CN108130924A - It is a kind of that Three-freedom-degree connection rod mechanism is driven using servo motor - Google Patents
It is a kind of that Three-freedom-degree connection rod mechanism is driven using servo motor Download PDFInfo
- Publication number
- CN108130924A CN108130924A CN201611079037.3A CN201611079037A CN108130924A CN 108130924 A CN108130924 A CN 108130924A CN 201611079037 A CN201611079037 A CN 201611079037A CN 108130924 A CN108130924 A CN 108130924A
- Authority
- CN
- China
- Prior art keywords
- connect
- driving lever
- revolute pair
- servo motor
- connecting 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
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 18
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 17
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 claims abstract description 4
- 210000000707 wrist Anatomy 0.000 claims description 11
- FGRBYDKOBBBPOI-UHFFFAOYSA-N 10,10-dioxo-2-[4-(N-phenylanilino)phenyl]thioxanthen-9-one Chemical compound O=C1c2ccccc2S(=O)(=O)c2ccc(cc12)-c1ccc(cc1)N(c1ccccc1)c1ccccc1 FGRBYDKOBBBPOI-UHFFFAOYSA-N 0.000 claims description 3
- 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
- 210000000078 claw Anatomy 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 239000003921 oil Substances 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012805 post-processing 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
It is a kind of that Three-freedom-degree connection rod mechanism is driven using servo motor, including pedestal 10, the first driving lever 1, the second driving lever 2, third driving lever 3, fourth link 5, the 5th connecting rod 6, connector 7, large arm 4, upper arm 8 and servo drive, described 7 one end of connector is connect by the 8th revolute pair 19 with the 5th connecting rod 6, and one end is connect with large arm 4；Servo drive includes the first servo motor, the second servo motor, third servo motor, it connect to drive its rotation with the first driving lever 1, the second driving lever 2 and third driving lever 3 respectively, the present invention, which is installed on using motor on pedestal, replaces original motor to be installed on the serial mechanism on mechanical arm, it is big to overcome original mechanism arm weight, the shortcomings of bad dynamic performance.
Description
Technical field
It is particularly a kind of using servo motor driving Three-freedom-degree connection rod mechanism the present invention relates to machinery field.
Background technology
Over the years, since the personnel of labour market are in short supply, human cost rises year by year, promotes cane catching machine in sugarcane harvesting
Process the extensive use in operation.Cane catching machine has mechanical and fluid pressure type two types, at present most of mechanical arm of cane catching machine
It is hydraulic-driven, since hydraulic drive is using medium of the hydraulic oil as passing power, has the following problems：Its startability compared with
Difference, easily because generating leakage after internal element abrasion, and the hydraulic oil leaked pollutes the environment, and influences the matter of sugarcane raw material
Amount；Hydraulic oil is affected by temperature larger, and gross efficiency is relatively low, there is noise and vibration sometimes.It sometimes appear that overheat, powerless in work etc.
Phenomenon；Hydraulic Elements requirement on machining accuracy is high, and matching requirements are stringent, and manufacture is more difficult, is maintained in use and requires technology
Higher, difficulty is larger.With the increase of cane catching machine function, hydraulic system becomes increasingly complex, break down with more it is sudden,
Concealment.Mechanical cane catching machine is to grab sugarcane using mechanical transmissioning piece realization to act, have many advantages, such as it is sturdy and durable, it is but traditional
The mechanical cane catching machine of single-degree-of-freedom cannot complete complicated action, and application range is extremely limited, and mechanical controllable mechanism is electronic to grab
Sugarcane machine, with link mechanism instead of hydraulic drive, when driving lever is driven by servo motor, automation easy to implement, NC postprocessing
Control, solves some shortcomings existing for hydraulic system.
