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 PDF

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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
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Prior art keywords
connecting rod
rod
servo motor
base
active
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CN201611079036.9A
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不公告发明人
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Guangxi University
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Guangxi University
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Publication of CN106625562A publication Critical patent/CN106625562A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/007Manipulators mounted on wheels or on carriages mounted on wheels
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00Joints
    • B25J17/02Wrist joints
    • B25J17/0258Two-dimensional joints
    • B25J17/0266Two-dimensional joints comprising more than two actuating or connecting rods
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1679Programme controls characterised by the tasks executed

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)

Abstract

一种采用伺服电机驱动多自由度简易连杆机构,包括底座9、第一主动杆1、第二主动杆2、第三主动杆3、第三连杆4、第四连杆7、第一连杆5、大臂6以及伺服驱动装置,所述第一主动杆1一端通过第一转动副11与底座9连接,另一端通过第四转动副14与第三连杆4连接,第三连杆4另一端通过第五转动副15与第一连杆5连接;所述第二主动杆2一端通过第二转动副12与底座9连接,伺服驱动装置包括第一伺服电机、第二伺服电机、第三伺服电机,分别与第一主动杆1、第二主动杆2和第三主动杆3连接以驱动其转动。本发明将电动机安装于底座上解决了开链机构手臂重量大,动态性能差等问题。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

一种采用伺服电机驱动多自由度简易连杆机构A simple multi-degree-of-freedom linkage mechanism driven by a servo motor

技术领域technical field

本发明涉及机械领域,特别是一种采用伺服电机驱动多自由度简易连杆机构。The invention relates to the mechanical field, in particular to a simple multi-degree-of-freedom linkage mechanism driven by a servo motor.

背景技术Background technique

这几年来,由于劳动力市场的人员紧缺,人力成本逐年攀升,促进了抓蔗机在甘蔗收割加工作业中的广泛应用。抓蔗机有机械式和液压式两种类型,目前抓蔗机的机械臂大多数是液压驱动,由于液压传动采用液压油作为传递动力的介质,存在以下问题:其起动性较差,容易因为内部元件磨损后产生泄漏,而且泄漏的液压油会污染环境,影响甘蔗原料的质量;液压油受温度影响较大,总效率较低,有时有噪音和振动。有时会出现过热,工作无力等现象;液压元件加工精度要求高,装配要求严格,制造较为困难,使用中维修保养要求技术较高,难度较大。随着抓蔗机功能的增加,其液压系统越来越复杂,出现故障更具有突然性、隐蔽性。机械式抓蔗机是利用机械传动件实现抓蔗动作,具有坚固耐用等优点,但是传统的单自由度机械式抓蔗机不能完成复杂的动作,应用范围十分有限,机械式可控机构电动抓蔗机,用连杆机构取代了液压传动,当主动杆由伺服电机驱动时,容易实现自动化、数控化控制,解决了液压系统存在的一些不足。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.

发明内容Contents of the invention

本发明的目的在于提供一种应用于用伺服电机驱动多自由度简易连杆机构,克服液压式抓蔗机液压系统元件精度要求高、结构复杂、易漏油等缺点,克服开链结构的驱动电机都需要安装在关节位置的缺点,简化结构的复杂程度,降低机构的重量、运动惯量、体积和成本。为实现上述目的,本发明提供一种采用伺服电机驱动多自由度简易连杆机构,包括底座9、第一主动杆1、第二主动杆2、第三主动杆3、第三连杆4、第四连杆7、第一连杆5、大臂6、以及伺服驱动装置,所述第一主动杆1一端通过第一转动副11与底座9连接,另一端通过第四转动副14与第三连杆4连接,第三连杆4另一端通过第五转动副15与第一连杆5连接;所述第二主动杆2一端通过第二转动副12与底座9连接,另一端通过第六转动副16与第一连杆5连接; 所述第三主动杆3一端通过第三转动副13与底座9连接,另一端通过第八转动副18与第四连杆7连接;所述大臂6一端通过第九转动副19与第四连杆7连接,另一端通过手腕20与手爪8连接,伺服驱动装置包括第一伺服电机、第二伺服电机、第三伺服电机,分别与第一主动杆1、第二主动杆2和第三主动杆3连接以驱动其转动。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.

将本发明所述的一种采用伺服电机驱动多自由度简易连杆机构应用于抓蔗作业时,只需要将底座9与轮胎式或履带式行走机构连接起来,大臂6与手腕20、手爪8连接起来即可。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.

本发明采用可控多杆闭链机构,克服了开链结构的驱动电机都需要安装在关节位置的缺点,提高了手臂运行的平稳性和可靠性,无累积误差,精度较高;结构紧凑,刚度高,承载能力大、惯量低、动态性能好、手臂运动轨迹灵活多样化,克服了液压式抓蔗机液压系统元件精度要求高、结构复杂、易漏油、可靠性差、传动效率低等缺点。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. .

附图说明Description of drawings

图1为本发明所述的一种采用伺服电机驱动多自由度简易连杆机构机构示意图。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.

具体实施方式detailed description

一种采用伺服电机驱动多自由度简易连杆机构,包括底座9、第一主动杆1、第二主动杆2、第三主动杆3、第三连杆4、第四连杆7、第一连杆5、大臂6、以及伺服驱动装置; 所述底座9安装在可移动回转平台上;所述第一主动杆1一端通过第一转动副11与底座9连接,另一端通过第四转动副14与第三连杆4连接,第三连杆4另一端通过第五转动副15与第一连杆5连接; 所述第二主动杆2一端通过第二转动副12与底座9连接,另一端通过第六转动副16与第一连杆5连接; 所述第三主动杆3一端通过第三转动副13与底座9连接,另一端通过第八转动副18与第四连杆7连接;所述大臂6一端通过第九转动副19与第四连杆7连接,另一端通过手腕20与手爪8连接,伺服驱动装置包括第一伺服电机、第二伺服电机、第三伺服电机,分别与第一主动杆1、第二主动杆2和第三主动杆3连接以驱动其转动。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.

将本发明所述的一种采用伺服电机驱动多自由度简易连杆机构应用于抓蔗作业时,只需要将底座9与轮胎式或履带式行走机构连接起来,大臂6与手腕20、手爪8连接起来即可。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.
CN201611079036.9A 2016-11-30 2016-11-30 Multi-degree-of-freedom simple connection rod mechanism driven by servo motor Pending CN106625562A (en)

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CN201611079036.9A CN106625562A (en) 2016-11-30 2016-11-30 Multi-degree-of-freedom simple connection rod mechanism driven by servo motor

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Citations (5)

* Cited by examiner, † Cited by third party
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

Patent Citations (5)

* Cited by examiner, † Cited by third party
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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