CN106542268B - Low-coupling-degree easily-controlled two-degree-of-freedom belt type conveying device - Google Patents
Low-coupling-degree easily-controlled two-degree-of-freedom belt type conveying device Download PDFInfo
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- CN106542268B CN106542268B CN201611112517.5A CN201611112517A CN106542268B CN 106542268 B CN106542268 B CN 106542268B CN 201611112517 A CN201611112517 A CN 201611112517A CN 106542268 B CN106542268 B CN 106542268B
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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
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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
- 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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Abstract
A low-coupling-degree easily-controlled two-degree-of-freedom belt type conveying device comprises a controllable supporting mechanism, a conveying belt, a driving roller and a driven roller, wherein the controllable supporting mechanism adopts a planar two-degree-of-freedom seven-rod mechanism design, and under the premise that the conveying inclination angle and the conveying height of the conveying belt can be adjusted by the belt type conveying device, the coupling degree of the controllable supporting mechanism is effectively reduced by utilizing a parallelogram design, so that the forward and inverse solution of kinematics is facilitated, the programming control difficulty is effectively reduced, and the research and development cost of a control system is reduced; in addition, the controllable supporting mechanism is not only connected by the revolute pair, but also is provided with the active pair on the frame, so that the low-coupling-degree easy-control type two-freedom-degree belt type conveying device has the advantages of high reliability, high transmission efficiency, low center of gravity, easy control and the like, and is particularly suitable for modern production lines, digital factories and the like.
Description
Technical Field
The invention relates to the field of belt conveyors, in particular to a low-coupling-degree easily-controlled two-degree-of-freedom belt conveyor.
Background
The belt conveyor has the advantages of large conveying capacity, strong universality and the like, is widely applied to industries such as mines, metallurgy, coal and the like, and is used for conveying loose materials or finished articles. However, with the development of information technology with computer and communication as the core and the transformation and upgrade of the industrial production mode, the traditional belt conveyor is difficult to adapt to the flexible production line requirements of digital factories and the like due to the problems of low intelligence degree, lack of freedom of the conveying belt supporting mechanism and the like. The planar multi-degree-of-freedom link mechanism can realize multi-motion input, complex controllable and adjustable flexible track output, introduces controllable mechanism technology and robot technology into the design of the conveyor, and can effectively improve the flexibility and the intelligent degree of the existing conveyor.
The configuration of the mechanism not only determines the mechanical performance and the application range of the mechanical device, but also directly determines the difficulty of the control of the mechanism. Because the belt conveyor adopting the controllable supporting mechanism realizes the flexible controllability and adjustability of the posture by means of numerical control programming, generally speaking, the more complicated the controllable supporting mechanism is, the easier the complex motion output is to realize, but the higher the coupling degree of the mechanism is, the more difficult the kinematics forward and backward solution calculation is, and the more difficult the numerical control programming control is. Although the novel conveying device adopting the planar two-degree-of-freedom mechanism design can realize the flexibility adjustability and controllability of two degrees of freedom of conveying elevation angle and conveying height of the conveying belt, and meets the use requirements of a flexible production line, the mechanism coupling degree is high, the nonlinear relation exists between the motion input and the motion output, the kinematics model is complex, and meanwhile, a larger error exists in the numerical iteration solving process, so that the control difficulty and the control system cost are increased, the conveying precision of the conveying device is influenced, and the novel conveying device is particularly not favorable for a special production line with extremely high precision requirements.
Mechanical product innovation is an essential method for improving and overcoming the problems and defects of the known products, and mechanism configuration innovation is the most essential way and the most important and most core content of mechanical product innovation. How to provide a two-degree-of-freedom belt conveyor based on a topological comprehensive method, which has the advantages of low mechanism coupling degree, simple kinematic model, easy control and the like on the premise of having the characteristics of high intelligent degree, good flexibility and the like and meeting the requirements of two-degree-of-freedom flexibility controllability, adjustable motion output and the like of a controllable supporting mechanism, and becomes an urgent engineering problem to be solved in the field of belt conveyors.
