CN106759570A - A kind of servomotor drives has variable active degree linkage - Google Patents
A kind of servomotor drives has variable active degree linkage Download PDFInfo
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- CN106759570A CN106759570A CN201611079618.7A CN201611079618A CN106759570A CN 106759570 A CN106759570 A CN 106759570A CN 201611079618 A CN201611079618 A CN 201611079618A CN 106759570 A CN106759570 A CN 106759570A
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- connecting rod
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- 230000007246 mechanism Effects 0.000 claims abstract description 56
- 210000000707 wrist Anatomy 0.000 claims abstract description 24
- 230000000694 effects Effects 0.000 claims abstract description 10
- 210000000245 forearm Anatomy 0.000 claims description 9
- 240000000111 Saccharum officinarum Species 0.000 abstract description 10
- 235000007201 Saccharum officinarum Nutrition 0.000 abstract description 10
- 230000005540 biological transmission Effects 0.000 abstract description 6
- 210000000078 claw Anatomy 0.000 abstract description 3
- 239000010720 hydraulic oil Substances 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 239000012467 final product Substances 0.000 description 2
- 239000003921 oil Substances 0.000 description 2
- 230000008602 contraction Effects 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000013021 overheating Methods 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
Classifications
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- 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
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- 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
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- 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
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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
本发明公开了一种伺服电机驱动具有可变活动度连杆机构，包括底座、大臂伸缩机构、升降机构、手腕连杆俯仰机构和手腕、手爪、伺服驱动装置、两个锁紧装置。所述大臂伸缩机构包括第一连杆、第二连杆和第三连杆，所述第一连杆一端与底座通过第一转动副连接，第一连杆的另一端与第三连杆一端通过第三转动副连接，第三连杆的另一端与第二连杆通过第四转动副连接；第二连杆一端与底座通过第二转动副连接，第二连杆另一端与大臂通过第五转动副连接；所述锁紧装置安装在转动副上，本发明采用连杆传动机构替代传统液压传动，能够解决了液压抓蔗机液压系统复杂、易漏油等缺点，由于在转动副上采用锁紧装置，利用两主动杆即可实现三自由度作业。The invention discloses a connecting rod mechanism with variable activity degree driven by a servo motor, comprising a base, a large arm telescopic mechanism, a lifting mechanism, a wrist connecting rod pitching mechanism, a wrist, a claw, a servo drive device and two locking devices. The telescoping mechanism of the boom includes a first connecting rod, a second connecting rod and a third connecting rod, one end of the first connecting rod is connected with the base through a first rotating pair, and the other end of the first connecting rod is connected with the third connecting rod One end is connected through the third rotating pair, the other end of the third connecting rod is connected with the second connecting rod through the fourth rotating pair; one end of the second connecting rod is connected with the base through the second rotating pair, and the other end of the second connecting rod is connected with the boom It is connected through the fifth rotating pair; the locking device is installed on the rotating pair. The present invention uses a connecting rod transmission mechanism to replace the traditional hydraulic transmission, which can solve the shortcomings of the hydraulic system of the hydraulic sugarcane grabbing machine, such as complex hydraulic system and easy oil leakage. A locking device is used on the pair, and three-degree-of-freedom operations can be realized by using two active rods.
Description
技术领域technical field
本发明涉及机械领域，特别是一种伺服电机驱动具有可变活动度连杆机构。The invention relates to the mechanical field, in particular to a connecting rod mechanism driven by a servo motor with variable activity.
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，但存在需要配备与连杆机构自由度同等数量的控制电机来进行控制结构复杂带来的机构重量、运动惯量大和成本高的问题。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 connecting rod 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, but it needs to be equipped with the same number of degrees of freedom as the connecting rod mechanism. The control motor is used to control the complex structure, which brings about the problems of mechanism weight, large motion inertia and high cost.
