CN106607864A - Variable freedom degree multi-connecting-rod fodder stacking mechanical arm driven by servo motor - Google Patents
Variable freedom degree multi-connecting-rod fodder stacking mechanical arm driven by servo motor Download PDFInfo
- Publication number
- CN106607864A CN106607864A CN201611062480.XA CN201611062480A CN106607864A CN 106607864 A CN106607864 A CN 106607864A CN 201611062480 A CN201611062480 A CN 201611062480A CN 106607864 A CN106607864 A CN 106607864A
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- CN
- China
- Prior art keywords
- connecting rod
- locking device
- wrist
- rod
- drive
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
Abstract
A variable freedom degree multi-connecting-rod fodder stacking mechanical arm driven by a servo motor comprises a base 1, a big arm lifting mechanism, a wrist connecting rod pitching mechanism, a wrist 27, a paw 28, a servo drive device, a first locking device 5 and a second locking device 18. The big arm lifting mechanism is composed of a big arm 9 and a lifting mechanism. The wrist connecting rod pitching mechanism is composed of a wrist connecting rod 22 and a pitching mechanism. The first locking device 5 and the second locking device 18 are arranged on a third rotation pair 6 and a seventh rotation pair 17 correspondingly, and conduct timely locking according to different work conditions. The servo drive device comprises a first servo motor which is connected with a first drive rod 14 so as to drive the first drive rod 14 to rotate. The first locking device 5 and the second locking device 18 conduct locking in an electromagnetic manner. The variable freedom degree multi-connecting-rod fodder stacking mechanical arm overcomes the defects that a hydraulic machine hydraulic system is complex, the machining precision requirement is high, and oil leakage is likely to happen; the locking devices are adopted in the rotation pairs so that the two-freedom-degree operation can be achieved, and the number of adopted servo drive motors is smaller than the freedom degree of a fodder stacking mechanical arm connecting rod mechanism.
Description
Technical field
The present invention relates to mechanical field, particularly a kind of servomotor drives can variable freedom multi link feed stacking machinery
Handss.
Background technology
Over the years, because the personnel of labour market are in short supply, human cost rises year by year, promotes feed stacking machinery
Extensive application of the handss in feed stacking operation.Feed stacking mechanical hand has mechanical type and fluid pressure type two types, current feedstuff
The mechanical arm great majority of palletizing mechanical arm are hydraulic-drivens, due to hydraulic drive using hydraulic oil as the medium for transmitting power,
There is problems with：Its startability is poor, and easily because producing leakage after inner member abrasion, and the hydraulic oil for leaking can be dirty
Dye environment, affects quality of the fodder；Hydraulic oil temperature influence is larger, and aggregate efficiency is relatively low, there is noise and vibration sometimes.Sometimes
There is overheated, the phenomenon such as powerless in work；Hydraulic Elements requirement on machining accuracy is high, and matching requirements are strict, and manufacture is more difficult, uses
Middle maintenance requires that technology is higher, and difficulty is larger.With the increase of feed stacking mechanical hand function, its hydraulic system is increasingly
Complexity, breaks down with more sudden, disguised.Mechanical type feed stacking mechanical hand is to realize feedstuff using mechanical transmissioning piece
Piling action, have the advantages that it is sturdy and durable, but traditional single-degree-of-freedom mechanical type feed stacking mechanical hand can not complete multiple
Miscellaneous action, range of application is extremely limited, the electronic feed stacking mechanical hand of mechanical type controllable mechanism, and with linkage liquid is instead of
Pressure transmission, when driving lever is driven by servomotor, easily realizes automatization, NC postprocessing control, solves hydraulic system presence
Some shortcomings, but exist and need to be equipped with the controlled motor of linkage degree of freedom equivalent amount to be controlled complex structure
Mechanism's weight, big and high cost the problem of movement inertia brought.
Variable Freedom Mechanism is by the functional requirement that is combined into new topological structure to adapt to different phase.Can apply at present
It is also little in actual Variable Freedom Mechanism, had not seen the Variable Freedom Mechanism for being applied to feed stacking mechanical hand.