Disclosure of Invention
The invention aims to provide a low-coupling-degree easily-controlled two-degree-of-freedom belt type conveying device, which has the advantages of low mechanism coupling degree, simple kinematic model, easiness in control and the like on the premise of overcoming the known problems of the traditional belt type conveyor, having the characteristics of high intelligent degree, good adaptability and the like, and being capable of meeting the requirements of two-degree-of-freedom flexibility controllability, adjustable motion output and the like of a controllable supporting mechanism.
The invention achieves the above purpose by the following technical scheme:
a low-coupling-degree easily-controlled two-degree-of-freedom belt type conveying device comprises a controllable supporting mechanism, a conveying belt, a driving roller and a driven roller.
The controllable supporting mechanism is a planar two-degree-of-freedom seven-rod mechanism and comprises a rack, a first component, a second component, a third component, a fourth component, a fifth component, a sixth component, a supporting rod and a bracket, wherein one end of the first component is connected with the rack through a first revolute pair, the other end of the first component is connected with one end of the second component through a second revolute pair, the other end of the second component is connected with the supporting rod through a third revolute pair, the supporting rod is connected with the rack through a composite hinge, one end of the component is connected with the rack through a composite hinge, the other end of the component is connected with one end of the fourth component through a fourth revolute pair, the other end of the fourth component is connected with the fifth component through a fifth revolute pair, the fifth component is connected with the supporting rod through a sixth revolute pair, one end of the sixth component is connected with the fifth component through a seventh revolute pair, the other end of the sixth component is connected with the bracket through an eighth revolute pair, the bracket is installed on the supporting rod through a ninth revolute pair, and the first component and the third component are driving rods and are driven by a servo motor installed on the rack.
The kinematic chain loop formed by the first member, the second member, the support rod and the frame is a parallelogram loop, so that the first member and the support rod are ensured to have the same angular position, angular velocity and angular acceleration.
The kinematic chain loop formed by the third member, the fourth member, the fifth member and the support rod is a parallelogram loop, so that the third member and the fifth member are ensured to have the same angular position, angular velocity and angular acceleration.
And a kinematic chain loop formed by the support rod, the fifth member, the sixth member and the bracket is a parallelogram loop, so that the bracket and the fifth member have the same angular position, angular velocity and angular acceleration.
Because each kinematic chain loop in the controllable supporting mechanism adopts a parallelogram design, the first member, the supporting rod, the third member and the bracket have the same angular position, angular velocity and angular acceleration, and the first member and the third member are both driving rods, the motion input parameters and the output parameters of the controllable supporting mechanism are in a linear relation, so that the coupling degree of the mechanism is effectively reduced, the kinematics model is simplified, namely, the kinematics forward and inverse precise solutions can be obtained without numerical iteration, the control difficulty and the control system cost are reduced, the conveying precision of the low-coupling-degree easily-controlled two-freedom-degree belt type conveying device is ensured, and the controllable supporting mechanism is particularly suitable for special production lines with extremely high precision requirements.
The driving roller is connected with the bracket through a tenth revolute pair, the driven roller is connected with the bracket through an eleventh revolute pair, the conveyer belt is installed on the driving roller and the driven roller, the driving roller is driven by a servo motor, and stepless speed regulation and accurate control of the conveying speed of the conveyer belt can be realized by carrying out numerical control programming on the servo motor.
Through numerical control programming, the controllable supporting mechanism can realize flexible controllable and adjustable motion output of two degrees of freedom, so that the two-degree-of-freedom belt type conveying device with low coupling degree easy control type can realize flexible controllable and adjustable two degrees of freedom of conveying elevation angle and conveying height of a conveying belt, and the problems of low intelligent degree, poor applicability and the like of the traditional conveyor are solved.
The invention has the outstanding advantages that:
1. the controllable supporting mechanism adopts a planar two-degree-of-freedom seven-rod mechanism design, is driven and controlled by a servo motor system, can realize two-degree-of-freedom flexible adjustable and controllable motion output, ensures that the two-degree-of-freedom belt type conveying device with the low coupling degree easy control type can realize two-degree-of-freedom flexible controllable and adjustable conveying elevation angle and conveying height of a conveying belt under the control of a numerical control program, and overcomes the problems of low intelligent degree, poor applicability and the like of the traditional conveyor.
