CN106542268A - A kind of weak coupling type two-freedom belt-type conveying device easy to control - Google Patents
A kind of weak coupling type two-freedom belt-type conveying device easy to control Download PDFInfo
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- CN106542268A CN106542268A CN201611112517.5A CN201611112517A CN106542268A CN 106542268 A CN106542268 A CN 106542268A CN 201611112517 A CN201611112517 A CN 201611112517A CN 106542268 A CN106542268 A CN 106542268A
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- component
- control
- belt
- conveying device
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Classifications
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- 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
-
- 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
- B65G23/00—Driving gear for endless conveyors; Belt- or chain-tensioning arrangements
- B65G23/02—Belt- or chain-engaging elements
- B65G23/04—Drums, rollers, or wheels
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Structure Of Belt Conveyors (AREA)
Abstract
A kind of weak coupling type two-freedom belt-type conveying device easy to control, including controllable supporting mechanism, conveyer belt, drive roll, follower rollers, the controllable supporting mechanism employs planar two-DOF seven-bar linkage design, on the premise of ensureing that the belt-type conveying device can adjust the conveying inclination angle of conveyer belt, delivery head, design by using parallelogram, effectively reduce the degree of coupling of controllable supporting mechanism, not only contribute to the forward and inverse solution of kinematics, and programming Control difficulty is effectively reduced, reduce control system R＆D costs；In addition, the controllable supporting mechanism not only each component by rotating secondary connection, and driving pair is respectively positioned in frame, so that this kind of weak coupling type two-freedom belt-type conveying device easy to control has the advantages that high reliability, high transmission efficiency, centre of gravity, easy to control, the use such as modern production line, digital factory is particularly well-suited to.
Description
Technical field
The present invention relates to belt type conveyer field, particularly a kind of weak coupling type two-freedom belt-type easy to control is defeated
Send device.
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.But with the development of the information technology with Computers and Communication as core, with
And the transition and upgrade of thing followed industrialized production pattern, conventional belt formula conveyer is because intelligence degree is low, conveyer belt
The problems such as support mechanism lacks the free degree, it is difficult to adapt to the Flexible Production line needs such as digital plant.Multi-planar-degree-of-freedom connecting rod machine
Structure can realize input of doing more physical exercises, and controllable mechanism technology and robot technology are introduced by complicated controllable, adjustable flexibility track output
To in the design of conveyer, flexibility and the intelligence degree of existing conveyer can be effectively improved.
The configuration of mechanism not only determines the mechanical performance and the scope of application of mechanical device, and directly determines that mechanism is controlled
The complexity of system.Realize that the flexibility of attitude can as the belt type conveyer using controllable supporting mechanism relies on numerical control programming
Control, adjustable, as a rule, controllable supporting mechanism is more complicated, easier to realize complicated movement output, but while the coupling of mechanism
Degree is also higher, is more difficult to carry out the forward and inverse solution calculating of kinematics, is also just more difficult to carry out numerical control programming control.Although using plane two certainly
By degree mechanism design novel conveying device can realize the tape transport elevation angle, delivery head two-freedom flexibility it is adjustable,
It is controllable, meet the use requirement of Flexible Production line, but, as mechanism's degree of coupling is high, there is non-thread with output in motion input
Sexual intercourse, kinematics model are complicated, while there is larger error during iterative numerical is solved, not only increase control
Difficulty and control system cost, and the delivery precision of conveying device is have impact on, it is particularly disadvantageous for the spy high to required precision
Plant production line.
Mechanical product innovation is the basic method for improving and overcoming known product problem and defect, and mechanism configuration is both innovated
It is the most fundamental way of Mechanical product innovation, is also most important, most crucial content.How topological synthesis method is based on, is proposed
A kind of two-freedom belt-type conveying device, with intelligence degree it is high, flexibility is good the features such as, it is possible to achieve controllable support
On the premise of mechanism's two-freedom flexibility is controllable, adjustable motion output etc. requires, with mechanism's degree of coupling is low, kinematics model is simple
It is single, the advantage such as be easily controlled, it has also become the engineering problem of one urgent need to resolve in belt type conveyer field.
The content of the invention
It is an object of the invention to provide a kind of weak coupling type two-freedom belt-type conveying device easy to control, is overcoming biography
Problem known to system belt type conveyer, with intelligence degree it is high, adaptability is good the features such as, it is possible to achieve controllable supporting mechanism two
On the premise of free degree flexibility is controllable, adjustable motion output etc. requires, with mechanism's degree of coupling is low, kinematics model simple, hold
The advantage such as easy to control.