The content of the invention
It is an object of the invention to provide a kind of servomotor drive can variable freedom multi link feed stacking mechanical hand, gram
The shortcomings of fluid pressure type feed stacking mechanical hand hydraulic system element required precision height, complex structure, easy oil leakage is taken, overcomes open chain to tie
The motor of structure is required for being arranged on the shortcoming of joint position, and causes the quantity of controllable drive motor to be less than feed stacking machine
The degree of freedom of tool handss linkage, overcomes the electronic feed stacking mechanical hand structure of existing machinery formula to need to be equipped with and linkage freedom
The controlled motor of degree equivalent amount simplifies the complexity of structure come the shortcoming being controlled, and the weight of reducing mechanism, motion are used
Amount, volume and cost.For achieving the above object, the invention provides a kind of driving of servomotor can variable freedom multi link feedstuff
Palletizing mechanical arm, including base 1, large arm elevating mechanism, wrist connecting rod luffing mechanism, wrist 27, paw 28, servo drive
And first locking device 5 and the second locking device 18；The large arm elevating mechanism is made up of large arm 9 and elevating mechanism, described
Large arm 9 rotates secondary 4 and is connected in frame 1 by the tenth, and one end of fourth link 3 of the elevating mechanism rotates secondary 2 by second
It is connected on base 1, the other end rotates secondary 6 and is connected with the 5th connecting rod 7 by the 3rd, and the other end of the 5th connecting rod 7 passes through the 4th turn
Dynamic secondary 8 are connected with large arm 9；The wrist connecting rod luffing mechanism is made up of wrist connecting rod 22 and luffing mechanism, the wrist connecting rod
22 rotate secondary 12 by the 12nd is connected in large arm 9, and the luffing mechanism is by driving lever 14, first connecting rod 16, third connecting rod
10 and second connecting rod 20 constitute, the one end of driving lever 14 rotates secondary 13 and is connected on base 1 by first, and the other end passes through the 5th turn
Dynamic secondary 15 are connected with first connecting rod 16；The one end of first connecting rod 16 rotates secondary 17 and is connected on third connecting rod 10 by the 7th, and first
The other end of connecting rod 16 rotates secondary 19 and is connected on second connecting rod 20 by the 6th；The other end of third connecting rod 10 is by the dynamic pair of eighth-turn
11 are connected in large arm 9, and the other end of second connecting rod 20 rotates secondary 21 and is connected with wrist connecting rod 22 by the 9th；First locking
The locking device 18 of device 5 and second is separately mounted to the 3rd rotation secondary 6 and the 7th and rotates on secondary 17, carries out according to different operating modes
Locking in good time；Servo drive includes the first servomotor, is connected to drive it to rotate with the first driving lever 14；Described
One locking device 5 and the second locking device 18 are locked using electromagnetic mode.
A kind of servomotor of the present invention drive can variable freedom multi link feed stacking mechanical hand adopt controllable many bar closed chains
Mechanism, the motor for overcoming open-chain structure is required for being arranged on the shortcoming of joint position, improves the steady of arm operation
Property and reliability, without cumulative error, precision is higher；Compact conformation, rigidity is high, large carrying capacity, inertia are low, dynamic property is good,
Arm motion track flexible and diverse.Install locking device additional on linkage, and allow it to be locked according to the different operating modes of mechanism
Specific rotation is secondary with loosening, and the degree of freedom of mechanism is reduced in good time, realizes in the case where expected requirement is completed, and uses
The quantity of controllable drive motor is capable of achieving two less than the degree of freedom of feed stacking mechanical hand linkage using a driving lever
Degree of freedom feed stacking operation, overcomes existing feed stacking mechanical hand to need to be equipped with the control with linkage degree of freedom equivalent amount
Motor processed simplifies the complexity of structure the shortcoming that is controlled, the weight of reducing mechanism, movement inertia, volume and cost,
The controllability and stability of mechanism is increased, work efficiency is improve.Also overcome fluid pressure type feed stacking mechanical hand liquid simultaneously
Pressure system element required precision height, complex structure, easy oil leakage, poor reliability, the low shortcoming of transmission efficiency.