变自由度机构通过组合出新的拓扑结构来适应不同阶段的功能要求。目前能应用于 实际的变自由度机构还很少，未见到过应用于抓蔗机的变自由度机构。The variable degree of freedom mechanism adapts to the functional requirements of different stages by combining new topological structures. At present, there are few variable-degree-of-freedom mechanisms that can be applied to reality, and no variable-degree-of-freedom mechanisms that have been applied to sugarcane grabbing machines have been seen.
发明内容Contents of the invention
本发明的目的在于提供一种应用于抓蔗机的伺服电机驱动具有可变活动度连杆机构，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，并使得可控驱动电机的数量小于抓蔗机连杆机构的自由度，克服现有机械式电动抓蔗机构需要配备与连杆机构自由度同等数量的控制电机来进行控制的缺点，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，本发明提供了一种伺服电机驱动具有可变活动度连杆机构，包括底座1、大臂伸缩机构、升降机构、手腕连杆俯仰机构、伺服驱动装置、第一锁紧装置7和第二锁紧装置29；所述大臂伸缩机构包括第一连杆27、第二连杆23和第三连杆24，所述第一连杆27一端与底座1通过第一转动副28连接，第一连杆27的另一端与第三连杆24一端通过第三转动副26连接，第三连杆24的另一端与第二连杆23通过第四转动副25连接；第二连杆23一端与底座1通过第二转动副22连接，第二连杆23另一端与大臂8通过第五转动副9连接； 所述升降机构包括小臂14、第五连杆18、第六连杆16和第一主动杆20，所述第一主动杆20与底座1通过第八转动副21连接，第一主动杆20的另一端与第五连杆18一端通过第九转动副19连接，第五连杆18的另一端与小臂14一端通过第十转动副15连接，小臂14的另一端与手腕连杆12通过第十四转动副13连接，第六连杆16的一端与小臂14通过第十五转动副17连接，第六连杆16的另一端与大臂8通过第十六转动副10连接；所述手腕连杆俯仰机构包括第二主动杆3、第四连杆5、大臂8和手腕连杆12，所述第二主动杆3与底座1通过第十一转动副2连接，所述第二主动杆3的另一端与第四连杆5一端通过第十二转动副4连接，第四连杆5另一端与大臂8一端通过第六转动副6连接，大臂8的另一端与手腕连杆12通过第十三转动副11连接；第一锁紧装置7和第二锁紧装置29分别安装在第六转动副6和第四转动副25处，能够按照不同的工况进行适时锁紧；伺服驱动装置包括第一伺服电机、第二伺服电机，分别与第一主动杆20和第二主动杆3连接以驱动其转动； 第一锁紧装置7和第二锁紧装置29采用电磁方式进行锁紧。The object of the present invention is to provide a servo motor drive with variable activity link mechanism applied to cane grabbing machines, which overcomes the shortcomings of hydraulic system components of hydraulic cane grabbing machines, such as high precision requirements, complex structure, and easy oil leakage, etc. The drive motors of the chain structure need to be installed at the joint position, and the number of controllable drive motors is less than the degree of freedom of the connecting rod mechanism of the cane grabbing machine, which overcomes the need for the existing mechanical electric cane grabbing mechanism to be equipped with the degree of freedom of the connecting rod mechanism The disadvantage of controlling the same number of motors is to simplify the complexity of the structure and reduce the weight, inertia, volume and cost of the mechanism. In order to achieve the above object, the present invention provides a servo motor-driven link mechanism with variable activity, including a base 1, a boom telescoping mechanism, a lifting mechanism, a wrist link pitching mechanism, a servo drive device, and a first locking device 7 and the second locking device 29; the telescoping mechanism of the boom includes the first connecting rod 27, the second connecting rod 23 and the third connecting rod 24, and one end of the first connecting rod 27 and the base 1 pass through the first rotating pair 28 connection, the other end of the first connecting rod 27 is connected with the third connecting rod 24 through the third rotating pair 26, and the other end of the third connecting rod 24 is connected with the second connecting rod 23 through the fourth rotating pair 25; One end of the connecting rod 23 is connected with the base 1 through the second rotating pair 22, and the other end of the second connecting rod 23 is connected with the boom 8 through the fifth rotating pair 9; Six connecting rods 16 and the first active rod 20, the first active rod 20 is connected with the base 1 through the eighth rotating pair 21, the other end of the first active rod 20 and one end of the fifth connecting rod 18 pass through the ninth rotating pair 19 