Multi-degree-of-freedom simple connection rod mechanism driven by servo motor

Abstract

The invention provides a multi-degree-of-freedom simple connection rod mechanism driven by a servo motor. The mechanism comprises a base 9, a first driving rod 1, a second driving rod 2, a third driving rod 3, a third connection rod 4, a fourth connection rod 7, a first connection rod 5, a big arm 6 and a servo driving device. One end of the first driving rod 1 is connected with the base 9 through a first rotary pair 11, the other end of the first driving rod 1 is connected with the third connection rod 4 through a fourth rotary pair 14, and the other end of the third connection rod 4 is connected with the first connection rod 5 through a fifth rotary pair 15; one end of the second driving rod 2 is connected with the base 9 through a second rotary pair 12, the servo driving device comprises a first servo motor, a second servo motor and a third servo motor, and the first servo motor, the second servo motor and the third servo motor are connected with the first driving rod 1, the second driving rod 2 and the third driving rod 3 respectively to drive the driving rods to rotate. The motors are installed on the base so as to solve the problems that an open chain mechanism arm is large in weight, poor in dynamic performance and the like.

Description

technical field [0001] The invention relates to the mechanical field, in particular to a simple multi-degree-of-freedom linkage mechanism driven by a servo motor. 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 effici...

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

Sometimes there will be overheating, weak work and other phenomena; hydraulic components require high machining accuracy, strict assembly requirements, difficult manufacturing, and high technical maintenance requirements during use.

With the increase of the functions of the sugarcane grabbing machine, its hydraulic system is becoming more and more complicated, and the failure is more sudden and concealed.

The mechanical cane grasping machine uses mechanical transmission parts to realize the cane grasping action, which has the advantages of being strong and durable, but the traditional single-degree-of-freedom mechanical cane grasping machine cannot complete complex actions, and its application range is very limited. The mechanical controllable mechanism electric grasping For sugarcane machines, the hydraulic transmission is replaced by a linkage mechanism. When the active rod is driven by a servo motor, it is easy to realize automation and numerical control, which solves some shortcomings of the hydraulic system.

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