Servo motor driven multi-link mechanism with variable degrees of motion

Abstract

A multi-link mechanism with a variable activity degree driven by a servo motor, comprising: a base 1, a boom lifting mechanism, a wrist link pitching mechanism, a servo drive device, a first locking device 5, and a second locking device 18; The boom lifting mechanism is composed of a boom 9 and a lifting mechanism, the wrist link pitch mechanism is composed of a wrist link 22 and a pitch mechanism, and the first locking device 5 and the second locking device 18 are respectively installed on the On the three rotating pairs 6 and the seventh rotating pair 17, timely locking is performed according to different working conditions; the servo drive device includes a first servo motor, which is connected with the first active lever 14 to drive its rotation; the first locking device 5 and the second locking device 18 are locked electromagnetically. The invention overcomes the disadvantages of complex hydraulic system, high machining accuracy and easy oil leakage, and uses a locking device on the revolving pair to realize two degrees of freedom operations, and the number of servo drive motors used is less than the degrees of freedom of the connecting rod mechanism.

Description

technical field [0001] The invention relates to the mechanical field, in particular to a multi-link mechanism with a variable activity degree 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 ef...

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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