CN102990663A - Single-motor driving type metamorphic stacker crane - Google Patents
Single-motor driving type metamorphic stacker crane Download PDFInfo
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- CN102990663A CN102990663A CN2012105766022A CN201210576602A CN102990663A CN 102990663 A CN102990663 A CN 102990663A CN 2012105766022 A CN2012105766022 A CN 2012105766022A CN 201210576602 A CN201210576602 A CN 201210576602A CN 102990663 A CN102990663 A CN 102990663A
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Abstract
The invention relates to a single-motor driving type metamorphic stacker crane which comprises a control mechanism, a lifting mechanism and a grabbing mechanism. The metamorphic stacker crane adopts a force metamorphic method, and a topological structure of the stacker crane can change automatically according to requirements during working. When the metamorphic stacker crane is used for grabbing stage tasks, the topological structure is the grabbing mechanism, and when the metamorphic stacker crane is used for lifting the stage tasks, the topological structure is the lifting mechanism. The stacker crane only requires a motor for driving a connection rod to transmit, and can achieve the metamorphic function for stacking according to different dimensions of goods. The single-motor driving type metamorphic stacker crane can overcome the shortcomings that hydraulic elements of the existing product are high in processing accuracy, and the traditional stacking mode needs a tray, is low in manufacture cost and convenient to preserve and maintain.
Description
Technical field
The invention belongs to carrying, stacking machine field, particularly a kind of single motor-driven becomes born of the same parents' stacking machine.
Background technology
Stacking machine is widely used in the carrying of goods in the bulk storage plant and piles up, for goods, traditional piling mode will move up goods first on wooden or plastics matter pallet, lift, shift, be placed in shelf on together with goods pallet by fork truck again, in bulk storage plant, general pallet dimension is fixed, but cargo size is indefinite, and different cargo size differ larger, for different goods, use the same pallet will inevitably cause the waste in space, the pallet of goods belongs to running stores, fragile in the use procedure, strengthened the cost of Storage of Goods.
Existing stacking machine has hydraulic drive type and motor-driven.The fluid pressure type stacking machine has and starts the phenomenons such as relatively poor, hydraulic fluid leak, work be unable, and along with the increase of stacking machine function, its hydraulic system becomes increasingly complex, and causes the appearance of its fault to have more high-lighting, disguise.The motor of conventional motors drive-type stacking machine is installed on the mechanical arm, can cause like this mechanical arm poor rigidity, inertia large, and the joint error is accumulated easily.This device adopts motor-driven, and motor is installed on the car body, can overcome effectively that fluid pressure type stacking machine maintaining difficulty, leakage of oil and traditional electrical dynamic formula stacking machine poor rigidity, inertia are large, the separately shortcoming of joint error accumulation etc.
Becoming born of the same parents mechanism is the new discovery in recent two decades theory of mechanisms field.Become born of the same parents mechanism and have multi-functional phase change feature, multiple topology variation characteristic, multiple degrees of freedom variation characteristic.This type of mechanism can change mechanism freedom under different states, thereby adapts to the functional requirement of different phase.Can be applied at present the change born of the same parents mechanism of engineering reality also seldom.Application number is to propose a kind of change born of the same parents mechanism type robot palletizer mechanism in 201110184520.9 the patent, its principle is to utilize a limited block to change number of components and then realization change born of the same parents, but this born of the same parents mechanism that becomes can only be for the elevate a turnable ladder stage of goods, crawl for goods, also needing extra device to cooperate finishes, and this mechanism needs two motors cooperations to finish the needed track of output, can increase again the degree of difficulty of Control System Design.
Power becomes the power that born of the same parents refer to apply in advance in the direction of motion of kinematic pair to be disappeared a certain amount of retardation motion, such as spring etc., during less than this interception power, then this kinematic pair does not produce relative motion in working resistance so that two members that are connected do not have relative motion by a fixed member effect; When the power that produces in the course of the work made change born of the same parents member produce motion greater than the prevention power that sets in advance, this mechanism had another kind of characteristic, realizes becoming the function of born of the same parents mechanism.This is applied owing to drive in the multiple-degree-of-freedom mechanism.
Summary of the invention
The object of the invention is to provide a kind of single motor-driven to become born of the same parents' stacking machine, the mode of utilizing power to become born of the same parents realizes the change born of the same parents function of mechanism, only need a drive motors just can finish crawl, the lifting of goods, the work such as pile up, and can effectively overcome fluid pressure type stacking machine maintaining difficulty, leakage of oil and traditional electrical dynamic formula stacking machine poor rigidity, inertia greatly, the separately shortcoming of joint error accumulation etc.