The present invention reaches above-mentioned purpose by the following technical programs：
A kind of weak coupling type two-freedom belt-type conveying device easy to control includes controllable supporting mechanism, conveyer belt, actively rolls
Cylinder, follower rollers.
The controllable supporting mechanism is planar two-DOF seven-bar linkage, including frame, first component, second component, the
Three components, the 4th component, the 5th component, the 6th component, support bar, bracket, described first component one end rotate secondary by first
It is connected with frame, the other end is rotated pair by second and is connected with second component one end, and the second component other end passes through the 3rd
Rotate pair to be connected with support bar, the support bar is connected with frame by compound hinges, described component one end passes through compound hinges
It is connected with frame, the other end is rotated pair by the 4th and is connected with the 4th component one end, and the 4th component other end passes through the 5th
Rotate pair to be connected with the 5th component, the 5th component is rotated pair by the 6th and is connected with support bar, described 6th component one end
Pair is rotated by the 7th to be connected with the 5th component, the other end is connected with bracket by the dynamic pair of eighth-turn, and the bracket passes through the 9th
Rotate secondary on support bar, the first component and the 3rd component are driving lever, by rack-mounted servomotor
Drive.
The kinematic chain loop that the first component, second component, support bar, frame are constituted is parallelogram loop, from
And ensure that first component has identical Angle Position, angular speed and angular acceleration with support bar.
The kinematic chain loop that 3rd component, the 4th component, the 5th component, support bar are constituted is returned for parallelogram
Road, so as to ensure that the 3rd component and the 5th component by identical Angle Position, angular speed, angular acceleration.
The kinematic chain loop that the support bar, the 5th component, the 6th component, bracket are constituted is parallelogram loop, from
And ensure that bracket and the 5th component have identical Angle Position, angular speed, angular acceleration.
Due in the controllable supporting mechanism because each kinematic chain loop using parallelogram design, first component and
Support bar, the 3rd component are respectively provided with identical Angle Position, angular speed, angular acceleration with bracket, due to first component and the 3rd structure
Part is driving lever, thus, the motion |input paramete of controllable supporting mechanism is linear with output parameter, thus effectively reduces
The degree of coupling of mechanism, it is simple to simplify kinematics model, that is, be not required to iterative numerical the forward and inverse accurate solution of kinematics is obtained,
Not only reduce control difficulty and control system cost, and ensure that this kind of weak coupling type two-freedom belt-type easy to control
The delivery precision of conveying device, is particularly well-suited to the extraordinary production line high to required precision.
The drive roll is connected with bracket by the tenth rotation pair, and the follower rollers rotate secondary and support by the 11st
Frame connects, and the conveyer belt is arranged on drive roll and follower rollers, and the drive roll is driven by servomotor, by right
Servomotor carries out numerical control programming, it is possible to achieve the stepless speed regulation of conveyer belt and transporting velocity precise control.
By numerical control programming, controllable supporting mechanism can be made to realize that two-freedom flexibility is controllable, adjustable motion output, and then
Meet this kind of weak coupling type two-freedom belt-type conveying device easy to control realize the tape transport elevation angle, the two of delivery head
Free degree flexibility is controllable, adjustable, overcome conventional conveyor intelligence degree it is low, it is poor for applicability the problems such as.
The present invention's has the prominent advantages that：
1. controllable supporting mechanism of the present invention employs planar two-DOF seven-bar linkage design, is driven by servo electrical machinery system
Dynamic control, it is possible to achieve two-freedom flexibility is adjustable, controlled motion output, it is ensured that this kind of weak coupling type easy to control two is freely
Degree belt-type conveying device can realize the two-freedom of the tape transport elevation angle, delivery head under the control of numerical control program
It is flexible controllable, adjustable, overcome conventional conveyor intelligence degree it is low, it is poor for applicability the problems such as.
2. controllable supporting mechanism of the present invention employs parallelogram design, effectively reduces the degree of coupling of mechanism,
Make motion input that linear relationship is presented with output, kinematics model is simple, is not required to iterative numerical and the forward and inverse essence of kinematics is obtained
Really solve, not only reduce control difficulty and control system cost, and ensure that this kind of weak coupling type two-freedom easy to control
The delivery precision of belt-type conveying device, is particularly well-suited to the extraordinary production line high to required precision.
Description of the drawings
Fig. 1 is weak coupling of the present invention type two-freedom belt-type conveying device schematic diagram easy to control.
Fig. 2 is controllable supporting mechanism schematic diagram of the present invention
Fig. 3 is controllable supporting mechanism kinematic chain topological diagram of the present invention.
