CN106625562A - Multi-degree-of-freedom simple connection rod mechanism driven by servo motor - Google Patents
Multi-degree-of-freedom simple connection rod mechanism driven by servo motor Download PDFInfo
- Publication number
- CN106625562A CN106625562A CN201611079036.9A CN201611079036A CN106625562A CN 106625562 A CN106625562 A CN 106625562A CN 201611079036 A CN201611079036 A CN 201611079036A CN 106625562 A CN106625562 A CN 106625562A
- Authority
- CN
- China
- Prior art keywords
- driving lever
- servo motor
- base
- connecting rod
- rod
- 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
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention provides a multi-degree-of-freedom simple connection rod mechanism driven by a servo motor. The mechanism comprises a base 9, a first driving rod 1, a second driving rod 2, a third driving rod 3, a third connection rod 4, a fourth connection rod 7, a first connection rod 5, a big arm 6 and a servo driving device. One end of the first driving rod 1 is connected with the base 9 through a first rotary pair 11, the other end of the first driving rod 1 is connected with the third connection rod 4 through a fourth rotary pair 14, and the other end of the third connection rod 4 is connected with the first connection rod 5 through a fifth rotary pair 15; one end of the second driving rod 2 is connected with the base 9 through a second rotary pair 12, the servo driving device comprises a first servo motor, a second servo motor and a third servo motor, and the first servo motor, the second servo motor and the third servo motor are connected with the first driving rod 1, the second driving rod 2 and the third driving rod 3 respectively to drive the driving rods to rotate. The motors are installed on the base so as to solve the problems that an open chain mechanism arm is large in weight, poor in dynamic performance and the like.
Description
Technical field
The present invention relates to mechanical field, particularly a kind of to drive the simple linkage of multiple degrees of freedom 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 sugarcane
Extensive application in harvesting processing operation.Cane catching machine has mechanical 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 gross 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 cane catching machine is to realize grabbing sugarcane action using mechanical transmissioning piece, have the advantages that it is sturdy and durable, but pass
The mechanical cane catching machine of single-degree-of-freedom of system can not complete the action of complexity, and range of application is extremely limited, mechanical controllable mechanism electricity
Dynamic cane catching machine, with linkage hydraulic drive is instead of, and when driving lever is driven by servomotor, easily realizes automation, 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 one kind is applied to drive the simple linkage of multiple degrees of freedom with servomotor, overcome
The shortcomings of fluid pressure type cane catching machine hydraulic system element required precision height, complex structure, easy oil leakage, overcome the driving electricity of open-chain structure
Machine is required for being arranged on the shortcoming of joint position, simplifies the complexity of structure, the weight of reducing mechanism, movement inertia, volume
And cost.For achieving the above object, the present invention provides one kind and drives the simple linkage of multiple degrees of freedom using servomotor, including
Base 9, the first driving lever 1, the second driving lever 2, the 3rd driving lever 3, third connecting rod 4, fourth link 7, first connecting rod 5, large arm
6 and servo drive, described one end of first driving lever 1 rotates secondary 11 and is connected with base 9 by first, and the other end passes through
4th rotates secondary 14 is connected with third connecting rod 4, and the other end of third connecting rod 4 rotates secondary 15 and is connected with first connecting rod 5 by the 5th；
Described one end of second driving lever 2 rotates secondary 12 and is connected with base 9 by second, and the other end rotates secondary 16 and first and connects by the 6th
Bar 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 is by the dynamic pair of eighth-turn
18 are 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 passes through wrist
20 are connected with paw 8, and servo drive includes the first servomotor, the second servomotor, the 3rd servomotor, respectively with the
One driving lever 1, the second driving lever 2 and the 3rd driving lever 3 connect to drive it to rotate.
The simple linkage of multiple degrees of freedom is driven to be applied to grab sugarcane operation using servomotor one kind of the present invention
When, it is only necessary to base 9 is coupled together with rubber-tyred or crawler type walking mechanism, large arm 6 is coupled together with wrist 20, paw 8
.
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 accumulated 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 the simple linkage structural scheme of mechanism of servomotor driving multiple degrees of freedom.
Specific embodiment
One kind drives the simple linkage of multiple degrees of freedom, including base 9, the first driving lever 1, second to lead using servomotor
Lever 2, the 3rd driving lever 3, third connecting rod 4, fourth link 7, first connecting rod 5, large arm 6 and servo drive；It is described
Base 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, separately
One 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 and first connecting rod by the 5th
5 connections；Described one end of second driving lever 2 rotates secondary 12 and is connected with base 9 by second, and the other end rotates secondary 16 by the 6th
It is connected with first connecting rod 5；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
Eighth-turn dynamic secondary 18 is 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, the other end
It is connected with paw 8 by wrist 20, servo drive includes the first servomotor, the second servomotor, the 3rd servomotor,
It is connected to drive it to rotate with the first driving lever 1, the second driving lever 2 and the 3rd driving lever 3 respectively.
The simple linkage of multiple degrees of freedom is driven to be applied to grab sugarcane operation using servomotor one kind of the present invention
When, it is only necessary to base 9 is coupled together with rubber-tyred or crawler type walking mechanism, large arm 6 is coupled together with wrist 20, paw 8
.
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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611079036.9A CN106625562A (en) | 2016-11-30 | 2016-11-30 | Multi-degree-of-freedom simple connection rod mechanism driven by servo motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611079036.9A CN106625562A (en) | 2016-11-30 | 2016-11-30 | Multi-degree-of-freedom simple connection rod mechanism driven by servo motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106625562A true CN106625562A (en) | 2017-05-10 |
Family
ID=58814435
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611079036.9A Pending CN106625562A (en) | 2016-11-30 | 2016-11-30 | Multi-degree-of-freedom simple connection rod mechanism driven by servo motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106625562A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2705934A2 (en) * | 2012-09-10 | 2014-03-12 | CVUT V Praze, Fakulta Strojní | A method and a device for change of rigidity of a serial or parallel basic movable mechanism, especially of industrial robots and machining machines |
| CN104032779A (en) * | 2014-06-27 | 2014-09-10 | 广西大学 | Multi-connecting-rod controllable mining mechanism with variable cell function |
| CN104047310A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Multi-connecting-rod loading mechanism with active metamorphic function |
| CN104047314A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Controllable mechanism type loading machine with active metamorphic function |
| CN104626092A (en) * | 2014-12-17 | 2015-05-20 | 广西大学 | Four-freedom-degree controllable mechanism type movable mechanical arm with seven connecting rods |
-
2016
- 2016-11-30 CN CN201611079036.9A patent/CN106625562A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2705934A2 (en) * | 2012-09-10 | 2014-03-12 | CVUT V Praze, Fakulta Strojní | A method and a device for change of rigidity of a serial or parallel basic movable mechanism, especially of industrial robots and machining machines |
| CN104032779A (en) * | 2014-06-27 | 2014-09-10 | 广西大学 | Multi-connecting-rod controllable mining mechanism with variable cell function |
| CN104047310A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Multi-connecting-rod loading mechanism with active metamorphic function |
| CN104047314A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Controllable mechanism type loading machine with active metamorphic function |
| CN104626092A (en) * | 2014-12-17 | 2015-05-20 | 广西大学 | Four-freedom-degree controllable mechanism type movable mechanical arm with seven connecting rods |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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Application publication date: 20170510 |