The present invention achieves the above object by following technology:
Described single motor-driven becomes born of the same parents' stacking machine, comprises controlling organization, elevation mechanism and grasping mechanism.
Described controlling organization is comprised of car body, drive motors, driving lever, first connecting rod, movable handgrip, driving lever one end is connected with car body by the first revolute pair, driving lever is driven by drive motors, drive motors is fixed on the car body, the driving lever other end is connected with first connecting rod by the second revolute pair, and the first connecting rod other end is connected with movable handgrip by the 3rd revolute pair.
Described elevation mechanism is by car body, support arm, spring, the first forearm, the second forearm, fixedly handgrip forms, support arm 2 connects firmly with car body, the first forearm is connected with support arm by the 4th revolute pair, the first forearm other end is connected with fixing handgrip by the 5th revolute pair, the second forearm is connected with support arm by the 6th revolute pair, the second forearm other end is connected with fixing handgrip by the 7th revolute pair, one section on spring is connected with support arm by the 8th revolute pair, and the spring other end passes through the 9th revolute pair and is connected with the first forearm.
Described grasping mechanism is by second connecting rod, third connecting rod, the 4th connecting rod, the 5th connecting rod, the 6th connecting rod, seven-link assembly, the 8th connecting rod, fixing handgrip, movable handgrip forms, second connecting rod is connected with fixing handgrip by the tenth revolute pair, the second connecting rod other end is connected with third connecting rod by the 11 revolute pair, the third connecting rod other end is connected with movable handgrip by the 12 revolute pair, the 4th connecting rod is connected with fixing handgrip by the 13 revolute pair, the 4th connecting rod other end is connected with third connecting rod by the 14 revolute pair, the 5th connecting rod one end is connected with fixing handgrip by the 15 revolute pair, the 5th connecting rod other end is connected with the 6th connecting rod by the 16 revolute pair, the 6th connecting rod other end is connected with movable handgrip by the 17 revolute pair, seven-link assembly one end is connected with fixing handgrip by the 18 revolute pair, the seven-link assembly other end is connected with the 6th connecting rod by the 19 revolute pair, the 8th connecting rod one end is connected with second connecting rod by the 20 revolute pair, and the 8th connecting rod other end is connected with the 5th connecting rod by the 21 revolute pair.
Described stacking machine becomes born of the same parents' function realizing method and is made of following steps: stop the rotation of revolute pair to be disappeared to realize by spring.Before the stacking machine work, spring applies the power that a certain amount of prevention is rotated in the rotation direction of the 4th revolute pair to be disappeared, the 4th revolute pair does not produce relative rotation, the first forearm, the second forearm and fixedly handgrip remain on the limit inferior position, be consolidated into one and become born of the same parents' member.During stacking machine work, driving lever rotates, promotion activity handgrip travels forward along horizontal linear, until promptly during goods movable handgrip reach the limit of the position, this moment movable handgrip, fixedly handgrip, second connecting rod, third connecting rod, the 4th connecting rod, the 5th connecting rod, the 6th connecting rod, seven-link assembly and the 8th connecting rod are consolidated into a member.Driving lever is rotated further, the prevention power that the power of generation will set in advance greater than spring and make and become born of the same parents' member and produce motion, and realizable force becomes born of the same parents' function, lifts goods.
Outstanding advantages of the present invention is:
1, utilize power to become born of the same parents' method, use a motor to finish crawl, the lifting of goods, pile up, control is simple, and maintenance is convenient, energy savings;
2, adopt the outer secondary chaindriven mode of closing that drives, rigidity is high, bearing capacity is strong, error accumulation is little, control accuracy is high;
3, drive motors is installed on the car body, and rod member can be made lighter bar, and movement inertia is little, and dynamic performance is good.
Description of drawings
Fig. 1 is the overall structure schematic diagram that single motor-driven of the present invention becomes born of the same parents' stacking machine.
Fig. 2 is the front view that single motor-driven of the present invention becomes born of the same parents' stacking machine.
Fig. 3 is the first partial schematic diagram that single motor-driven of the present invention becomes born of the same parents' stacking machine.
Fig. 4 is the second partial schematic diagram that single motor-driven of the present invention becomes born of the same parents' stacking machine.
Fig. 5 is the schematic diagram of mechanism that single motor-driven of the present invention becomes the first change born of the same parents structure of born of the same parents' stacking machine.