Fig. 4 is the bracket schematic diagram of weak coupling of the present invention type two-freedom belt-type conveying device easy to control.
Fig. 5 is that weak coupling of the present invention type two-freedom belt-type conveying device bracket portion assembling easy to control is illustrated
Figure.
Fig. 6 is one of weak coupling of the present invention type two-freedom belt-type conveying device schematic three dimensional views easy to control.
Fig. 7 for weak coupling of the present invention type two-freedom belt-type conveying device schematic three dimensional views easy to control two.
Fig. 8 is the conveyer belt two-freedom of weak coupling of the present invention type two-freedom belt-type conveying device easy to control
Flexible controllable, adjustable schematic diagram.
Specific embodiment
Technical scheme is described further below by way of drawings and Examples.
Control Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, a kind of weak coupling type two-freedom belt-type conveying dress easy to control
Put including controllable supporting mechanism, conveyer belt 17, drive roll 16, follower rollers 13.
Control Fig. 1, Fig. 2, Fig. 3, Fig. 4, the controllable supporting mechanism be planar two-DOF seven-bar linkage, including frame 1,
First component 3, second component 5, the 3rd component 23, the 4th component 21, the 5th component 8, the 6th component 10, support bar 7, bracket
12,3 one end of the first component is rotated secondary 2 by first and is connected with frame 1, and the other end is by the second rotation secondary 4 and the second structure
5 one end of part connects, and 5 other end of the second component is rotated secondary 6 by the 3rd and is connected with support bar 7, and the support bar 7 is by multiple
Close hinge 24 to be connected with frame 1,23 one end of the component is connected with frame by compound hinges 24, the other end is rotated by the 4th
Secondary 22 are connected with 21 one end of the 4th component, and 21 other end of the 4th component is rotated secondary 20 by the 5th and is connected with the 5th component 5,
5th component 8 is rotated secondary 19 by the 6th and is connected with support bar 7, and described 6th component, 10 one end rotates secondary 9 by the 7th
It is connected with the 5th component 8, the other end is connected with bracket 12 by eighth-turn dynamic secondary 11, and the bracket 12 rotates secondary 18 by the 9th
On support bar 7, the first component 3 and the 3rd component 23 are driving lever, are driven by rack-mounted servomotor
It is dynamic.
The kinematic chain loop that the first component 3, second component 5, support bar 7, frame 1 are constituted is returned for parallelogram
Road, so as to ensure that first component 3 has identical Angle Position, angular speed and angular acceleration with support bar 7.
The kinematic chain loop that 3rd component 23, the 4th component 21, the 5th component 8, support bar 7 are constituted is parallel four side
Shape loop, so as to ensure that the 3rd component 23 and the 5th component 8 by identical Angle Position, angular speed, angular acceleration.
The kinematic chain loop that the support bar 7, the 5th component 8, the 6th component 10, bracket 12 are constituted is returned for parallelogram
Road, so as to ensure that bracket 12 and the 5th component 8 have identical Angle Position, angular speed, angular acceleration.
As in the controllable supporting mechanism because each kinematic chain loop is designed using parallelogram, first component 3
With support bar 7, the 3rd component 23 is respectively provided with identical Angle Position, angular speed, angular acceleration with bracket 12, due to first component 3
Driving lever is with the 3rd component 23, thus, the motion |input paramete of controllable supporting mechanism is linear with output parameter, because
And effectively reduce the degree of coupling of mechanism, it is simple to simplify kinematics model, that is, be not required to iterative numerical be obtained kinematics just,
Inverse accurate solution, not only reduces control difficulty and control system cost, and ensure that this kind of weak coupling type easy to control two from
By the delivery precision of degree belt-type conveying device, the extraordinary production line high to required precision is particularly well-suited to.
Control Fig. 1, Fig. 2, Fig. 4, Fig. 5, Fig. 6, the drive roll 16 are rotated secondary 15 by the tenth and are connected with bracket 12, institute
Stating follower rollers 13 and secondary 14 being rotated by the 11st and be connected with bracket 12, the conveyer belt 25 is installed in drive roll 16 and driven
On cylinder 13, the drive roll 16 is driven by servomotor, by carrying out numerical control programming to servomotor, it is possible to achieve conveying
With 25 stepless speed regulation and transporting velocity precise control.
