CN109605321A - A kind of combination drive closed linkage parallel connection cane catching machine mechanism - Google Patents
A kind of combination drive closed linkage parallel connection cane catching machine mechanism Download PDFInfo
- Publication number
- CN109605321A CN109605321A CN201710925537.2A CN201710925537A CN109605321A CN 109605321 A CN109605321 A CN 109605321A CN 201710925537 A CN201710925537 A CN 201710925537A CN 109605321 A CN109605321 A CN 109605321A
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- CN
- China
- Prior art keywords
- forearm
- drive rod
- connecting rod
- drive
- large arm
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- 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.)
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
-
- 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
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of combination drive closed linkage parallel connection cane catching machine mechanism, it is characterised in that: including large arm, big arm link, large arm drive rod, forearm, small arm link, forearm drive rod, connecting rod, electric pushrod, wrist connecting rod, wrist, gripper, pedestal, rotatable platform and servo drive；Forearm one end is connected on wrist connecting rod, the forearm other end is connect with small arm link one end, small arm link is connect with forearm drive rod one end, the forearm drive rod other end is connected on pedestal, wrist connecting rod one end is connected on forearm, described big arm link one end is connected in the middle part of large arm, the big arm link other end is connect with large arm drive rod one end, the large arm drive rod other end is connected on rotatable platform, two motors are mounted on workbench by the present invention, it is big to overcome cascaded structure articulated robot rotary inertia, dynamic performance is poor, the shortcomings that structure is complicated, the advantages of combining constant speed motor and servo motor, with being easy to control, it is quick on the draw, manufacture the low advantage of maintenance cost.
Description
Technical field
The present invention relates to sugarcane machinery fields, more particularly to a kind of combination drive closed linkage parallel connection cane catching machine mechanism.
Background technique
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
The extensive use of harvesting processing operation.Cane catching machine has mechanical and fluid pressure type two types, and the mechanical arm of cane catching machine is most at present
Number is hydraulic-driven, due to hydraulic drive using hydraulic oil as transmit power medium, have the following problems: its startability compared with
Difference is easy 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 lower, 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, and maintenance requires technology in use
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, but it is traditional
The mechanical cane catching machine of single-degree-of-freedom cannot complete complicated movement, 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 accomplish, NC postprocessing
Control, solves deficiency existing for hydraulic system.Hybrid Input Five―bar Mechanism be using two kinds of motors of different nature (constant speed motor and
Servo motor) it drives, there is a good compromise in mechanical performance and cost, it, can be well to adapt to working flexibility feature
Meet the job requirement of cane catching machine.
Summary of the invention
The purpose of the present invention is to provide a kind of combination drive closed linkage parallel connection cane catching machine mechanisms, overcome fluid pressure type and grab
Sugarcane machine hydraulic system components accuracy requires the disadvantages of high, structure is complicated, easy oil leakage, solves open-chain structure driving motor and is all mounted on
The position in joint, the inertia that causes to roll over is big, dynamic property decline, and accumulated error is big, and bearing capacity is small, complicated asks
Topic, while solving the problems, such as all at high cost using servo motor bring.A kind of combination drive closed linkage parallel connection cane catching machine
Mechanism, it is characterised in that: including large arm, big arm link, large arm drive rod, forearm, small arm link, forearm drive rod, connecting rod, electricity
Dynamic push rod, wrist connecting rod, wrist, gripper, pedestal, rotatable platform and servo drive；Forearm one end is connected to wrist company
On bar, the forearm other end is connect with small arm link one end, and small arm link is connect with forearm drive rod one end, and forearm drive rod is another
End is connected on pedestal, and connecting rod one end connect with small arm link one end, connects in the middle part of the other end and large arm, and electric pushrod one end connects
It connects on forearm, the electric pushrod other end is connected on wrist connecting rod, and wrist connecting rod one end is connected on forearm, and the large arm connects
Bar one end is connected in the middle part of large arm, and the big arm link other end is connect with large arm drive rod one end, the connection of the large arm drive rod other end
On rotatable platform, servo drive includes first servo motor and the second servo motor, first servo motor and large arm
Drive rod connection, the second servo motor are connect with forearm drive rod.
The invention discloses a kind of combination drive closed linkage parallel connection cane catching machine mechanisms, and two motors are mounted on work and are put down
On platform, it is used to control the angular dimension of wrist pitching using an electric pushrod, two motors is mounted on workbench,
Overcome that cascaded structure articulated robot rotary inertia is big, and dynamic performance is poor, structure is complicated, the degree of modularity is low lacks
Point, the advantages of combining constant speed motor and servo motor, has the advantages that be easy to control, be quick on the draw, to manufacture maintenance cost low.
