CN106609518A - Multi-movement-degree connecting-rod mechanism provided with servo motors for driving - Google Patents
Multi-movement-degree connecting-rod mechanism provided with servo motors for driving Download PDFInfo
- Publication number
- CN106609518A CN106609518A CN201611078740.2A CN201611078740A CN106609518A CN 106609518 A CN106609518 A CN 106609518A CN 201611078740 A CN201611078740 A CN 201611078740A CN 106609518 A CN106609518 A CN 106609518A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- driving
- rod
- driving lever
- servo
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 25
- 210000000707 wrist Anatomy 0.000 claims abstract description 17
- 230000000694 effects Effects 0.000 claims description 7
- 230000003028 elevating effect Effects 0.000 claims description 5
- 230000007547 defect Effects 0.000 abstract 1
- 240000000111 Saccharum officinarum Species 0.000 description 4
- 235000007201 Saccharum officinarum Nutrition 0.000 description 4
- 239000012530 fluid Substances 0.000 description 3
- 239000010720 hydraulic oil Substances 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 239000003921 oil Substances 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/301—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom with more than two arms (boom included), e.g. two-part boom with additional dipper-arm
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/40—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets
- E02F3/413—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets with grabbing device
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/425—Drive systems for dipper-arms, backhoes or the like
Abstract
The invention provides a multi-movement-degree connecting-rod mechanism provided with servo motors for driving. The multi-movement-degree connecting-rod mechanism provided with the servo motors for driving comprises a base, a big-arm lifting mechanism, a wrist connecting-rod pitch mechanism and a servo driving device. The big-arm lifting mechanism is composed of a second driving rod 19, a third connecting rod 3 and a big arm 5. One end of the second driving rod 19 is connected with the base 1 through a second revolute pair 17, and the other end of the second driving rod 19 is connected with the big arm 5 through a third revolute pair 18. One end of the third connecting rod 3 is connected with the base 1 through a tenth revolute pair 2, and the other end of the third connecting rod 3 is connected with the big arm 5 through a first revolute pair 4. The servo driving device comprises the first servo motor and the second servo motor, and the first servo motor and the second servo mot are connected with a first driving rod 15 and the second driving rod 19 to drive the first driving rod 15 and the second driving rod 19 to rotate. By adoption of the multi-movement-degree connecting-rod mechanism provided with the servo motors for driving, the defect that driving motors of an open chain structure all need to be mounted in joint positions is overcome, and the smoothness and reliability of arm operation are improved.
Description
Technical field
The present invention relates to mechanical field, particularly a kind of to drive multi-activity degree linkage using servomotor.
Background technology
Over the years, because the personnel of labour market are in short supply, human cost rises year by year, promotes cane catching machine in Caulis Sacchari sinensis
Extensive application in harvesting processing operation.Cane catching machine has mechanical type and fluid pressure type two types, and the mechanical arm of current cane catching machine is big
Majority is hydraulic-driven, there is problems with as the medium of transmission power using hydraulic oil due to hydraulic drive：Its startability
Poor, easily because producing leakage after inner member abrasion, and the hydraulic oil for leaking pollutes the environment, and affects sugarcane raw material
Quality；Hydraulic oil temperature influence is larger, and aggregate efficiency is relatively low, there is noise and vibration sometimes.It sometimes appear that overheated, powerless in work
Etc. phenomenon；Hydraulic Elements requirement on machining accuracy is high, and matching requirements are strict, and manufacture is more difficult, and maintenance in use requires skill
Art is higher, and difficulty is larger.With the increase of cane catching machine function, its hydraulic system becomes increasingly complex, and breaks down with more unexpected
Property, disguise.Mechanical type cane catching machine be using mechanical transmissioning piece realize grab sugarcane action, have the advantages that it is sturdy and durable, but pass
The single-degree-of-freedom mechanical type cane catching machine of system can not complete the action of complexity, and range of application is extremely limited, mechanical type controllable mechanism electricity
Dynamic cane catching machine, with linkage hydraulic drive is instead of, and when driving lever is driven by servomotor, easily realizes automatization, number
Controlization is controlled, and solves some shortcomings of hydraulic system presence.