Control Fig. 1, Fig. 6, Fig. 7, Fig. 8, by numerical control programming, can make controllable supporting mechanism realize that two-freedom flexibility can
Control, adjustable motion output, and then meet this kind of weak coupling type two-freedom belt-type conveying device easy to control and realize conveyer belt
The conveying elevation angle, delivery head two-freedom flexibility it is controllable, adjustable, overcome that conventional conveyor intelligence degree is low, applicability
The problems such as difference.
Claims (3)
1. a kind of weak coupling type two-freedom belt-type conveying device easy to control, including controllable supporting mechanism, conveyer belt, active
Cylinder, follower rollers, it is characterised in that：
The controllable supporting mechanism is planar two-DOF seven-bar linkage, including frame, first component, second component, the 3rd structure
Part, the 4th component, the 5th component, the 6th component, support bar, bracket, described first component one end rotate secondary and machine by first
Frame connects, and the other end is rotated pair by second and is connected with second component one end, and the second component other end is rotated by the 3rd
Pair is connected with support bar, and the support bar is connected with frame by compound hinges, and described component one end passes through compound hinges and machine
Frame connects, and the other end is rotated pair by the 4th and is connected with the 4th component one end, and the 4th component other end is rotated by the 5th
Pair is connected with the 5th component, and the 5th component is rotated pair by the 6th and is connected with support bar, and described 6th component one end passes through
7th rotates pair is connected with the 5th component, and the other end is connected with bracket by the dynamic pair of eighth-turn, and the bracket is rotated by the 9th
It is secondary that on support bar, the first component and the 3rd component are driving lever,
The drive roll is rotated pair by the tenth and is connected with bracket, and the follower rollers are connected with bracket by the 11st rotation is secondary
Connect, the conveyer belt is arranged on drive roll and follower rollers.
2. a kind of weak coupling type two-freedom belt-type conveying device easy to control according to claim 1, it is characterised in that：
The kinematic chain loop that the first component, second component, support bar, frame are constituted is parallelogram loop,
The kinematic chain loop that 3rd component, the 4th component, the 5th component, support bar are constituted is parallelogram loop,
The kinematic chain loop that the support bar, the 5th component, the 6th component, bracket are constituted is parallelogram loop.
3. a kind of weak coupling type two-freedom belt-type conveying device easy to control according to claim 1, it is characterised in that：
Driving lever in the drive roll and controllable supporting mechanism is driven by servo electrical machinery system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611112517.5A CN106542268B (en) | 2016-12-07 | 2016-12-07 | Low-coupling-degree easily-controlled two-degree-of-freedom belt type conveying device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611112517.5A CN106542268B (en) | 2016-12-07 | 2016-12-07 | Low-coupling-degree easily-controlled two-degree-of-freedom belt type conveying device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106542268A true CN106542268A (en) | 2017-03-29 |
| CN106542268B CN106542268B (en) | 2023-01-17 |
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| CN201611112517.5A Active CN106542268B (en) | 2016-12-07 | 2016-12-07 | Low-coupling-degree easily-controlled two-degree-of-freedom belt type conveying device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108639673A (en) * | 2018-06-19 | 2018-10-12 | 佛山市何公桥科技有限公司 | A kind of Tea Production transmitting device |
| CN114803419A (en) * | 2022-05-31 | 2022-07-29 | 杭州电子科技大学 | Unmanned aerial vehicle parking apron capable of automatically loading and unloading goods and working method thereof |
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| CN206243924U (en) * | 2016-12-07 | 2017-06-13 | 山东交通学院 | A kind of weak coupling type two-freedom belt-type conveying device easy to control |
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| WO2007122397A1 (en) * | 2006-04-25 | 2007-11-01 | Patrick John Trainor | Exercise apparatus |
| CN102886777A (en) * | 2012-10-25 | 2013-01-23 | 浙江理工大学 | Two-degree-of-freedom parallel mechanism with large horizontal displacement |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108639673A (en) * | 2018-06-19 | 2018-10-12 | 佛山市何公桥科技有限公司 | A kind of Tea Production transmitting device |
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| CN114803419B (en) * | 2022-05-31 | 2024-03-26 | 杭州电子科技大学 | Unmanned aerial vehicle parking apron capable of automatically loading and unloading goods and working method thereof |
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| CN106542268B (en) | 2023-01-17 |
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Effective date of registration: 20230625 Address after: No. 6 Tianjia Village, Jiuxianqiao Sub district Office, Yanzhou District, Jining City, Shandong Province, 272000 (South of 327 National Road) Patentee after: Shandong Hongda installation Co.,Ltd. Address before: 250023 No. 5 Jiao Tong Road, Tianqiao District, Shandong, Ji'nan Patentee before: SHANDONG JIAOTONG University |
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