connection, the other end of the fifth link 18 is connected with one end of the forearm 14 through the tenth revolving pair 15, the other end of the forearm 14 is connected with the wrist link 12 through the fourteenth revolving pair 13, and one end of the sixth connecting rod 16 It is connected with the forearm 14 through the fifteenth turning pair 17, and the other end of the sixth connecting rod 16 is connected with the big arm 8 through the sixteenth turning pair 10; the wrist link pitching mechanism includes the second active rod 3, the fourth The connecting rod 5, the big arm 8 and the wrist connecting rod 12, the second active rod 3 is connected with the base 1 through the eleventh rotating pair 2, and the other end of the second active rod 3 is connected with the fourth connecting rod 5 through The twelfth rotation pair 4 is connected, the other end of the fourth connecting rod 5 is connected with the one end of the boom 8 through the sixth rotation pair 6, and the other end of the boom 8 is connected with the wrist link 12 through the thirteenth rotation pair 11; The locking device 7 and the second locking device 29 are respectively installed at the sixth rotating pair 6 and the fourth rotating pair 25, which can be locked in time according to different working conditions; the servo drive device includes a first servo motor, a second servo The motors are respectively connected with the first active lever 20 and the second active lever 3 to drive them to rotate; the first locking device 7 and the second locking device 29 are locked electromagnetically.
将本发明所述的一种伺服电机驱动具有可变活动度连杆机构应用于抓蔗作业时，只需要将底座1与轮胎式或履带式行走机构连接起来，手腕连杆12与手腕31、手爪32连接起来即可。When a servo motor-driven linkage mechanism with variable activity is applied to the cane grabbing operation, it is only necessary to connect the base 1 with the tire-type or crawler-type walking mechanism, and the wrist connecting rod 12 and the wrist 31, The claws 32 are connected to get final product.
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。在连杆机构上加装锁紧装置，并让其根据机构的不同工况锁紧和放松特定的转动副，适时降低了机构的自由度，实现了在完成预期要求的情况下，使用的可控驱动电机的数量小于抓蔗机连杆机构的自由度，利用两主动杆即可实现三自由度抓蔗作业，克服现有抓蔗机需要配备与连杆机构自由度同等数量的控制电机来进行控制的缺点,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，增加了机构的可控性和稳定性，提高了工作效率。同时也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 bearing capacity, low inertia, good dynamic performance, flexible and diversified arm movement trajectory. A locking device is added to the linkage mechanism, and it is allowed to lock and release a specific rotating pair according to the different working conditions of the mechanism, which reduces the degree of freedom of the mechanism in a timely manner, and realizes the possibility of being used under the condition of fulfilling the expected requirements. The number of control drive motors is less than the degree of freedom of the connecting rod mechanism of the sugarcane grabbing machine, and the three-degree-of-freedom cane grabbing operation can be realized by using two active rods. The shortcomings of control, simplify the complexity of the structure, reduce the weight, inertia, volume and cost of the mechanism, increase the controllability and stability of the mechanism, and improve work efficiency. At the same time, it also overcomes the shortcomings of the hydraulic system components of the hydraulic sugarcane grabbing machine, 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为本发明所述一种伺服电机驱动具有可变活动度连杆机构示意图。FIG. 1 is a schematic diagram of a servo motor-driven link mechanism with variable activity according to the present invention.
