A double servo motor-driven variable-degree of freedom multi-connecting rod mechanism

Abstract

The invention provides a double servo motor-driven variable-degree of freedom multi-connecting rod mechanism comprising a base 1, a big arm lifting mechanism, a wrist connecting rod pitching mechanism, a servo drive device, a first locking device 5 and a second locking device 12. The big arm lifting mechanism comprises a big arm 8, a fourth connecting rod 3 and a fifth connecting rod 6. The wrist connecting rod pitching mechanism comprises a driving rod 16, a first connecting rod 18, a second connecting rod 21 and a third connecting rod 11. The first locking device 5 and the second locking device 12 are installed on an eleventh rotating pair 4 and an eighth rotating pair 7 respectively and can perform timely locking according to different working conditions of the mechanism. The servo drive device comprises a first servo motor which is connected with the driving rod 16 to drive the driving rod to rotate. The first locking device 5 and the second locking device 12 achieve locking electromagnetically. The mechanism has the advantages that the work of two degrees of freedom can be fulfilled through one driving rod only, so that the number of motors is reduced and the cost is reduced.

Description

technical field [0001] The invention relates to the mechanical field, in particular to a variable-degree-of-freedom multi-link mechanism driven by double servo motors. 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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