2. The controllable supporting mechanism adopts a parallelogram design, effectively reduces the coupling degree of the mechanism, enables motion input and motion output to present a linear relation, has a simple kinematics model, can obtain a kinematics positive and negative accurate solution without numerical iteration, not only reduces the control difficulty and the control system cost, but also ensures the conveying precision of the low-coupling-degree easy-control type two-freedom-degree belt type conveying device, and is particularly suitable for special production lines with extremely high precision requirements.
Drawings
FIG. 1 is a schematic view of a low coupling degree easy-control type two-degree-of-freedom belt conveyor according to the present invention.
FIG. 2 is a schematic view of the controllable supporting mechanism according to the present invention
Fig. 3 is a topological diagram of a kinematic chain of the controllable support mechanism according to the present invention.
Fig. 4 is a schematic view of a bracket of the low coupling easy-control two-degree-of-freedom belt conveyor according to the present invention.
Fig. 5 is a schematic view of the assembly of the bracket part of the low-coupling easy-control two-degree-of-freedom belt conveyor of the present invention.
Fig. 6 is one of three-dimensional schematic diagrams of the low-coupling easy-control two-degree-of-freedom belt conveyor of the present invention.
Fig. 7 is a second three-dimensional schematic view of the low coupling easy-control two-degree-of-freedom belt conveyor of the present invention.
FIG. 8 is a schematic diagram of two-degree-of-freedom flexible control and adjustment of a conveyor belt of the low-coupling-degree easy-control two-degree-of-freedom belt conveyor device according to the present invention.
Detailed Description
The technical scheme of the invention is further explained by the attached drawings and the embodiment.
Referring to fig. 1, 2, 3, 4, 5 and 6, a low coupling degree easy-control two-degree-of-freedom belt conveyor includes a controllable supporting mechanism, a conveyor belt 17, a driving roller 16 and a driven roller 13.
Referring to fig. 1, 2, 3 and 4, the controllable supporting mechanism is a planar two-degree-of-freedom seven-bar mechanism, and includes a frame 1, a first member 3, a second member 5, a third member 23, a fourth member 21, a fifth member 8, a sixth member 10, a supporting bar 7, and a bracket 12, one end of the first member 3 is connected to the frame 1 through a first revolute pair 2, the other end of the first member is connected to one end of the second member 5 through a second revolute pair 4, the other end of the second member 5 is connected to the supporting bar 7 through a third revolute pair 6, the supporting bar 7 is connected to the frame 1 through a compound hinge 24, one end of the member 23 is connected to the frame through the compound hinge 24, the other end of the member is connected to one end of the fourth member 21 through a fourth revolute pair 22, the other end of the fourth member 21 is connected to the fifth member 5 through a fifth revolute pair 20, the fifth member 8 is connected to the supporting bar 7 through a sixth revolute pair 19, one end of the sixth member 10 is connected to the fifth member 8 through a seventh revolute pair 9, the other end of the bracket 11 is connected to the bracket 12, the bracket 12 is mounted on the frame 12, and the servo motor is mounted on the frame 1, and the servo motor 23 and the driving bar 23 is mounted on the frame.
The kinematic chain loop formed by the first member 3, the second member 5, the support rod 7 and the frame 1 is a parallelogram loop, so that the first member 3 and the support rod 7 have the same angular position, angular velocity and angular acceleration.
The kinematic chain loop formed by the third member 23, the fourth member 21, the fifth member 8 and the support rod 7 is a parallelogram loop, so that the third member 23 and the fifth member 8 are ensured to have the same angular position, angular velocity and angular acceleration.
The kinematic chain loop formed by the support rod 7, the fifth member 8, the sixth member 10 and the bracket 12 is a parallelogram loop, so that the bracket 12 and the fifth member 8 have the same angular position, angular velocity and angular acceleration.