Fig. 6 is the schematic diagram of mechanism that single motor-driven of the present invention becomes the second change born of the same parents structure of born of the same parents' stacking machine.
Fig. 7 is the topological diagram that single motor-driven of the present invention becomes the first change born of the same parents structure of born of the same parents' stacking machine.
Fig. 8 is the topological diagram that single motor-driven of the present invention becomes the second change born of the same parents structure of born of the same parents' stacking machine.
Fig. 9 is the first duty front view that single motor-driven of the present invention becomes born of the same parents' stacking machine.
Figure 10 is the first duty side view that single motor-driven of the present invention becomes born of the same parents' stacking machine.
Figure 11 is the second duty front view that single motor-driven of the present invention becomes born of the same parents' stacking machine.
Figure 12 is the second duty side view that single motor-driven of the present invention becomes born of the same parents' stacking machine.
Figure 13 is the third duty front view that single motor-driven of the present invention becomes born of the same parents' stacking machine.
Figure 14 is the third duty side view that single motor-driven of the present invention becomes born of the same parents' stacking machine.
The specific embodiment
Below in conjunction with drawings and Examples technical scheme of the present invention is described further.
Contrast Fig. 1 and Fig. 2, described controlling organization is comprised of car body 1, drive motors 8, driving lever 9, first connecting rod 10, movable handgrip 7, driving lever 9 one ends are connected with car body 1 by the first revolute pair 24, driving lever 9 is driven by drive motors 8, drive motors 8 is fixed on the car body 1, driving lever 9 other ends are connected with first connecting rod 10 by the second revolute pair 25, and first connecting rod 10 other ends are connected with movable handgrip 7 by the 3rd revolute pair 38.
Contrast Fig. 1 and Fig. 2, described elevation mechanism is by car body 1, support arm 2, spring 3, the first forearm 4, the second forearm 5, fixedly handgrip 6 forms, support arm 2 connects firmly with car body 1, the first forearm 4 is connected with support arm 2 by the 4th revolute pair 18, the first forearm 4 other ends are connected with fixing handgrip 6 by the 5th revolute pair 20, the second forearm 5 is connected with support arm 2 by the 6th revolute pair 19, the second forearm 5 other ends are connected with fixing handgrip 6 by the 7th revolute pair 21,3 one sections on spring is connected with support arm 2 by the 8th revolute pair 22, and spring 3 other ends pass through the 9th revolute pair 23 and are connected with the first forearm 4.
Contrast Fig. 3 and Fig. 4, described grasping mechanism is by second connecting rod 11, third connecting rod 12, the 4th connecting rod 13, the 5th connecting rod 14, the 6th connecting rod 15, seven-link assembly 16, the 8th connecting rod 17, fixedly handgrip 6, movable handgrip 7 forms, second connecting rod 11 is connected with fixing handgrip 6 by the tenth revolute pair 26, second connecting rod 11 other ends are connected with third connecting rod 12 by the 11 revolute pair 27, third connecting rod 12 other ends are connected with movable handgrip 7 by the 12 revolute pair 28, the 4th connecting rod 13 is connected with fixing handgrip 6 by the 13 revolute pair 29, the 4th connecting rod 13 other ends are connected with third connecting rod 12 by the 14 revolute pair 30, the 5th connecting rod 14 1 ends are connected with fixing handgrip 6 by the 15 revolute pair 31, the 5th connecting rod 14 other ends are connected with the 6th connecting rod 15 by the 16 revolute pair 32, the 6th connecting rod 15 other ends are connected with movable handgrip 7 by the 17 revolute pair 33, seven-link assembly 16 1 ends are connected with fixing handgrip 6 by the 18 revolute pair 34, seven-link assembly 16 other ends are connected with the 6th connecting rod 15 by the 19 revolute pair 35, the 8th connecting rod 17 1 ends are connected with second connecting rod 11 by the 20 revolute pair 36, and the 8th connecting rod 17 other ends are connected with the 5th connecting rod 14 by the 21 revolute pair 37.
Contrast Fig. 2, the first forearm 4 is isometric parallel with the second forearm 5, consists of parallel-crank mechanism, and make fixedly handgrip 6 remains vertical with movable handgrip 7 in motion process.
Contrast Fig. 3 and Fig. 4, second connecting rod 11, third connecting rod 12, the 4th connecting rod 13, the tenth revolute pair 26, the 11 revolute pair 27, the 13 revolute pair 29 and the 14 revolute pair 30 have specific size and position relationship, when second connecting rod 11 and third connecting rod 12 were rotated, the movement locus of the axis of the 12 revolute pair 28 was the straight line of a level.
