating mechanism to be made up of large arm 14 and elevating mechanism, the large arm 14 rotates secondary 13 and is connected on base 1 by the 7th,
The fourth link 16 of the elevating mechanism is connected on base 1 by eighth-turn dynamic secondary 15, and the other end rotates secondary 18 by the 9th
It is connected with the 5th connecting rod 20, the other end of the 5th connecting rod 20 rotates secondary 21 and is connected with large arm 14 by the tenth；The wrist connecting rod is bowed
Face upward mechanism to be made up of wrist connecting rod 12 and luffing mechanism, the wrist connecting rod 12 rotates secondary 22 and is connected to large arm 14 by the 11st
On, the luffing mechanism is made up of driving lever 3, first connecting rod 5, second connecting rod 7, third connecting rod 8, and the one end of driving lever 3 is by the
One rotates secondary 2 is connected on base 1, and the other end rotates secondary 4 and is connected with first connecting rod 5 by second, and the another two ends of first connecting rod 5 lead to
Cross the 3rd rotation secondary 6 and the 4th rotation secondary 17 is connected on second connecting rod 7 and third connecting rod 8, second connecting rod 7 is rotated by the 5th
Secondary 11 are connected on wrist connecting rod 12, and the other end of third connecting rod 8 rotates secondary 10 and is connected with wrist connecting rod 12 by the 6th, and wrist connects
Another connection end of bar rotates secondary 22 and is connected with large arm 14 by the 11st；The locking device of first locking device 9 and second
19 are separately mounted to the 6th rotation secondary 10 and the 9th rotates on secondary 18, is locked in good time according to the different operating mode of mechanism；Servo
Drive device includes the first servomotor, is connected to drive it to rotate with driving lever 3；First locking device 9 and the second locking dress
19 are put to be locked using electromagnetic mode.
When driving variable active degree linkage to be applied to grab sugarcane operation using servomotor one kind of the present invention,
Only need to couple together base 1 with rubber-tyred or crawler type walking mechanism, wrist connecting rod 12 has been connected with wrist 31, paw 32
Come.
The present invention uses 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 accumulated 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 that specific rotation pair is locked and loosened according to the different operating modes of mechanism, and the free degree of mechanism is reduced in good time, realize
In the case where expected requirement is completed, the free degree of the quantity less than cane catching machine linkage of the controllable drive motor for using, profit
It is to be capable of achieving two degrees of freedom to grab sugarcane operation with a driving lever, overcomes existing cane catching machine to need outfit same with the linkage free degree
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 operating efficiency.Also overcome fluid pressure type cane catching machine simultaneously
Hydraulic system element required precision is high, complex structure, easy oil leakage, poor reliability, the low shortcoming of transmission efficiency.
Brief description of the drawings
Fig. 1 is the structural representation that a kind of use servomotor of the present invention drives variable active degree linkage.
Specific embodiment
One kind drives variable active degree linkage, including base 1, large arm elevating mechanism, wrist to connect using servomotor
Bar luffing mechanism, servo drive and the first locking device 9 and the second locking device 19；The base 1 is arranged on removable
On dynamic revolving dial；The large arm elevating mechanism is made up of large arm 14 and elevating mechanism, and the large arm 14 rotates secondary by the 7th
13 are connected on base 1, and the fourth link 16 of the elevating mechanism is connected on base 1 by eighth-turn dynamic secondary 15, the other end
Secondary 18 are rotated by the 9th to be connected with the 5th connecting rod 20, the other end of the 5th connecting rod 20 rotates secondary 21 and connects with large arm 14 by the tenth
Connect；The wrist connecting rod luffing mechanism is made up of wrist connecting rod 12 and luffing mechanism, and the wrist connecting rod 12 passes through the 11st turn
Dynamic secondary 22 are connected in large arm 14, and the luffing mechanism is made up of driving lever 3, first connecting rod 5, second connecting rod 7, third connecting rod 8,
The one end of driving lever 3 rotates secondary 2 and is connected on base 1 by first, and the other end rotates secondary 4 and is connected with first connecting rod 5 by second,
The another two ends of first connecting rod 5 rotate the rotation secondary 17 of pair 6 and the 4th and are connected on second connecting rod 7 and third connecting rod 8 by the 3rd, and second
Connecting rod 7 rotates secondary 11 and is connected on wrist connecting rod 12 by the 5th, and the other end of third connecting rod 8 rotates secondary 10 and wrist by the 6th
Connecting rod 12 is connected, and another connection end of wrist connecting rod rotates secondary 22 and is connected with large arm 14 by the 11st；The first locking dress
Put 9 and second locking device 19 be separately mounted to the 6th rotation secondary 10 and the 9th and rotate on secondary 18, according to the different operating mode of mechanism
Locked in good time；Servo drive includes the first servomotor, is connected to drive it to rotate with driving lever 3；First locking
The locking device 19 of device 9 and second is locked using electromagnetic mode.
