CN106625562A - Multi-degree-of-freedom simple connection rod mechanism driven by servo motor - Google Patents

Abstract

A simple multi-degree-of-freedom linkage mechanism driven by a servo motor, comprising a base 9, a first active rod 1, a second active rod 2, a third active rod 3, a third connecting rod 4, a fourth connecting rod 7, a first The connecting rod 5, the boom 6 and the servo drive device, one end of the first active rod 1 is connected to the base 9 through the first rotating pair 11, and the other end is connected to the third connecting rod 4 through the fourth rotating pair 14, and the third connecting rod 1 The other end of the rod 4 is connected to the first connecting rod 5 through the fifth rotating pair 15; one end of the second active rod 2 is connected to the base 9 through the second rotating pair 12, and the servo drive device includes a first servo motor and a second servo motor , The third servo motor is respectively connected with the first active rod 1, the second active rod 2 and the third active rod 3 to drive their rotation. The invention installs the motor on the base to solve the problems of heavy weight of the arm of the chain-opening mechanism, poor dynamic performance and the like.

Description

A simple multi-degree-of-freedom linkage mechanism driven by a servo motor

technical field

The invention relates to the mechanical field, in particular to a simple multi-degree-of-freedom linkage mechanism driven by a servo motor.

Background technique

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 efficiency is low, and sometimes there is noise and vibration. Sometimes there will be overheating, weak work and other phenomena; hydraulic components require high machining accuracy, strict assembly requirements, difficult manufacturing, and high technical and difficult maintenance requirements during use. With the increase of the function of the sugarcane grabbing machine, its hydraulic system becomes more and more complicated, and the failure is more sudden and concealed. The mechanical cane grasping machine uses mechanical transmission parts to realize the cane grasping action, which has the advantages of being strong and durable, but the traditional single-degree-of-freedom mechanical cane grasping machine cannot complete complex actions, and its application range is very limited. The mechanical controllable mechanism electric grasping For sugarcane machines, the hydraulic transmission is replaced by a linkage mechanism. When the active rod is driven by a servo motor, it is easy to realize automation and numerical control, which solves some shortcomings of the hydraulic system.

Contents of the invention

The purpose of the present invention is to provide a simple multi-degree-of-freedom linkage mechanism applied to drive by a servo motor, which overcomes the shortcomings of the hydraulic system components of the hydraulic sugarcane grabbing machine, such as high precision requirements, complex structure, and easy oil leakage, and overcomes the drive of the open chain structure. The disadvantage that the motors need to be installed at the joint position simplifies the complexity of the structure and reduces the weight, motion inertia, volume and cost of the mechanism. In order to achieve the above object, the present invention provides a simple multi-degree-of-freedom linkage mechanism driven by a servo motor, including a base 9, a first active rod 1, a second active rod 2, a third active rod 3, a third connecting rod 4, The fourth connecting rod 7, the first connecting rod 5, the boom 6, and the servo drive device, one end of the first active rod 1 is connected to the base 9 through the first rotating pair 11, and the other end is connected to the first rotating pair 14 through the fourth connecting rod. Three connecting rods 4 are connected, and the other end of the third connecting rod 4 is connected with the first connecting rod 5 through the fifth rotating pair 15; one end of the second active rod 2 is connected with the base 9 through the second rotating pair 12, and the other end is connected through the second rotating pair 12 Six rotating pairs 16 are connected with the first connecting rod 5; one end of the third active lever 3 is connected with the base 9 through the third rotating pair 13, and the other end is connected with the fourth connecting rod 7 through the eighth rotating pair 18; the large One end of the arm 6 is connected to the fourth connecting rod 7 through the ninth revolving pair 19, and the other end is connected to the gripper 8 through the wrist 20. The servo drive device includes a first servo motor, a second servo motor, and a third servo motor, respectively connected to the first servo motor. An active rod 1, a second active rod 2 and a third active rod 3 are connected to drive them to rotate.

When applying the multi-degree-of-freedom simple link mechanism driven by a servo motor of the present invention to the cane grabbing operation, it is only necessary to connect the base 9 with the tire-type or crawler-type walking mechanism, and the big arm 6 and the wrist 20, hand Claws 8 can be connected together.

The invention adopts a controllable multi-rod closed-chain mechanism, which overcomes the disadvantage that the driving motors of the open-chain structure need to be installed at joint positions, improves the stability and reliability of the arm operation, has no cumulative error, and has high precision; the structure is compact, High rigidity, large load-carrying capacity, low inertia, good dynamic performance, flexible and diversified arm movement trajectory, overcomes the shortcomings of hydraulic system components such as high precision requirements, complex structure, easy oil leakage, poor reliability, and low transmission efficiency. .

Description of drawings

FIG. 1 is a schematic diagram of a simple multi-degree-of-freedom linkage mechanism driven by a servo motor according to the present invention.

detailed description

A simple multi-degree-of-freedom linkage mechanism driven by a servo motor, comprising a base 9, a first active rod 1, a second active rod 2, a third active rod 3, a third connecting rod 4, a fourth connecting rod 7, a first The connecting rod 5, the boom 6, and the servo drive device; the base 9 is installed on a movable slewing platform; one end of the first active rod 1 is connected to the base 9 through the first rotating pair 11, and the other end is through the fourth rotating The pair 14 is connected with the third connecting rod 4, and the other end of the third connecting rod 4 is connected with the first connecting rod 5 through the fifth rotating pair 15; one end of the second active rod 2 is connected with the base 9 through the second rotating pair 12, The other end is connected to the first connecting rod 5 through the sixth rotating pair 16; one end of the third active rod 3 is connected to the base 9 through the third rotating pair 13, and the other end is connected to the fourth connecting rod 7 through the eighth rotating pair 18 One end of the boom 6 is connected with the fourth connecting rod 7 through the ninth rotating pair 19, and the other end is connected with the claw 8 through the wrist 20, and the servo drive device includes a first servo motor, a second servo motor, and a third servo motor , are respectively connected with the first active lever 1, the second active lever 2 and the third active lever 3 to drive them to rotate.

When applying the multi-degree-of-freedom simple link mechanism driven by a servo motor of the present invention to the cane grabbing operation, it is only necessary to connect the base 9 with the tire-type or crawler-type walking mechanism, and the big arm 6 and the wrist 20, hand Claws 8 can be connected together.

Claims (1)

1. it is a kind of that the simple linkage of multiple degrees of freedom is driven using servomotor, including base 9, the first driving lever 1, second are actively Bar 2, the 3rd driving lever 3, third connecting rod 4, fourth link 7, first connecting rod 5, large arm 6 and servo drive, the bottom Seat 9 is arranged on removable revolving dial；Described one end of first driving lever 1 rotates secondary 11 and is connected with base 9 by first, another End rotates secondary 14 and is connected with third connecting rod 4 by the 4th, and the other end of third connecting rod 4 rotates secondary 15 with first connecting rod 5 by the 5th Connection；Described one end of second driving lever 2 rotates secondary 12 and is connected with base 9 by second, the other end by the 6th rotate secondary 16 and First connecting rod 5 connects；Described one end of 3rd driving lever 3 rotates secondary 13 and is connected with base 9 by the 3rd, and the other end passes through the 8th Rotate secondary 18 to be connected with fourth link 7；The one end of the large arm 6 rotates secondary 19 and is connected with fourth link 7 by the 9th, and the other end leads to Cross wrist 20 to be connected with paw 8, servo drive includes the first servomotor, the second servomotor, the 3rd servomotor, point It is not connected to drive it to rotate with the first driving lever 1, the second driving lever 2 and the 3rd driving lever 3.