CN106516576A - Parallel-connection two-freedom-degree modular belt type conveying device - Google Patents
Parallel-connection two-freedom-degree modular belt type conveying device Download PDFInfo
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- CN106516576A CN106516576A CN201611100643.9A CN201611100643A CN106516576A CN 106516576 A CN106516576 A CN 106516576A CN 201611100643 A CN201611100643 A CN 201611100643A CN 106516576 A CN106516576 A CN 106516576A
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- 238000010586 diagram Methods 0.000 description 12
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- 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 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G21/00—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors
- B65G21/10—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors movable, or having interchangeable or relatively movable parts; Devices for moving framework or parts thereof
- B65G21/12—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors movable, or having interchangeable or relatively movable parts; Devices for moving framework or parts thereof to allow adjustment of position of load-carrier or traction element as a whole
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Belt Conveyors (AREA)
Abstract
A parallel-connection two-freedom-degree modular belt type conveying device comprises a reconfigurable supporting mechanism, a conveying belt, a driving roller and a driven roller; plane parallel-connection two-freedom-degree five-rod mechanism design is adopted in the reconfigurable supporting mechanism, the beneficial effects of being small in rod number, high in structural rigidity, high in bearing capacity and the like are achieved, the connecting manner of components in modular motion chains included in the reconfigurable supporting mechanism is adjusted, the topological structure is changed, the mechanical characteristics are further changed, and the different market needs are met; compared with a traditional belt type conveyor, the parallel-connection two-freedom-degree modular belt type conveying device has the beneficial effects that the conveying elevation and the conveying height can be conveniently and precisely adjusted through the numerical control program, the advantages of being high in intelligent degree, high in adaptation and the like are achieved, and the device has the giant application potential in fields of the modern production line, the digitalized factory and the like.
Description
Technical field
The present invention relates to belt type conveyer field, particularly a kind of two-freedom modular belt formula conveying dress in parallel
Put.
Background technology
Belt type conveyer has the advantages that conveying capacity is big, highly versatile, is widely used in the row such as mine, metallurgy, coal
Industry, for conveying bulk material or work piece.Belt type conveyer may be disposed to level or incline according to production line technological requirement
Oblique form, can separate unit conveying, also can multiple stage work compound, or the delivery system with other conveying equipments composition horizontally or diagonally
System, to meet the production line needs of different layout patterns.But, with sending out for the information technology with Computers and Communication as core
Exhibition, and the transition and upgrade of thing followed industrialized production pattern, conventional belt formula conveyer are increasingly difficult to because of self problem
Meet the market demand, on the one hand, conventional belt formula conveyer bracket is typically mounted on supporting construction frame, conveyer belt
Supporting mechanism lacks the free degree, once on production line, installation and debugging are finished, the conventional belt formula conveyer conveying elevation angle, conveying speed
The parameters such as degree are difficult to adjust, or even can not adjust；On the other hand, the drive system intelligence powered by conventional energy of conventional belt formula conveyer
Change low degree, it is difficult to carry out remote digital precise control；Above-mentioned reason makes conventional belt formula conveyer be difficult to adapt to digital working
The needs of factory's Flexible Production line.
Mechanical product innovation is the basic method for improving and overcoming known product problem and defect, generally comprises technological improvement
With configuration original innovation, wherein mechanism configuration innovation is most important, the most crucial content of Mechanical product innovation, because mechanism configuration
Different mechanical devices has diverse kinematics model, kinetic model and Controlling model, its kinematics, dynamics
Greatest differences be there are etc. each side mechanical performance, therefore mechanism configuration innovation is also the most fundamental way of Mechanical product innovation.
In order to preferably distinguish and express different configurations, the double-colored topological diagram of kinematic chain is used for the process of mechanism configuration innovative design
In, in the double-colored topological diagram of kinematic chain, point represent component, circle represent kinematic pair, can be clear and intuitive give expression to every kind of configuration
Annexation and mechanism composition.
Multi-planar-degree-of-freedom linkage can realize input of doing more physical exercises, complicated controllable, adjustable flexibility track output, but machine
Structure output campaign is more flexible, and mechanism is more complicated, and will certainly increase the rod member quantity and control difficulty of mechanism, with controllable machine
The development of structure technology, robot technology, how based on topological synthesis method, proposes a kind of brand-new two-freedom parallel modular
Belt-type conveying device, first, can overcome problem known to conventional belt formula conveyer, it is ensured that brand-new modular belt formula conveying dress
Put can possess conveying inclination angle, delivery head two-freedom flexibility is adjustable, controllable, the procedure parameter such as transporting velocity accurately can may be used
Adjust；Secondly, and with the premise of constant two-freedom, by topological structure（That is, configuration）Change and have different
Mechanical performance, meets different customer demands；Again, the supporting mechanism of brand-new modular belt formula conveying device will also have bar
The advantage such as number of packages amount is few, the rigidity of structure is high, bearing capacity is strong, it has also become the engineering of one urgent need to resolve in belt type conveyer field
Problem.
