Variable-freedom connecting rod mechanism driven by servo motors

Abstract

A variable-freedom connecting rod mechanism driven by servo motors comprises a base (1), a large arm (17), a wrist connecting rod pitching mechanism, a servo driving device, a first locking device (8) and a second locking device (16); the wrist connecting rod pitching mechanism is composed of a wrist connecting rod and a pitching mechanism, the wrist connecting rod is connected to the large arm (17) through a ninth rotation pair (19) and a tenth rotation pair (20) which are coaxial, and the pitching mechanism is composed of a driving piece (3), a first connecting rod (5), a second connecting rod (10) and the third connecting rod (9); the first locking device (8) and the second locking device (16) are installed on a fourth rotation pair (7) and a seventh rotation pair (15) correspondingly to conduct timing locking according to different work conditions of a mechanism; and the first locking device (8) and the second locking device (16) conduct locking in an electromagnetic mode. According to the variable-freedom connecting rod mechanism driven by the servo motors, the defect that driving motors of a chain-opening structure are all installed on the joint position is overcome, and the number of the used controllable driving motors is smaller than the degree of freedom of a connecting rod mechanism.

Description

technical field [0001] The invention relates to the mechanical field, in particular to a servo motor-driven variable-degree-of-freedom link mechanism. 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 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 efficiency is low, and sometimes there i...

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