The content of the invention
It is an object of the invention to provide a kind of employing servomotor for being applied to cane catching machine drives multi-activity degree connecting rod machine
Structure, overcomes the shortcomings of fluid pressure type cane catching machine hydraulic system element required precision height, complex structure, easy oil leakage, overcomes open-chain structure
Motor be required for being arranged on the shortcoming of joint position, simplify the complexity of structure, the weight of reducing mechanism, motion are used
Amount, volume and cost.For achieving the above object, the present invention provides a kind of using servomotor driving multi-activity degree linkage,
Including base 1, large arm elevating mechanism, wrist connecting rod luffing mechanism, servo drive；The large arm elevating mechanism is by the second master
Lever 19, third connecting rod 3, large arm 5 are constituted, and described one end of second driving lever 19 rotates secondary 17 and is connected with base 1 by second, separately
One end rotates secondary 18 and is connected with large arm 5 by the 3rd, and the one end of the third connecting rod 3 rotates secondary 2 and is connected with base 1 by the tenth,
The other end rotates secondary 4 and is connected with large arm 5 by first, and large arm 5 rotates secondary 6 and is connected with wrist connecting rod 7 by the 4th；The wrist
Connecting rod luffing mechanism is made up of the first driving lever 15, first connecting rod 13, the second connector 11, second connecting rod 9, and described first actively
The one end of bar 15 rotates secondary 16 and is connected with base 1 by the 9th, and the other end is connected by eighth-turn dynamic secondary 14 with first connecting rod 13, the
One connecting rod 13 rotates secondary 12 and is connected with the second connector 11 by the 7th, and the second connector 11 rotates secondary 10 and second by the 6th
Connecting rod 9 connects, and the other end of the second connector 11 rotates secondary 18 and is connected with the second driving lever 19 by the 3rd, and second connecting rod 9 passes through
5th rotates secondary 8 is connected with wrist connecting rod 7；Servo drive includes the first servomotor, the second servomotor, respectively with the
One driving lever 15 and the second driving lever 19 connect to drive it to rotate.
When being applied to grab sugarcane operation by two degrees of freedom closed chain hybrid-driven linkage mechanism of the present invention, it is only necessary to the bottom of by
Seat 1 is coupled together with rubber-tyred or crawler type walking mechanism, and wrist connecting rod 7 is coupled together with wrist 27, paw 28.
The present invention adopts controllable many bar closed chain mechanisms, and the motor for overcoming open-chain structure is required for being arranged on joint position
The shortcoming put, improves the stationarity and reliability of arm operation, and without cumulative error, precision is higher；Compact conformation, rigidity is high,
Large carrying capacity, inertia are low, dynamic property is good, arm motion track flexible and diverse, overcome fluid pressure type cane catching machine hydraulic pressure system
System components accuracy have high demands, complex structure, easy oil leakage, poor reliability, the low shortcoming of transmission efficiency.
Description of the drawings
Fig. 1 is the structural representation that a kind of employing servomotor of the invention drives multi-activity degree linkage.
Specific embodiment
One kind drives multi-activity degree linkage, including base 1, large arm elevating mechanism, wrist connecting rod using servomotor
Luffing mechanism, servo drive；The base 1 is arranged on removable revolving dial；The large arm elevating mechanism is by second
Driving lever 19, third connecting rod 3, large arm 5 are constituted, and described one end of second driving lever 19 rotates secondary 17 and is connected with base 1 by second,
The other end rotates secondary 18 and is connected with large arm 5 by the 3rd, and the one end of the third connecting rod 3 rotates secondary 2 and connects with base 1 by the tenth
Connect, the other end rotates secondary 4 and is connected with large arm 5 by first, large arm 5 rotates secondary 6 and is connected with wrist connecting rod 7 by the 4th；It is described
Wrist connecting rod luffing mechanism is made up of the first driving lever 15, first connecting rod 13, the second connector 11, second connecting rod 9, and described first
The one end of driving lever 15 rotates secondary 16 and is connected with base 1 by the 9th, and the other end is connected by eighth-turn dynamic secondary 14 with first connecting rod 13
Connect, first connecting rod 13 rotates secondary 12 and is connected with the second connector 11 by the 7th, and the second connector 11 rotates secondary 10 by the 6th
It is connected with second connecting rod 9, the other end of the second connector 11 rotates secondary 18 and is connected with the second driving lever 19 by the 3rd, second connecting rod
9 rotate secondary 8 by the 5th is connected with wrist connecting rod 7；Servo drive includes the first servomotor, the second servomotor, point
It is not connected to drive it to rotate with the first driving lever 15 and the second driving lever 19.
