CN106609523A - Multi-connecting-rod mechanism driven by double servo motors - Google Patents
Multi-connecting-rod mechanism driven by double servo motors Download PDFInfo
- Publication number
- CN106609523A CN106609523A CN201611079617.2A CN201611079617A CN106609523A CN 106609523 A CN106609523 A CN 106609523A CN 201611079617 A CN201611079617 A CN 201611079617A CN 106609523 A CN106609523 A CN 106609523A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- rod
- drive
- driving lever
- base
- 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 31
- 210000000707 wrist Anatomy 0.000 claims abstract description 13
- 230000003028 elevating effect Effects 0.000 claims description 6
- 230000007547 defect Effects 0.000 abstract 1
- 240000000111 Saccharum officinarum Species 0.000 description 6
- 235000007201 Saccharum officinarum Nutrition 0.000 description 6
- 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
- 238000010586 diagram Methods 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a multi-connecting-rod mechanism driven by double servo motors. The multi-connecting-rod mechanism comprises a base 1, a lifting mechanism, a pitching mechanism and a servo drive device. The lifting mechanism comprises a second drive rod 18, a third connecting rod 3 and a fourth connecting rod 5. One end of the first drive rod 15 is connected with the base 1 through a ninth rotation pair 16, and the other end of the first drive rod 15 is connected with one end of a first connecting rod 13 through an eighth rotation pair 14. The other end of the first connecting rod 13 is connected with the first end of a connecting piece 11 through a seventh rotation pair 12. The third end of the connecting piece 11 is connected with the second drive rod 18 through a third rotation pair 19. The other end of a second connecting rod 9 is connected with a wrist connecting rod 7 through a fifth rotation pair 8. The servo drive device comprises the first servo motor and the second servo motor which are connected with the first drive rod 15 and the second drive rod 18 correspondingly to drive the first drive rod 15 and the second drive rod 18 to rotate. The multi-connecting-rod mechanism overcomes the defect that drive motors of open chain structures need to be installed at joint positions.
Description
Technical field
The present invention relates to mechanical field, particularly a kind of to drive multi-connecting-rod mechanism using Dual-Servo Motor.
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 servomotor drive link formula for being applied to cane catching machine can variable freedom grab
Sugarcane machine, overcomes the shortcomings of fluid pressure type cane catching machine hydraulic system element required precision height, complex structure, easy oil leakage, overcomes open chain to tie
The motor of structure is required for being arranged on the shortcoming of joint position, simplifies the complexity of structure, the weight of reducing mechanism, motion
Inertia, volume and cost.For achieving the above object, the invention provides a kind of drive multi-connecting-rod mechanism using Dual-Servo Motor,
Including base 1, elevating mechanism and luffing mechanism, servo drive；The elevating mechanism connects including the second driving lever the 18, the 3rd
Bar 3 and fourth link 5, described one end of second driving lever 18 rotates secondary 17 and is connected with base 1 by second, and the other end passes through the 3rd
Rotate secondary 19 to be connected with the first end of fourth link 5；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 the second end of fourth link 5 by first, and the 3rd end of fourth link 5 rotates secondary 6 by the 4th
It is connected with wrist connecting rod 7；The luffing mechanism includes the first driving lever 15, first connecting rod 13, connector 11 and 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
The one end of connecting rod 13 connects, and the other end of first connecting rod 13 rotates secondary 12 and is connected with the first end of connector 11 by the 7th, connector
11 the second end rotates secondary 10 and is connected with the one end of second connecting rod 9 by the 6th, and the 3rd end of connector 11 rotates secondary by the 3rd
19 are connected with the second driving lever 18, and the other end of second connecting rod 9 rotates secondary 8 and is connected with wrist connecting rod 7 by the 5th；Servo-drive is filled
Put including the first servomotor, the second servomotor, be connected to drive it with the first driving lever 15 and the second driving lever 18 respectively
Rotate.
When driving multi-connecting-rod mechanism to be applied to grab sugarcane operation using Dual-Servo Motor one kind of the present invention, it is only necessary to
Base 1 is coupled together with rubber-tyred or crawler type walking mechanism, wrist connecting rod 7 is coupled together with wrist 21, paw 22.
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 of the present invention a kind of using Dual-Servo Motor driving multi-connecting-rod mechanism schematic diagram.
Specific embodiment
One kind drives multi-connecting-rod mechanism, including base 1, elevating mechanism and luffing mechanism, servo to drive using Dual-Servo Motor
Dynamic device；The base 1 is arranged on removable revolving dial；The elevating mechanism includes the second driving lever 18, third connecting rod
3 and fourth link 5, described one end of second driving lever 18 rotates secondary 17 and is connected with base 1 by second, and the other end is by the 3rd turn
Dynamic secondary 19 are connected with the first end of fourth link 5；The one end of the third connecting rod 3 rotates secondary 2 and is connected with base 1 by the tenth, separately
One end rotates secondary 4 and be connected with the second end of fourth link 5 by first, the 3rd end of fourth link 5 by the 4th rotate pair 6 and
Wrist connecting rod 7 connects；The luffing mechanism includes the first driving lever 15, first connecting rod 13, connector 11 and second connecting rod 9, institute
State the one end of the first driving lever 15 to be connected with base 1 by the 9th rotation secondary 16, the other end is by eighth-turn dynamic secondary 14 and the first company
The one end of bar 13 connects, and the other end of first connecting rod 13 rotates secondary 12 and is connected with the first end of connector 11 by the 7th, connector 11
The second end rotate secondary 10 by the 6th and be connected with the one end of second connecting rod 9, the 3rd end of connector 11 is by the 3rd rotation pair 19
It is connected with the second driving lever 18, the other end of second connecting rod 9 rotates secondary 8 and is connected with wrist connecting rod 7 by the 5th；Servo drive
Including the first servomotor, the second servomotor, it is connected to drive its turn with the first driving lever 15 and the second driving lever 18 respectively
Move, the first driving lever 15 and the common driving of the second driving lever 18 complete pitching of large arm lifting, wrist connecting rod 12 and wrist 21 etc.