Because each kinematic chain loop in the controllable supporting mechanism adopts a parallelogram design, the first member 3, the supporting rod 7, the third member 23 and the bracket 12 have the same angular position, angular velocity and angular acceleration, and because the first member 3 and the third member 23 are active rods, the motion input parameters and the motion output parameters of the controllable supporting mechanism are in a linear relation, the coupling degree of the mechanism is effectively reduced, the kinematics model is simplified, namely, the kinematics positive and negative accurate solutions can be obtained without numerical iteration, the control difficulty and the control system cost are reduced, the conveying precision of the low-coupling-degree two-freedom-degree belt type conveying device is ensured, and the controllable supporting mechanism is particularly suitable for special production lines with extremely high precision requirements.
Referring to fig. 1, 2, 4, 5 and 6, the driving roller 16 is connected to the bracket 12 through a tenth revolute pair 15, the driven roller 13 is connected to the bracket 12 through an eleventh revolute pair 14, the conveying belt 25 is installed on the driving roller 16 and the driven roller 13, the driving roller 16 is driven by a servo motor, and the servo motor is digitally programmed to realize stepless speed regulation and accurate control of the conveying speed of the conveying belt 25.
Referring to fig. 1, 6, 7 and 8, through numerical control programming, the controllable supporting mechanism can realize two-degree-of-freedom flexible controllable and adjustable motion output, so that the two-degree-of-freedom belt type conveying device with low coupling degree and easy control type can realize two-degree-of-freedom flexible controllable and adjustable conveying elevation and conveying height of the conveying belt, and the problems of low intelligent degree, poor applicability and the like of the traditional conveyor are solved.
Claims (1)
1. The utility model provides a two degree of freedom belt conveyor of low coupling degree easy control type, includes controllable supporting mechanism, conveyer belt, initiative cylinder, driven cylinder, its characterized in that:
the controllable supporting mechanism is a planar two-degree-of-freedom seven-bar mechanism and comprises a rack, a first member, a second member, a third member, a fourth member, a fifth member, a sixth member, a supporting bar and a bracket, wherein one end of the first member is connected with the rack through a first revolute pair, the other end of the first member is connected with one end of the second member through a second revolute pair, the other end of the second member is connected with the supporting bar through a third revolute pair, the supporting bar is connected with the rack through a composite hinge, one end of the member is connected with the rack through a composite hinge, the other end of the member is connected with one end of the fourth member through a fourth revolute pair, the other end of the fourth member is connected with the fifth member through a fifth revolute pair, the fifth member is connected with the supporting bar through a sixth revolute pair, one end of the sixth member is connected with the fifth member through a seventh revolute pair, the other end of the sixth member is connected with the bracket through an eighth revolute pair, the bracket is installed on the supporting bar through a ninth revolute pair, the first member and the third member are driving bars, the driving roller is connected with the bracket through a tenth revolute pair, the driven roller is connected with the bracket, and the driven roller is installed on the conveyer belt and the driven roller;
the kinematic chain loop formed by the first member, the second member, the support rod and the rack is a parallelogram loop, the kinematic chain loop formed by the third member, the fourth member, the fifth member and the support rod is a parallelogram loop, and the kinematic chain loop formed by the support rod, the fifth member, the sixth member and the bracket is a parallelogram loop;
the driving roller and the driving rod in the controllable supporting mechanism are driven by a servo motor system.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611112517.5A 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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| CN201611112517.5A 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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| CN106542268A CN106542268A (en) | 2017-03-29 |
| CN106542268B true CN106542268B (en) | 2023-01-17 |
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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 |
| 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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| 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 |
| CN106013289A (en) * | 2016-06-24 | 2016-10-12 | 山东交通学院 | Multi-unit-linear-driven heavy backacting shovel loading robot with two freedom degrees |
| CN106081932A (en) * | 2016-06-24 | 2016-11-09 | 山东交通学院 | A kind of multiple-unit connecting rod drives plane controlled skidding formula fork wood machine |
| 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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- 2016-12-07 CN CN201611112517.5A patent/CN106542268B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN106013289A (en) * | 2016-06-24 | 2016-10-12 | 山东交通学院 | Multi-unit-linear-driven heavy backacting shovel loading robot with two freedom degrees |
| CN106081932A (en) * | 2016-06-24 | 2016-11-09 | 山东交通学院 | A kind of multiple-unit connecting rod drives plane controlled skidding formula fork wood machine |
| 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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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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