Variable-degree-of-freedom connecting rod mechanism containing revolving pair locking device

Abstract

The invention relates to a variable-degree-of-freedom connecting rod mechanism containing revolving pair locking device. The variable-degree-of-freedom connecting rod mechanism comprises a base 1, a large arm telescoping mechanism, a lower arm lifting mechanism, a wrist connecting rod holding mechanism, a servo driving device, a first locking device 25 and a second locking device 26, wherein the large arm telescoping mechanism is composed of a fourth connecting rod 5, a first driving rod 3, a second driving rod 20 and a first connecting rod 22, the holding mechanism is composed of a second connecting rod 17, a holding connecting rod 18 and a large arm 8, the first locking device 25 is installed on a second revolving pair 4, the second locking device 26 is installed on a tenth revolving pair 16, and the servo driving device comprises a first servo motor and a second servo motor which are connected with the first driving rod 3 and the second driving rod 20 so as to drive the first servo motor and the second servo motor to rotate. According to the variable-degree-of-freedom connecting rod mechanism, the variable-degree-of-freedom connecting rod transmission mechanism is used for replacing traditional hydraulic transmission, so that the defects of complex hydraulic system and easiness in oil leakage are overcome.

Description

technical field [0001] The invention relates to the mechanical field, in particular to a variable-degree-of-freedom link mechanism with a rotating pair locking device. 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 temperature, the overall e...

AI Technical Summary

Problems solved by technology

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 temperature, the overall efficiency is low, and sometimes there is noise and vibration

At present, there are few variable-degree-of-freedom mechanisms that can be used in practice, and no variable-degree-of-freedom mechanisms that have been applied to cane grabbing machines have been seen.

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