Overcome the disadvantages of required precision of fluid pressure type cane catching machine hydraulic system element is high, structure is complicated, easy oil leakage.
Detailed description of the invention
Fig. 1 is a kind of structural scheme of mechanism of combination drive closed linkage parallel connection cane catching machine mechanism of the present invention
Specific embodiment
A kind of combination drive closed linkage parallel connection cane catching machine mechanism, including it is large arm 6, big arm link 4, large arm drive rod 5, small
Arm 7, small arm link 8, forearm drive rod 9, connecting rod 13, electric pushrod 3, wrist connecting rod 11, wrist 12, gripper 10, pedestal 2, can
Revolving platform 1 and servo drive, 7 one end of forearm are connected on wrist connecting rod 11,7 other end of forearm and small arm link 8 one
End connection, small arm link 8 are connect with 9 one end of forearm drive rod, and 9 other end of forearm drive rod is connected on pedestal 2, connecting rod 13 1
End connect with small 8 one end of arm link, connects in the middle part of the other end and large arm 6, and 3 one end of electric pushrod is connected on forearm 7, electronic to push away
3 other end of bar is connected on wrist connecting rod 11, and 11 one end of wrist connecting rod is connected on forearm 7, big 4 one end of arm link connection
At 6 middle part of large arm, connected in the middle part of big 4 other end of arm link and large arm drive rod 5,5 other end of large arm drive rod is connected to and can return
Turn on platform 1, servo drive includes first servo motor and the second servo motor, first servo motor and large arm drive rod
5 connections, the second servo motor are connect with forearm drive rod 9.
In use, the large arm drive rod 5 is controlled by first servo motor, forearm drive rod 9 is driven by the second servo motor
Dynamic, the electric pushrod 3 is controlled by a direct current constant-seed motor in itself.By in servo drive motor and electric pushrod
Corresponding movement is realized in the combination drive cooperation of constant speed direct current generator, passes through turning for two servo motors to servo drive
The track abundant movement of paw portion flexible and diverse is realized in the control of the telescopic displacement of angle control and electric pushrod.
Controllable drive motor is mounted on revolving platform by the present invention, simplifies the complexity of structure, reducing mechanism
Each connecting rod rod piece is made into lighter bar by weight, volume and cost, arm of the invention, so that entire mechanism kinematic inertia is small,
Dynamic performance is good, easily controllable, by the way that revolving platform, the revolution working space for making arm possess 360 degree, working space is arranged
Range is big.
Claims (1)
1. a kind of combination drive closed linkage parallel connection cane catching machine mechanism, it is characterised in that: driven including large arm, big arm link, large arm
It is lever, forearm, small arm link, forearm drive rod, connecting rod, electric pushrod, wrist connecting rod, wrist, gripper, pedestal, rotatable flat
Platform and servo drive；Forearm one end is connected on wrist connecting rod, and the forearm other end is connect with small arm link one end, and forearm connects
Bar is connect with forearm drive rod one end, and the forearm drive rod other end is connected on pedestal, and connecting rod one end and small arm link one end connect
It connects, connected in the middle part of the other end and large arm, electric pushrod one end is connected on forearm, and the electric pushrod other end is connected to wrist connecting rod
On, wrist connecting rod one end is connected on forearm, and described big arm link one end is connected in the middle part of large arm, the big arm link other end and big
The connection of arm drive rod one end, the large arm drive rod other end are connected on rotatable platform, and servo drive includes the first servo
Motor and the second servo motor, first servo motor are connect with large arm drive rod, and the second servo motor is connect with forearm drive rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710925537.2A CN109605321A (en) | 2017-10-04 | 2017-10-04 | A kind of combination drive closed linkage parallel connection cane catching machine mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710925537.2A CN109605321A (en) | 2017-10-04 | 2017-10-04 | A kind of combination drive closed linkage parallel connection cane catching machine mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109605321A true CN109605321A (en) | 2019-04-12 |
Family
ID=66001558
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710925537.2A Withdrawn CN109605321A (en) | 2017-10-04 | 2017-10-04 | A kind of combination drive closed linkage parallel connection cane catching machine mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109605321A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114800444A (en) * | 2022-03-29 | 2022-07-29 | 浙江大学 | Hybrid drive whole-body exoskeleton robot |
-
2017
- 2017-10-04 CN CN201710925537.2A patent/CN109605321A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114800444A (en) * | 2022-03-29 | 2022-07-29 | 浙江大学 | Hybrid drive whole-body exoskeleton robot |
| CN114800444B (en) * | 2022-03-29 | 2023-09-08 | 浙江大学 | Hybrid-driven whole-body exoskeleton robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190412 |
|
| WW01 | Invention patent application withdrawn after publication |