When driving variable active degree linkage to be applied to grab sugarcane operation using servomotor one kind of the present invention,
Only need to couple together base 1 with rubber-tyred or crawler type walking mechanism, wrist connecting rod 12 has been connected with wrist 31, paw 32
Come.
In operating mode operation, when large arm 14 is lifted, the second locking device 19 is opened, and the 9th rotates secondary 18 degree of affranchising,
Locking device 9 is locked, i.e., the 6th kinematic pair 10 is locked, and loses the free degree.Now, large arm is rotated under driving link effect around the 7th
Secondary 13 rotate lifting.During wrist connecting rod pitching, locking device 9 is opened, and the degree of affranchising of the 6th kinematic pair 10, locking device 19 is locked
Tightly, the locking of the 9th kinematic pair 18 loses the free degree, and the respect thereto 1 of large arm 14 loses the free degree, is now moved under the driving of driving link 3
Power realizes wrist connecting rod pitching with moving across first connecting rod 5, second connecting rod 7 and third connecting rod 8 and pass to wrist connecting rod 12.Whole
It is individual to grab sugarcane operation process, the first locking device 9 and the second locking device 19 according to different working conditions, in good time locking,
Open, sugarcane operation is grabbed in completion.
Claims (1)
1. it is a kind of that variable active degree linkage is driven using servomotor, it is characterised in that including：Base 1, large arm lift
Structure, wrist connecting rod luffing mechanism, servo drive and the first locking device 9 and the second locking device 19；The base 1
On removable revolving dial；The large arm elevating mechanism is made up of large arm 14 and elevating mechanism, and the large arm 14 passes through
7th rotates secondary 13 is connected on base 1, and the fourth link 16 of the elevating mechanism is connected to base 1 by eighth-turn dynamic secondary 15
On, the other end rotates secondary 18 and is connected with the 5th connecting rod 20 by the 9th, the other end of the 5th connecting rod 20 by the tenth rotate secondary 21 and
Large arm 14 is connected；The wrist connecting rod luffing mechanism is made up of wrist connecting rod 12 and luffing mechanism, and the wrist connecting rod 12 passes through
11st rotates secondary 22 is connected in large arm 14, and the luffing mechanism is connected by driving lever 3, first connecting rod 5, second connecting rod the 7, the 3rd
Bar 8 is constituted, and the one end of driving lever 3 rotates secondary 2 and is connected on base 1 by first, and the other end rotates secondary 4 and first and connects by second
Bar 5 is connected, and the another two ends of first connecting rod 5 rotate the rotation secondary 17 of pair 6 and the 4th and are connected to second connecting rod 7 and third connecting rod by the 3rd
On 8, second connecting rod 7 rotates secondary 11 and is connected on wrist connecting rod 12 by the 5th, and the other end of third connecting rod 8 rotates secondary by the 6th
10 are connected with wrist connecting rod 12, and another connection end of wrist connecting rod rotates secondary 22 and is connected with large arm 14 by the 11st；Described
One locking device 9 and the second locking device 19 are separately mounted to the 6th rotation secondary 10 and the 9th and rotate on secondary 18, according to mechanism not
Same operating mode is locked in good time；Servo drive includes the first servomotor, is connected to drive it to rotate with driving lever 3；