The content of the invention
It is an object of the invention to provide a kind of two-freedom modular belt formula conveying device in parallel, on the one hand can overcome
Conventional conveyor intelligence degree is low, bad adaptability the problems such as, it is ensured that the supporting mechanism of the conveying device can possess conveying and incline
Angle, delivery head two-freedom flexibility is adjustable, controllable, and the procedure parameter such as transporting velocity can be accurately adjustable；On the other hand two certainly
Can be reconstructed by the topological structure of degree supporting mechanism, significantly change mechanical performance, meet different customer demands；Finally, also have
There is the features such as rod member quantity is few, the rigidity of structure is high, bearing capacity is strong, meet the flexibilities such as modernization industrial and mining enterprises, digital factory
Metaplasia is produced to be needed.
The present invention reaches above-mentioned purpose by the following technical programs：
A kind of two-freedom modular belt formula conveying device in parallel, including restructural supporting mechanism, actively conveyer belt, rolling
Cylinder, follower rollers.
The restructural supporting mechanism is plane-parallel type two-freedom five-rod, including frame, driving lever, bracket, mould
Block kinematic chain, described driving lever one end are rotated pair by first and are connected with frame, and the other end rotates secondary and bracket by second
Connection, the modularization kinematic chain is made up of first component, second component, described first component one end by the 3rd rotate it is secondary with
Frame connects, and the other end is connected with second component one end by kinematic pair, and the second component other end rotates secondary and support by the 4th
Frame connects.
The drive roll is rotated pair by the 5th and is connected with bracket, and the follower rollers rotate secondary and bracket by the 6th
Connection, the conveyer belt are arranged on drive roll and follower rollers, and the drive roll is driven by controllable motor, by watching
Taking motor carries out numerical control programming, it is possible to achieve the stepless speed regulation of conveyer belt and transporting velocity precise control.
The two-freedom modular belt formula conveying device in parallel has stronger reconfigurable ability, can be by changing
In modularization kinematic chain between first component and second component kinematic pair type, change restructural supporting mechanism topology knot
Structure, and then make this kind of two-freedom modular belt formula conveying device in parallel present different mechanical properties, meet different
Customer demand.The kinematic pair for connecting first component and second component in the modularization kinematic chain is moving sets or is to rotate
It is secondary.
When the kinematic pair for connecting first component and second component in modularization kinematic chain adopts moving sets, this topological structure
Under, the moving sets and first rotate the secondary driving pair for restructural supporting mechanism, and the moving sets are driven using servo electric jar
Dynamic, described first rotates secondary using servomotor driving, under the first coordinated for rotating secondary and moving sets, realizes restructural
The two-freedom flexibility of supporting mechanism is controllable, adjustable motion, and then makes this kind of two-freedom modular belt formula conveying dress in parallel
Put realize conveying the elevation angle, delivery head it is controllable, adjustable, now because moving sets using servo electric jar driving, the restructural
Supporting mechanism has bearing capacity high, the advantages of simple and compact for structure, is particularly well-suited to the heavy load production lines such as harbour, industrial and mineral.
When the kinematic pair of first component and second component is connected in modularization kinematic chain using rotating secondary, this topological structure
Under, the driving pair of the restructural supporting mechanism is that the first rotation is secondary and the 3rd rotation is secondary, and the first rotation is secondary and the 3rd rotation is secondary
Driven using servomotor, under coordinated of the driving lever with first component, realize that the two of restructural supporting mechanism are free
The flexible controllable, adjustable motion of degree, and then make this kind of two-freedom modular belt formula conveying device in parallel realize the conveying elevation angle, defeated
The controllable, adjustable of height is sent, and because connecting using rotation is secondary between each component of restructural supporting mechanism, and have highly reliable
The advantages of property, high mechanical efficiency, pinpoint accuracy, it is particularly well-suited to the flexible production lines such as digital factory.
Restructural supporting mechanism of the present invention employs the design of plane-parallel type two-freedom five-rod, not only rod member number
Mesh is few, simple structure, low cost, facilitate demolition and maintenance, and under the control of numerical control program, in that context it may be convenient to adjust conveying and face upward
Angle, delivery head it is controllable, adjustable, with advantages such as intelligence degree height, strong adaptabilities；In addition, by changing modularization fortune
Connect the type of the kinematic pair of first component and second component in dynamic chain, thus it is possible to vary the topological structure of restructural supporting mechanism,
And then make this kind of two-freedom modular belt formula conveying device in parallel present different mechanical properties, meet different clients
Demand.In sum, this kind of two-freedom modular belt formula conveying device in parallel is in modern production line, digital factory etc.