具体实施方式detailed description
一种伺服电机驱动具有可变活动度连杆机构，包括底座1、大臂伸缩机构、升降机构、手腕连杆俯仰机构、伺服驱动装置、第一锁紧装置7和第二锁紧装置29；所述底座1安装在可移动回转平台上； 所述大臂伸缩机构包括第一连杆27、第二连杆23和第三连杆24，所述第一连杆27一端与底座1通过第一转动副28连接，第一连杆27的另一端与第三连杆24一端通过第三转动副26连接，第三连杆24的另一端与第二连杆23通过第四转动副25连接；第二连杆23一端与底座1通过第二转动副22连接，第二连杆23另一端与大臂8通过第五转动副9连接； 所述升降机构包括小臂14、第五连杆18、第六连杆16和第一主动杆20，所述第一主动杆20与底座1通过第八转动副21连接，第一主动杆20的另一端与第五连杆18一端通过第九转动副19连接，第五连杆18的另一端与小臂14一端通过第十转动副15连接，小臂14的另一端与手腕连杆12通过第十四转动副13连接，第六连杆16的一端与小臂14通过第十五转动副17连接，第六连杆16的另一端与大臂8通过第十六转动副10连接；所述手腕连杆俯仰机构包括第二主动杆3、第四连杆5、大臂8和手腕连杆12，所述第二主动杆3与底座1通过第十一转动副2连接，所述第二主动杆3的另一端与第四连杆5一端通过第十二转动副4连接，第四连杆5另一端与大臂8一端通过第六转动副6连接，大臂8的另一端与手腕连杆12通过第十三转动副11连接；第一锁紧装置7和第二锁紧装置29分别安装在第六转动副6和第四转动副25处，能够按照不同的工况进行适时锁紧；伺服驱动装置包括第一伺服电机、第二伺服电机，分别与第一主动杆20和第二主动杆3连接以驱动其转动； 第一锁紧装置7和第二锁紧装置29采用电磁方式进行锁紧。A connecting rod mechanism driven by a servo motor with variable activity, including a base 1, a boom telescoping mechanism, a lifting mechanism, a wrist link pitching mechanism, a servo drive device, a first locking device 7 and a second locking device 29; The base 1 is installed on a movable slewing platform; the telescoping mechanism of the boom includes a first connecting rod 27, a second connecting rod 23 and a third connecting rod 24, and one end of the first connecting rod 27 is connected to the base 1 through the first A rotating pair 28 is connected, the other end of the first connecting rod 27 is connected with the third connecting rod 24 through the third rotating pair 26, and the other end of the third connecting rod 24 is connected with the second connecting rod 23 through the fourth rotating pair 25 One end of the second connecting rod 23 is connected with the base 1 through the second rotating pair 22, and the other end of the second connecting rod 23 is connected with the boom 8 through the fifth rotating pair 9; the lifting mechanism includes the forearm 14, the fifth connecting rod 18. The sixth connecting rod 16 and the first active rod 20, the first active rod 20 is connected with the base 1 through the eighth rotating pair 21, the other end of the first active rod 20 and one end of the fifth connecting rod 18 through the ninth The rotating pair 19 is connected, the other end of the fifth connecting rod 18 is connected with one end of the forearm 14 through the tenth rotating pair 15, the other end of the small arm 14 is connected with the wrist link 12 through the fourteenth rotating pair 13, and the sixth connecting rod One end of 16 is connected with the forearm 14 through the fifteenth turning pair 17, and the other end of the sixth connecting rod 16 is connected with the big arm 8 through the sixteenth turning pair 10; the wrist link pitching mechanism includes the second active rod 3 , the fourth connecting rod 5, the big arm 8 and the wrist connecting rod 12, the second active rod 3 is connected with the base 1 through the eleventh rotating pair 2, the other end of the second active rod 3 is connected with the fourth connecting rod One end of 5 is connected through the twelfth rotating pair 4, the other end of the fourth connecting rod 5 is connected with one end of the upper arm 8 through the sixth rotating pair 6, and the other end of the upper arm 8 is connected with the wrist link 12 through the thirteenth rotating pair 11 ; The first locking device 7 and the second locking device 29 are respectively installed at the sixth rotating pair 6 and the fourth rotating pair 25, which can be locked in time according to different working conditions; the servo drive device includes the first servo motor, The second servo motor is respectively connected with the first active lever 20 and the second active lever 3 to drive them to rotate; the first locking device 7 and the second locking device 29 are locked electromagnetically.