First locking device 9 and the second locking device 19 are locked using electromagnetic mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611078764.8A CN106759568A (en) | 2016-11-30 | 2016-11-30 | One kind drives variable active degree linkage using servomotor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611078764.8A CN106759568A (en) | 2016-11-30 | 2016-11-30 | One kind drives variable active degree linkage using servomotor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106759568A true CN106759568A (en) | 2017-05-31 |
Family
ID=58899039
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611078764.8A Pending CN106759568A (en) | 2016-11-30 | 2016-11-30 | One kind drives variable active degree linkage using servomotor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106759568A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107264655A (en) * | 2017-06-30 | 2017-10-20 | 南京云之璟机电科技有限公司 | One kind wheel carries out compound unmanned mobile platform and its utilization |
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| CN103168569A (en) * | 2013-02-08 | 2013-06-26 | 广西大学 | Branch-chain stop control type multiple-freedom-degree link mechanism form sugarcane loading machine |
| CN104047314A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Controllable mechanism type loading machine with active metamorphic function |
| CN106608541A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Connecting rod type variable freedom degree fodder stacking mechanical arm driven by servo motor |
| CN106607657A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Connecting rod type variable-freedom-degree welding mechanical arm driven by servo motor |
| CN106607916A (en) * | 2016-11-29 | 2017-05-03 | 广西大学 | Connecting rod type variable-degree-of-freedom painting mechanical arm driven by servo motor |
| CN106671129A (en) * | 2016-11-28 | 2017-05-17 | 广西大学 | Servo drive rod type variable freedom degree mechanical arm for assembling work |
| CN106801443A (en) * | 2016-11-28 | 2017-06-06 | 广西大学 | The link-type that a kind of use servomotor drives can variable freedom timber grab |
-
2016
- 2016-11-30 CN CN201611078764.8A patent/CN106759568A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07196286A (en) * | 1994-01-10 | 1995-08-01 | Mitsubishi Heavy Ind Ltd | Heavy weight installation work machine |
| DE102004027203B4 (en) * | 2004-03-29 | 2010-01-14 | Komatsu Hanomag Gmbh | working vehicle |
| CN103132551A (en) * | 2013-02-08 | 2013-06-05 | 广西叶茂机电自动化有限责任公司 | Discrete variable speed and human hybrid driving multi-freedom-degree controllable mechanism type sugarcane loading machine |
| CN103168569A (en) * | 2013-02-08 | 2013-06-26 | 广西大学 | Branch-chain stop control type multiple-freedom-degree link mechanism form sugarcane loading machine |
| CN104047314A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Controllable mechanism type loading machine with active metamorphic function |
| CN106608541A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Connecting rod type variable freedom degree fodder stacking mechanical arm driven by servo motor |
| CN106607657A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Connecting rod type variable-freedom-degree welding mechanical arm driven by servo motor |
| CN106671129A (en) * | 2016-11-28 | 2017-05-17 | 广西大学 | Servo drive rod type variable freedom degree mechanical arm for assembling work |
| CN106801443A (en) * | 2016-11-28 | 2017-06-06 | 广西大学 | The link-type that a kind of use servomotor drives can variable freedom timber grab |
| CN106607916A (en) * | 2016-11-29 | 2017-05-03 | 广西大学 | Connecting rod type variable-degree-of-freedom painting mechanical arm driven by servo motor |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107264655A (en) * | 2017-06-30 | 2017-10-20 | 南京云之璟机电科技有限公司 | One kind wheel carries out compound unmanned mobile platform and its utilization |
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Application publication date: 20170531 |