Contrast Fig. 3 and Fig. 4, the 5th connecting rod 14, the 6th connecting rod 15, seven-link assembly 16, the 15 revolute pair 31, the 16 revolute pair 32, the 18 revolute pair 34 and the 19 revolute pair 35 have specific size and position relationship, when the 5th connecting rod 14 and the 6th connecting rod 15 were rotated, the movement locus of the axis of the 17 revolute pair 33 was the straight line of a level.
Contrast Fig. 3 and Fig. 4, second connecting rod 11, third connecting rod 12, the 4th connecting rod 13 and the 5th connecting rod 14, the 6th connecting rod 15, seven-link assembly 16 are repetitive structure, seven-link assembly 16 is a passive constraint bar in fact, and its function is to increase the rigidity of member, makes member stress even.
Contrast Fig. 3 and Fig. 4, the axial line distance of the tenth revolute pair 26, the 15 revolute pair 31 equates with the axial line distance of the 20 revolute pair 36, the 21 revolute pair 37; The axial line distance of the tenth revolute pair 26, the 20 revolute pair 36, equate with the axial line distance of the 15 revolute pair 31, the 21 revolute pair 37, make second connecting rod 11, the 5th connecting rod 14, the 8th connecting rod 17 consist of parallel-crank mechanism, thereby second connecting rod 11 and the 5th connecting rod 14 are rotated synchronously, the 4th connecting rod 13 and seven-link assembly 16 rotate synchronously, third connecting rod 12 and the 6th connecting rod 15 rotate synchronously, and then to make the movement locus of movable handgrip 7 be the straight line of a level.
Contrast Fig. 5, Fig. 9, Figure 10, Figure 11 and Figure 12, before the palletizing apparatus work, spring 3 applies the power that a certain amount of prevention is rotated in the rotation direction of the 4th revolute pair 18 to be disappeared, the 4th revolute pair 18 does not produce relative rotation, the first forearm 4, the second forearm 5 and fixedly handgrip 6 remain on the limit inferior position, be consolidated into one and become born of the same parents' member.
Contrast Fig. 6, Figure 11, Figure 12, Figure 13 and Figure 14, during palletizing apparatus work, driving lever 9 rotates, promotion activity handgrip 7 travels forward along horizontal linear, until promptly during goods movable handgrip 7 reach the limit of the position, this moment movable handgrip 7, fixedly handgrip 6, second connecting rod 11, third connecting rod 12, the 4th connecting rod 13, the 5th connecting rod 14, the 6th connecting rod 15, seven-link assembly 16 and the 8th connecting rod 17 are consolidated into a member.
Contrast Fig. 6, Figure 11, Figure 12, Figure 13 and Figure 14, driving lever 9 is rotated further, the prevention power that the power of generation will set in advance greater than spring 3 and make and become born of the same parents' member and produce motion, realizable force becomes born of the same parents' function, lifts goods.
Claims (1)
1. single motor-driven becomes born of the same parents' stacking machine, comprises controlling organization, elevation mechanism and grasping mechanism, it is characterized in that its structure and connected mode are:
Described controlling organization is comprised of car body, drive motors, driving lever, first connecting rod, movable handgrip, driving lever one end is connected with car body by the first revolute pair, driving lever is driven by drive motors, drive motors is fixed on the car body, the driving lever other end is connected with first connecting rod by the second revolute pair, the first connecting rod other end is connected with movable handgrip by the 3rd revolute pair
Described elevation mechanism is by car body, support arm, spring, the first forearm, the second forearm, fixedly handgrip forms, support arm and car body connect firmly, the first forearm is connected with support arm by the 4th revolute pair, the first forearm other end is connected with fixing handgrip by the 5th revolute pair, the second forearm is connected with support arm by the 6th revolute pair, the second forearm other end is connected with fixing handgrip by the 7th revolute pair, one section on spring is connected with support arm by the 8th revolute pair, the spring other end is connected with the first forearm by the 9th revolute pair
Described grasping mechanism is by second connecting rod, third connecting rod, the 4th connecting rod, the 5th connecting rod, the 6th connecting rod, seven-link assembly, the 8th connecting rod, fixing handgrip, movable handgrip forms, second connecting rod is connected with fixing handgrip by the tenth revolute pair, the second connecting rod other end is connected with third connecting rod by the 11 revolute pair, the third connecting rod other end is connected with movable handgrip by the 12 revolute pair, the 4th connecting rod is connected with fixing handgrip by the 13 revolute pair, the 4th connecting rod other end is connected with third connecting rod by the 14 revolute pair, the 5th connecting rod one end is connected with fixing handgrip by the 15 revolute pair, the 5th connecting rod other end is connected with the 6th connecting rod by the 16 revolute pair, the 6th connecting rod other end is connected with movable handgrip by the 17 revolute pair, seven-link assembly one end is connected with fixing handgrip by the 18 revolute pair, the seven-link assembly other end is connected with the 6th connecting rod by the 19 revolute pair, the 8th connecting rod one end is connected with second connecting rod by the 20 revolute pair, and the 8th connecting rod other end is connected with the 5th connecting rod by the 21 revolute pair.