Field has huge application potential.
The present invention's has the prominent advantages that：
1. restructural supporting mechanism of the present invention employs the design of plane-parallel type two-freedom five-rod, not only rod member number
Mesh is few, simple structure, low cost, facilitate demolition and maintenance, and because employing parallel institution design, makes this kind of parallel connection two freely
Degree modular belt formula conveying device has the characteristics such as the rigidity of structure is high, bearing capacity is strong, can meet the heavy duties such as harbour, mine
Occasion is used.
2. restructural supporting mechanism of the present invention can realize that two-freedom is adjustable, the output of controllable compliant motion, it is ensured that
This kind of two-freedom modular belt formula conveying device in parallel not only can easily adjust defeated under the control of numerical control program
The elevation angle is sent, is also equipped with adjusting the function of delivery head, with advantages such as intelligence degree height, strong adaptabilities, in modern production
The fields such as line, digital factory have huge application potential.
3. two-freedom modular belt formula conveying device in parallel of the present invention has stronger reconfigurable ability, can
With the component type of attachment by changing modularization kinematic chain contained by restructural supporting mechanism, change topological structure, and then make this
Plant two-freedom modular belt formula conveying device in parallel and present different mechanical properties, and then meet different client's need
Ask.
Description of the drawings
Fig. 1 is restructural supporting mechanism schematic diagram of the present invention.
Fig. 2 is the double-colored topological diagram of restructural supporting mechanism kinematic chain of the present invention.
Fig. 3 is the bracket schematic diagram of two-freedom modular belt formula conveying device in parallel of the present invention.
Fig. 4 is two-freedom modular belt formula conveying device bracket portion assembling schematic diagram in parallel of the present invention.
Fig. 5 is the modularization kinematic chain schematic diagram of employing moving sets connection of the present invention.
Fig. 6 is of the present invention using the modularization kinematic chain schematic diagram for rotating secondary connection.
Fig. 7 is one of two-freedom modular belt formula conveying device schematic diagram in parallel of the present invention.
Fig. 8 for two-freedom modular belt formula conveying device schematic diagram in parallel of the present invention two.
Fig. 9 be two-freedom modular belt formula conveying device in parallel of the present invention two-freedom flexibility it is controllable, can
Adjust one of operating diagram.
Figure 10 be two-freedom modular belt formula conveying device in parallel of the present invention two-freedom flexibility it is controllable, can
Adjust the two of operating diagram.
Specific embodiment
Technical scheme is described further below by way of drawings and Examples.
Control Fig. 1, Fig. 2, Fig. 5, Fig. 6, Fig. 7, Fig. 8, a kind of two-freedom modular belt formula conveying device in parallel,
Including restructural supporting mechanism, conveyer belt 15, drive roll 13, follower rollers 14.
Control Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, the restructural supporting mechanism are five bar of plane-parallel type two-freedom
Mechanism, including frame 1, driving lever 3, bracket 6, modularization kinematic chain, 3 one end of the driving lever rotate secondary 2 and machine by first
Frame 1 connects, and the other end is rotated secondary 4 by second and is connected with bracket 6, and the modularization kinematic chain is by first component 10, the second structure
Part 9 is constituted, and 10 one end of the first component rotates secondary 11 by the 3rd and is connected with frame 1, and the other end is by kinematic pair 12 and the
Two components, 9 one end connects, and 9 other end of second component is rotated secondary 8 by the 4th and is connected with bracket 6.
Control Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 7, Fig. 8, the drive roll 13 are rotated secondary 5 by the 5th and are connected with bracket 6,
The follower rollers 14 are rotated secondary 7 by the 6th and are connected with bracket 6, and the conveyer belt 15 is arranged on drive roll 13 and driven rolling
On cylinder 14, the drive roll 13 is driven by controllable motor, by carrying out numerical control programming to servomotor, it is possible to achieve conveyer belt
15 stepless speed regulation and transporting velocity precise control.
Control Fig. 1, Fig. 2, Fig. 5, Fig. 6, the two-freedom modular belt formula conveying device in parallel can with stronger
Re-configurability, can pass through change modularization kinematic chain between first component 10 and second component 9 kinematic pair 12 type, change
Become the topological structure of restructural supporting mechanism, and then this kind of two-freedom modular belt formula conveying device in parallel is presented not
Same mechanical property, meets different customer demands.Connect first component 10 and second component 9 in the modularization kinematic chain
Kinematic pair 12 is moving sets or secondary to rotate.