When being applied to grab sugarcane operation by two degrees of freedom closed chain hybrid-driven linkage mechanism of the present invention, it is only necessary to the bottom of by
Seat 1 is coupled together with rubber-tyred or crawler type walking mechanism, and wrist connecting rod 7 is coupled together with wrist 27, paw 28.
Claims (1)
1. it is a kind of that multi-activity degree linkage is driven using servomotor, it is characterised in that to include：Base 1, large arm elevating mechanism,
Wrist connecting rod luffing mechanism, servo drive；The base 1 is arranged on removable revolving dial；The large arm elevator
Structure is made up of the second driving lever 19, third connecting rod 3, large arm 5, and described one end of second driving lever 19 rotates secondary 17 and bottom by second
Seat 1 connects, and the other end rotates secondary 18 and is connected with large arm 5 by the 3rd, the one end of the third connecting rod 3 by the tenth rotate secondary 2 and
Base 1 connects, and the other end rotates secondary 4 and is connected with large arm 5 by first, and large arm 5 rotates secondary 6 and connects with wrist connecting rod 7 by the 4th
Connect；The wrist connecting rod luffing mechanism is made up of the first driving lever 15, first connecting rod 13, the second connector 11, second connecting rod 9,
Described one end of first driving lever 15 rotates secondary 16 and is connected with base 1 by the 9th, and the other end is by eighth-turn dynamic secondary 14 and first
Connecting rod 13 connects, and first connecting rod 13 rotates secondary 12 and is connected with the second connector 11 by the 7th, and the second connector 11 passes through the 6th
Rotate secondary 10 to be connected with second connecting rod 9, the other end of the second connector 11 rotates secondary 18 and is connected with the second driving lever 19 by the 3rd,
Second connecting rod 9 rotates secondary 8 and is connected with wrist connecting rod 7 by the 5th；Servo drive includes the first servomotor, the second servo
Motor, is connected to drive it to rotate with the first driving lever 15 and the second driving lever 19 respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611078740.2A CN106609518A (en) | 2016-11-30 | 2016-11-30 | Multi-movement-degree connecting-rod mechanism provided with servo motors for driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611078740.2A CN106609518A (en) | 2016-11-30 | 2016-11-30 | Multi-movement-degree connecting-rod mechanism provided with servo motors for driving |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106609518A true CN106609518A (en) | 2017-05-03 |
Family
ID=58636095
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611078740.2A Pending CN106609518A (en) | 2016-11-30 | 2016-11-30 | Multi-movement-degree connecting-rod mechanism provided with servo motors for driving |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106609518A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10219751A (en) * | 1997-02-10 | 1998-08-18 | F F C:Kk | Hydraulic working machine and operating unit thereof |
| CN104532887A (en) * | 2014-12-12 | 2015-04-22 | 广西大学 | Multi-degree of freedom controllable connecting rod mobile type loading mechanism |
| KR20150073465A (en) * | 2013-12-23 | 2015-07-01 | 두산인프라코어 주식회사 | Front working drive apparatus for excavator |
| CN106607927A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Servo-driven variable-motion-degree connecting rod mechanism mechanical arm used for assembling work |
| CN106607885A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Multi-freedom-degree connecting rod mechanism fodder stacking mechanical arm driven by servo motors |
-
2016
- 2016-11-30 CN CN201611078740.2A patent/CN106609518A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10219751A (en) * | 1997-02-10 | 1998-08-18 | F F C:Kk | Hydraulic working machine and operating unit thereof |
| KR20150073465A (en) * | 2013-12-23 | 2015-07-01 | 두산인프라코어 주식회사 | Front working drive apparatus for excavator |
| CN104532887A (en) * | 2014-12-12 | 2015-04-22 | 广西大学 | Multi-degree of freedom controllable connecting rod mobile type loading mechanism |
| CN106607927A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Servo-driven variable-motion-degree connecting rod mechanism mechanical arm used for assembling work |
| CN106607885A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Multi-freedom-degree connecting rod mechanism fodder stacking mechanical arm driven by servo motors |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170503 |
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| WD01 | Invention patent application deemed withdrawn after publication |