Invention content
Three-freedom-degree connection rod machine is driven using servo motor applied to cane catching machine the purpose of the present invention is to provide a kind of
Structure, overcomes open-chain structure at the shortcomings of overcoming high fluid pressure type cane catching machine hydraulic system element required precision, complicated, easy oil leakage
Driving motor the shortcomings that being required for being mounted on joint position, simplify the complexity of structure, the weight of reducing mechanism, movement are used
Amount, volume and cost.To achieve the above object, present invention offer is a kind of drives Three-freedom-degree connection rod mechanism using servo motor,
Including pedestal 10, the first driving lever 1, the second driving lever 2, third driving lever 3, fourth link 5, the 5th connecting rod 6, connector 7, big
Arm 4, upper arm 8 and servo drive, described first driving lever, 1 one end are connect by the first revolute pair 12 with pedestal 10, separately
One end is connect by the second revolute pair 13 with large arm 4；Described second driving lever, 2 one end passes through third revolute pair 14 and pedestal 10
Connection, the other end connect by the 4th revolute pair 15 with fourth link 5,5 other end of fourth link by the 5th revolute pair 16 and
Connector 7 connects；Described 3 one end of third driving lever is connect by the 6th revolute pair 17 with pedestal 10, and the other end passes through the 7th turn
Dynamic pair 18 is connect with the 5th connecting rod 6；Described 7 one end of connector is connect by the 8th revolute pair 19 with the 5th connecting rod 6, and one end passes through
9th revolute pair 20 is connect with upper arm 8, and one end is connect by the 5th revolute pair 16 with large arm 4；Described 9 one end of wrist connecting rod passes through
Tenth revolute pair 21 is connect with large arm 4, and the other end is connect by the 11st revolute pair with upper arm 8；Servo drive includes
First servo motor, the second servo motor, third servo motor, respectively with the first driving lever 1, the second driving lever 2 and third master
Lever 3 connects to drive its rotation.
When a kind of use servo motor driving Three-freedom-degree connection rod mechanism of the present invention is applied to grab sugarcane operation, only
It needs to connect pedestal 10 with rubber-tyred or crawler type walking mechanism, wrist connecting rod 9 is connected with wrist 27, hand claw 28
.
Using controllable more bar closed chain mechanisms, the driving motor for overcoming open-chain structure is required for being mounted on joint position the present invention
The shortcomings that putting, improves the stationarity and reliability of arm operation, no accumulated error, and precision is higher；Compact-sized, 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
The shortcomings such as high, the complicated, easy oil leakage of components accuracy of uniting requirement, poor reliability, transmission efficiency be low.
Description of the drawings
Fig. 1 is of the present invention a kind of using servo motor driving Three-freedom-degree connection rod structural scheme of mechanism.
Specific embodiment
It is a kind of that Three-freedom-degree connection rod mechanism is driven using servo motor, including pedestal 10, the first driving lever 1, second actively
Bar 2, third driving lever 3, fourth link 5, the 5th connecting rod 6, connector 7, large arm 4, upper arm 8 and servo drive；It is described
Pedestal 10 is mounted on removable revolving platform；Described first driving lever, 1 one end is connect by the first revolute pair 12 with pedestal 10,
The other end is connect by the second revolute pair 13 with large arm 4；Compares figure 1, described second driving lever, 2 one end pass through third revolute pair 14
It is connect with pedestal 10, the other end is connect by the 4th revolute pair 15 with fourth link 5, and 5 other end of fourth link passes through the 5th turn
Dynamic pair 16 is connect with connector 7；Described 3 one end of third driving lever is connect by the 6th revolute pair 17 with pedestal 10, and the other end leads to
The 7th revolute pair 18 is crossed to connect with the 5th connecting rod 6；Described 7 one end of connector is connect by the 8th revolute pair 19 with the 5th connecting rod 6,
One end is connect by the 9th revolute pair 20 with upper arm 8, and one end is connect by the 5th revolute pair 16 with large arm 4；The wrist connecting rod 9
One end is connect by the tenth revolute pair 21 with large arm 4, and the other end is connect by the 11st revolute pair with upper arm 8；Servo-drive
Device include the first servo motor, the second servo motor, third servo motor, respectively with the first driving lever 1, the second driving lever 2
It connects to drive its rotation with third driving lever 3.
When a kind of use servo motor driving Three-freedom-degree connection rod mechanism of the present invention is applied to grab sugarcane operation, only
It needs to connect pedestal 10 with rubber-tyred or crawler type walking mechanism, wrist connecting rod 9 is connected with wrist 27, hand claw 28
, in wrist connecting rod pitching operating mode, third driving lever 3 rotates around the 6th revolute pair 17 and passes through the 7th revolute pair 18 and drives
5th connecting rod 6, by the 8th revolute pair 19 with follower link 7, connector 7 is driven the 5th connecting rod 6 by the 9th revolute pair 20
Arm 8, upper arm 8 drives wrist connecting rod 9 by the 11st revolute pair 22, so that wrist connecting rod 9 is around 21 pitching of the tenth revolute pair.