Control Fig. 1, Fig. 2, Fig. 5, Fig. 7, Fig. 9, when the fortune for connecting first component 10 and second component 9 in modularization kinematic chain
When dynamic pair 12 is using moving sets, under this topological structure, the moving sets 12 and first rotate master of the pair 2 for restructural supporting mechanism
Dynamic pair, the moving sets 12 are driven using servo electric jar, and described first rotates secondary 2 is driven using servomotor, at first turn
Under the coordinated of dynamic pair 2 and moving sets 12, realize that the two-freedom flexibility of restructural supporting mechanism is controllable, adjustable motion, enter
And make this kind of two-freedom modular belt formula conveying device in parallel realize the conveying elevation angle, delivery head it is controllable, adjustable, now
Because moving sets 12 are driven using servo electric jar, the restructural supporting mechanism has bearing capacity high, simple and compact for structure etc.
Advantage, is particularly well-suited to the heavy load production lines such as harbour, industrial and mineral.
Control Fig. 1, Fig. 2, Fig. 6, Fig. 8, Figure 10, when connecting first component 10 and second component 9 in modularization kinematic chain
When kinematic pair 12 is using rotating secondary, under this topological structure, the driving pair of the restructural supporting mechanism is first to rotate secondary 2 and the
Three rotate secondary 11, and the first rotation secondary 2 and the 3rd rotation secondary 11 are driven using servomotor, in driving lever 3 and first component 10
Coordinated under, realize that the two-freedom flexibility of restructural supporting mechanism is controllable, adjustable motion, so make this kind of parallel connection two from
By degree modular belt formula conveying device realize the conveying elevation angle, delivery head it is controllable, adjustable, and because of restructural supporting mechanism
Using the secondary connection of rotation between each component, and there is high reliability, high mechanical efficiency, pinpoint accuracy, be particularly well-suited to
The flexible production lines such as digital factory.
Control Fig. 1, Fig. 7, Fig. 8, Fig. 9, Figure 10, restructural supporting mechanism of the present invention employ plane-parallel type two freely
Degree five-rod design, not only rod member number is few, simple structure, low cost, facilitate demolition and maintenance, and in the control of numerical control program
Under system, in that context it may be convenient to adjustment conveying the elevation angle, delivery head it is controllable, adjustable, it is excellent with intelligence degree height, strong adaptability etc.
Gesture；In addition, the type by changing the kinematic pair 12 for connecting first component 10 and second component 9 in modularization kinematic chain, can be with
Change the topological structure of restructural supporting mechanism, and then present this kind of two-freedom modular belt formula conveying device in parallel
Different mechanical properties, meets different customer demands.In sum, this kind of two-freedom modular belt formula conveying dress in parallel
Put and there is huge application potential in fields such as modern production line, digital factories.
Claims (2)
1. a kind of two-freedom modular belt formula conveying device in parallel, including restructural supporting mechanism, actively conveyer belt, rolling
Cylinder, follower rollers, it is characterised in that：
The restructural supporting mechanism is plane-parallel type two-freedom five-rod, including frame, driving lever, bracket, modularization
Kinematic chain, described driving lever one end are rotated pair by first and are connected with frame, and the other end is rotated pair by second and is connected with bracket,
The modularization kinematic chain is made up of first component, second component, and described first component one end rotates secondary and frame by the 3rd
Connection, the other end are connected with second component one end by kinematic pair, and the second component other end rotates secondary and bracket by the 4th and connects
Connect, connect the kinematic pair of first component and second component in the modularization kinematic chain to rotate secondary or moving sets, the master
Dynamic cylinder is rotated pair by the 5th and is connected with bracket, and the follower rollers are rotated pair by the 6th and are connected with bracket, the conveying
Band is arranged on drive roll and follower rollers.
2. a kind of two-freedom modular belt formula conveying device in parallel according to claim 1, it is characterised in that：Work as module
When connecting the kinematic pair of first component and second component to rotate secondary in changing kinematic chain, the driving pair of the restructural supporting mechanism
Pair and the 3rd is rotated for first and rotates secondary, when the kinematic pair for connecting first component and second component in modularization kinematic chain is movement
When secondary, the moving sets and first rotate the secondary driving pair for restructural supporting mechanism, the drive roll and restructural
Driving pair in support mechanism is driven by servo electrical machinery system.
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| CN201611100643.9A CN106516576A (en) | 2016-12-05 | 2016-12-05 | Parallel-connection two-freedom-degree modular belt type conveying device |
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Cited By (3)
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| CN107804675A (en) * | 2017-11-20 | 2018-03-16 | 长安大学 | A kind of adjustable inclination angle gravity tensioning mechanism |
| CN108544471A (en) * | 2018-04-12 | 2018-09-18 | 南京理工大学 | A kind of two-dimensional translation parallel institution of big working space |
| CN109747729A (en) * | 2017-11-07 | 2019-05-14 | 山东交通学院 | A kind of automobile-used two-freedom numerical control wheel leg mechanism of high load plate |
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Application publication date: 20170322 |