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| CN2012105766022A CN102990663A (en) | 2012-12-27 | 2012-12-27 | Single-motor driving type metamorphic stacker crane |
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| CN2012105766022A CN102990663A (en) | 2012-12-27 | 2012-12-27 | Single-motor driving type metamorphic stacker crane |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104493816A (en) * | 2014-12-25 | 2015-04-08 | 广西大学 | Metamorphic parallel-connection robot palletizer mechanism |
| CN105313107A (en) * | 2015-11-10 | 2016-02-10 | 南宁邃丛赋语科技开发有限责任公司 | Rotatable manipulation arm with metamorphic function |
| CN106144373A (en) * | 2016-06-24 | 2016-11-23 | 广西大学 | A kind of single driving front fork unit |
| CN106564046A (en) * | 2015-10-10 | 2017-04-19 | 佳木斯大学 | Novel metamorphic loading mechanical arm |
| CN106607927A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Servo-driven variable-motion-degree connecting rod mechanism mechanical arm used for assembling work |
| CN106625644A (en) * | 2016-11-29 | 2017-05-10 | 广西大学 | Servo-motor-drive multi-degree-of-freedom connecting rod mechanism painting operation mechanical arm |
| CN108081239A (en) * | 2016-11-21 | 2018-05-29 | 广西大学 | A kind of simple type can variable freedom make-up machinery arm |
| CN108081308A (en) * | 2016-11-21 | 2018-05-29 | 广西大学 | It is a kind of to use the simple make-up machinery arm of the variable linkage of degree of freedom |
| CN108081233A (en) * | 2016-11-21 | 2018-05-29 | 广西大学 | A kind of two-freedom linkage make-up machinery arm |
| CN108081254A (en) * | 2016-11-21 | 2018-05-29 | 广西大学 | One kind can variable freedom multi link make-up machinery arm |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104493816A (en) * | 2014-12-25 | 2015-04-08 | 广西大学 | Metamorphic parallel-connection robot palletizer mechanism |
| CN104493816B (en) * | 2014-12-25 | 2016-11-30 | 广西大学 | A kind of become born of the same parents parallel connection robot palletizer mechanism |
| CN106564046A (en) * | 2015-10-10 | 2017-04-19 | 佳木斯大学 | Novel metamorphic loading mechanical arm |
| CN105313107A (en) * | 2015-11-10 | 2016-02-10 | 南宁邃丛赋语科技开发有限责任公司 | Rotatable manipulation arm with metamorphic function |
| CN105313107B (en) * | 2015-11-10 | 2017-02-22 | 南宁邃丛赋语科技开发有限责任公司 | Rotatable manipulation arm with metamorphic function |
| CN106144373A (en) * | 2016-06-24 | 2016-11-23 | 广西大学 | A kind of single driving front fork unit |
| CN108081239A (en) * | 2016-11-21 | 2018-05-29 | 广西大学 | A kind of simple type can variable freedom make-up machinery arm |
| CN108081308A (en) * | 2016-11-21 | 2018-05-29 | 广西大学 | It is a kind of to use the simple make-up machinery arm of the variable linkage of degree of freedom |
| CN108081233A (en) * | 2016-11-21 | 2018-05-29 | 广西大学 | A kind of two-freedom linkage make-up machinery arm |
| CN108081254A (en) * | 2016-11-21 | 2018-05-29 | 广西大学 | One kind can variable freedom multi link make-up machinery arm |
| CN106607927A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Servo-driven variable-motion-degree connecting rod mechanism mechanical arm used for assembling work |
| CN106625644A (en) * | 2016-11-29 | 2017-05-10 | 广西大学 | Servo-motor-drive multi-degree-of-freedom connecting rod mechanism painting operation mechanical arm |
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Application publication date: 20130327 |