Variable-freedom-degree multi-connection-rod mechanism driven by servo motor

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 [0001] The invention relates to the mechanical field, in particular to a multi-link mechanism driven by a servo motor with variable degrees of freedom. 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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