将本发明所述的一种伺服电机驱动具有可变活动度连杆机构应用于抓蔗作业时，只需要将底座1与轮胎式或履带式行走机构连接起来，手腕连杆12与手腕31、手爪32连接起来即可。When a servo motor-driven linkage mechanism with variable activity is applied to the cane grabbing operation, it is only necessary to connect the base 1 with the tire-type or crawler-type walking mechanism, and the wrist connecting rod 12 and the wrist 31, The claws 32 are connected to get final product.
本发明所述一种伺服电机驱动具有可变活动度连杆机构在工况作业中，大臂8伸缩时，第六转动副处6的第一锁紧装置7打开，第六转动副6获得自由度，第四转动副25处的第二锁紧装置29锁紧，第四转动副25失去自由度，此时，大臂8实现伸缩。第六转动副处6的第一锁紧装置7锁紧，第六转动副6失去自由度，第四转动副25处的第二锁紧装置29打开，第四转动副25获得自由度，此时，大臂8实现升降。对第六转动副6和第四转动副25都进行锁紧，第六转动副6和第四转动副25均失去自由度，手腕连杆12单独实现俯仰。第一锁紧装置7和第二锁紧装置29根据不同的作业工况，分别选择紧锁或打开，共同完成大臂升降与伸缩、手腕连杆12与手腕31的俯仰等运动，实现手爪32的抓蔗作业。第一锁紧装置7和第二锁紧装置29采用电磁方式进行锁紧，控制容易实现。In the working condition of a servo motor-driven link mechanism with variable activity, when the boom 8 stretches, the first locking device 7 at the sixth rotating pair 6 is opened, and the sixth rotating pair 6 obtains Degree of freedom, the second locking device 29 at the fourth rotating pair 25 is locked, and the fourth rotating pair 25 loses the degree of freedom. At this time, the boom 8 realizes expansion and contraction. The first locking device 7 at the sixth rotating pair 6 is locked, the sixth rotating pair 6 loses the degree of freedom, the second locking device 29 at the fourth rotating pair 25 is opened, and the fourth rotating pair 25 obtains the degree of freedom. , the boom 8 realizes lifting. Both the sixth rotating pair 6 and the fourth rotating pair 25 are locked, and both the sixth rotating pair 6 and the fourth rotating pair 25 lose degrees of freedom, and the wrist link 12 alone realizes pitching. The first locking device 7 and the second locking device 29 can choose to lock or open respectively according to different working conditions, and jointly complete movements such as lifting and telescoping of the boom, pitching of the wrist link 12 and the wrist 31, etc. 32's cane grabbing operation. The first locking device 7 and the second locking device 29 are locked by electromagnetic means, and the control is easy to realize.
本发明使得可控驱动电机的数量小于抓蔗机连杆机构的自由度，克服现有抓蔗机需要配备与连杆机构自由度同等数量的控制电机来进行控制的缺点,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，本发明可以将各连杆杆件做成轻杆，从而使得整个机构运动惯量小，动力学性能好，易于控制。The invention makes the number of controllable drive motors smaller than the degree of freedom of the connecting rod mechanism of the cane grabbing machine, overcomes the disadvantage that the existing cane grabbing machine needs to be equipped with the same number of control motors as the degree of freedom of the connecting rod mechanism for control, and simplifies the complexity of the structure , to reduce the weight, moment of inertia, volume and cost of the mechanism, and the present invention can make each connecting rod into a light rod, so that the whole mechanism has small moment of inertia, good dynamic performance and easy control.
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Application publication date: 20170531 |