Connecting rod mechanism driven by servo motor and having variable mobility

Abstract

The invention discloses a connecting rod mechanism driven by a servo motor and having the variable mobility. The connecting rod mechanism includes a base, a big arm telescoping mechanism, a lifting mechanism, a wrist connecting rod elevation mechanism, a wrist, a gripper, a servo drive device and two locking devices. The big arm telescoping mechanism includes a first connecting rod, a second connecting rod, a third connecting rod, one end of the first connecting rod is connected with the base through a first revolute pair, the other end of the first connecting rod is connected with one end of the third connecting rod through a third revolute pair, and the other end of the third connecting rod is connected with the second connecting rod through a fourth revolute pair, one end of the second connecting rod is connected with the base through the second revolute pair, and the other end of the second connecting rod is connected with a big arm through a fifth revolute pair; the locking devices are installed on the revolute pair. The connecting rod transmission mechanism replaces a traditional hydraulic transmission and can avoid the defects that a hydraulic sugarcane gripping machine hydraulic system is complicated and easily leak oil, and since the locking devices are arranged on the revolute pairs, two driving rods can achieve three-degree-of-freedom operation.

Description

technical field [0001] The invention relates to the mechanical field, in particular to a connecting rod mechanism driven by a servo motor with variable activity. 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 efficie...

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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