Lift in operating mode, the first driving lever 1, large arm 4, the second driving lever 2, fourth link 5 collective effect under so that wrist connecting rod 7
Lifting.
Claims (1)
- It is 1. a kind of using servo motor driving Three-freedom-degree connection rod mechanism, it is characterised in that including：Pedestal 10, the first driving lever 1, Second driving lever 2, third driving lever 3, fourth link 5, the 5th connecting rod 6, connector 7, large arm 4, upper arm 8 and servo-drive dress It puts；Described first driving lever, 1 one end is connect by the first revolute pair 12 with pedestal 10, and the other end is by the second revolute pair 13 and greatly Arm 4 connects；Described second driving lever, 2 one end is connect by third revolute pair 14 with pedestal 10, and the other end passes through the 4th revolute pair 15 connect with fourth link 5, and 5 other end of fourth link is connect by the 5th revolute pair 16 with connector 7；The third driving lever 3 one end are connect by the 6th revolute pair 17 with pedestal 10, and the other end is connect by the 7th revolute pair 18 with the 5th connecting rod 6；It is described 7 one end of connector is connect by the 8th revolute pair 19 with the 5th connecting rod 6, and one end is connect by the 9th revolute pair 20 with upper arm 8, and one End is connect by the 5th revolute pair 16 with large arm 4；Described 9 one end of wrist connecting rod is connect by the tenth revolute pair 21 with large arm 4, separately One end is connect by the 11st revolute pair with upper arm 8；Servo drive include the first servo motor, the second servo motor, Third servo motor connect to drive its rotation with the first driving lever 1, the second driving lever 2 and third driving lever 3 respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611079037.3A CN108130924A (en) | 2016-11-30 | 2016-11-30 | It is a kind of that Three-freedom-degree connection rod mechanism is driven using servo motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611079037.3A CN108130924A (en) | 2016-11-30 | 2016-11-30 | It is a kind of that Three-freedom-degree connection rod mechanism is driven using servo motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108130924A true CN108130924A (en) | 2018-06-08 |
Family
ID=62387923
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611079037.3A Pending CN108130924A (en) | 2016-11-30 | 2016-11-30 | It is a kind of that Three-freedom-degree connection rod mechanism is driven using servo motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108130924A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07196286A (en) * | 1994-01-10 | 1995-08-01 | Mitsubishi Heavy Ind Ltd | Heavy weight installation work machine |
| CN104294867A (en) * | 2014-11-11 | 2015-01-21 | 广西大学 | Loading mechanism adopting MDOF (multiple degree of freedom) controllable connecting rods |
| CN104532887A (en) * | 2014-12-12 | 2015-04-22 | 广西大学 | Multi-degree of freedom controllable connecting rod mobile type loading mechanism |
| CN104608116A (en) * | 2014-12-17 | 2015-05-13 | 广西大学 | Mobile mechanical arm with seven-connecting-rod five-freedom-degree controllable mechanism |
| CN106826745A (en) * | 2016-11-28 | 2017-06-13 | 广西大学 | One kind drives Three-freedom-degree connection rod mechanism feed stacking machine arm using servomotor |
| CN108118730A (en) * | 2016-11-29 | 2018-06-05 | 广西大学 | A kind of three mobility linkage mechanical arm of servo-drive for assembling work |
-
2016
- 2016-11-30 CN CN201611079037.3A patent/CN108130924A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07196286A (en) * | 1994-01-10 | 1995-08-01 | Mitsubishi Heavy Ind Ltd | Heavy weight installation work machine |
| CN104294867A (en) * | 2014-11-11 | 2015-01-21 | 广西大学 | Loading mechanism adopting MDOF (multiple degree of freedom) controllable connecting rods |
| CN104532887A (en) * | 2014-12-12 | 2015-04-22 | 广西大学 | Multi-degree of freedom controllable connecting rod mobile type loading mechanism |
| CN104608116A (en) * | 2014-12-17 | 2015-05-13 | 广西大学 | Mobile mechanical arm with seven-connecting-rod five-freedom-degree controllable mechanism |
| CN106826745A (en) * | 2016-11-28 | 2017-06-13 | 广西大学 | One kind drives Three-freedom-degree connection rod mechanism feed stacking machine arm using servomotor |
| CN108118730A (en) * | 2016-11-29 | 2018-06-05 | 广西大学 | A kind of three mobility linkage mechanical arm of servo-drive for assembling work |
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| Date | Code | Title | Description |
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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 | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180608 |