Motion, that realizes paw 22 grabs sugarcane operation.
When driving multi-connecting-rod mechanism to be applied to grab sugarcane operation using Dual-Servo Motor one kind of the present invention, it is only necessary to
Base 1 is coupled together with rubber-tyred or crawler type walking mechanism, wrist connecting rod 7 is coupled together with wrist 21, paw 22.
Claims (1)
1. it is a kind of that multi-connecting-rod mechanism is driven using Dual-Servo Motor, it is characterised in that to include：Base 1, elevating mechanism and pitching machine
Structure, servo drive；The base 1 is arranged on removable revolving dial；The elevating mechanism includes the second driving lever
18th, third connecting rod 3 and fourth link 5, described one end of second driving lever 18 rotates secondary 17 and is connected with base 1 by second, another
End rotates secondary 19 and is connected with the first end of fourth link 5 by the 3rd；The one end of the third connecting rod 3 by the tenth rotate secondary 2 with
Base 1 connects, and the other end rotates secondary 4 and is connected with the second end of fourth link 5 by first, and the 3rd end of fourth link 5 passes through
4th rotates secondary 6 is connected with wrist connecting rod 7；The luffing mechanism includes the first driving lever 15, first connecting rod 13, the and of 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 dynamic by eighth-turn
Secondary 14 are connected with the one end of first connecting rod 13, and the other end of first connecting rod 13 rotates secondary 12 and connects with the first end of connector 11 by the 7th
Connect, the second end of connector 11 rotates secondary 10 and is connected with the one end of second connecting rod 9 by the 6th, the 3rd end of connector 11 passes through the
Three rotate secondary 19 is connected with the second driving lever 18, and the other end of second connecting rod 9 rotates secondary 8 and is connected with wrist connecting rod 7 by the 5th；Watch
Driving means are taken including the first servomotor, the second servomotor, is connected with the first driving lever 15 and the second driving lever 18 respectively
To drive it to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611079617.2A CN106609523A (en) | 2016-11-30 | 2016-11-30 | Multi-connecting-rod mechanism driven by double servo motors |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611079617.2A CN106609523A (en) | 2016-11-30 | 2016-11-30 | Multi-connecting-rod mechanism driven by double servo motors |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106609523A true CN106609523A (en) | 2017-05-03 |
Family
ID=58636003
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611079617.2A Pending CN106609523A (en) | 2016-11-30 | 2016-11-30 | Multi-connecting-rod mechanism driven by double servo motors |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106609523A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5964301A (en) * | 1998-08-12 | 1999-10-12 | Glasgow; Kenny Ern | Tilting loader bucket mechanism |
| JPH11343631A (en) * | 1998-06-01 | 1999-12-14 | Maruma Technica Kk | Parallel link device for wheel loader |
| CN202401493U (en) * | 2012-01-12 | 2012-08-29 | 广西大学 | Three-degree-of-freedom controllable mechanism type excavator |
| CN103015472A (en) * | 2012-12-28 | 2013-04-03 | 广西大学 | Screw-driven and multi-degree-of-freedom controllable mechanism type excavating mechanism |
| CN103121589A (en) * | 2012-12-27 | 2013-05-29 | 广西大学 | Carrying stacking mechanism |
| CN104074212A (en) * | 2014-06-27 | 2014-10-01 | 广西大学 | Multi-linkage mechanism with initiative metamorphic function |
-
2016
- 2016-11-30 CN CN201611079617.2A patent/CN106609523A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11343631A (en) * | 1998-06-01 | 1999-12-14 | Maruma Technica Kk | Parallel link device for wheel loader |
| US5964301A (en) * | 1998-08-12 | 1999-10-12 | Glasgow; Kenny Ern | Tilting loader bucket mechanism |
| CN202401493U (en) * | 2012-01-12 | 2012-08-29 | 广西大学 | Three-degree-of-freedom controllable mechanism type excavator |
| CN103121589A (en) * | 2012-12-27 | 2013-05-29 | 广西大学 | Carrying stacking mechanism |
| CN103015472A (en) * | 2012-12-28 | 2013-04-03 | 广西大学 | Screw-driven and multi-degree-of-freedom controllable mechanism type excavating mechanism |
| CN104074212A (en) * | 2014-06-27 | 2014-10-01 | 广西大学 | Multi-linkage mechanism with initiative metamorphic function |
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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 | ||
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Application publication date: 20170503 |