Description of the drawings
Fig. 1 is that of the present invention driving with a kind of servomotor can variable freedom multi link feed stacking mechanical hand
Structural representation.
Specific embodiment
It is of the present invention with a kind of servomotor drive can variable freedom multi link feed stacking mechanical hand, including bottom
Seat 1, large arm elevating mechanism, wrist connecting rod luffing mechanism, wrist 27, paw 28, servo drive and the first locking device 5
With the second locking device 18；The large arm elevating mechanism is made up of large arm 9 and elevating mechanism, and the large arm 9 is rotated by the tenth
Secondary 4 are connected in frame 1, and one end of fourth link 3 of the elevating mechanism rotates secondary 2 and is connected on base 1 by second, another
End rotates secondary 6 and is connected with the 5th connecting rod 7 by the 3rd, and the other end of the 5th connecting rod 7 rotates secondary 8 and is connected with large arm 9 by the 4th；Institute
State wrist connecting rod luffing mechanism to be made up of wrist connecting rod 22 and luffing mechanism, the wrist connecting rod 22 rotates secondary 12 by the 12nd
It is connected in large arm 9, the luffing mechanism is made up of driving lever 14, first connecting rod 16, third connecting rod 10 and second connecting rod 20, it is main
The one end of lever 14 rotates secondary 13 and is connected on base 1 by first, and the other end rotates secondary 15 and connects with first connecting rod 16 by the 5th
Connect；The one end of first connecting rod 16 rotates secondary 17 and is connected on third connecting rod 10 by the 7th, and the other end of first connecting rod 16 passes through the 6th
Rotate secondary 19 to be connected on second connecting rod 20；The other end of third connecting rod 10 is connected in large arm 9 by eighth-turn dynamic secondary 11, and second
The other end of connecting rod 20 rotates secondary 21 and is connected with wrist connecting rod 22 by the 9th；The locking device of first locking device 5 and second
18 are separately mounted to the 3rd rotation secondary 6 and the 7th rotates on secondary 17, is locked in good time according to different operating modes；Servo-drive is filled
Put including the first servomotor, be connected to drive it to rotate with the first driving lever 14；First locking device 5 and second is locked
Tight device 18 is locked using electromagnetic mode.
Operation principle and process：In operation, when large arm 9 is lifted, the first locking device 5 is opened, and the 3rd rotates secondary 6 recovers
Degree of freedom, the second locking device 18 is locked, and the 7th rotates secondary 17 loses degree of freedom, now large arm 9 under the effect of driving lever 14 around
Tenth rotates secondary 4 rotates lifting.During wrist connecting rod pitching, the second locking device 18 is opened, the degree of affranchising of the 7th kinematic pair 17,
First locking device 5 is locked, and the locking of the 3rd kinematic pair 6 loses degree of freedom, and the respect thereto 1 of large arm 9 loses degree of freedom, now leading
Under lever 14 drives, move across first connecting rod 16, third connecting rod 10 and second connecting rod 20 and pass to wrist connecting rod 22 and realize wrist
Connecting rod pitching.In whole operation process, the first locking device 5 and the second locking device 18 divide according to different working conditions
Xuan Ze not tightly lock or open, the motions such as large arm lifting and flexible, wrist connecting rod 22 and the pitching of wrist 27 are completed jointly, realize handss
The feed stacking operation of pawl 28.First locking device 5 and the second locking device 18 can be locked using electromagnetic mode, and control is held
Easily realize.
The invention enables degree of freedom of the quantity of controllable drive motor less than feed stacking mechanical hand linkage, overcomes existing
Have the shortcomings that feed stacking mechanical hand needs to be equipped with the controlled motor of linkage degree of freedom equivalent amount to be controlled, letter
Change the complexity of structure, the weight of reducing mechanism, movement inertia, volume and cost, the feed stacking mechanical hand of the present invention will
Each connecting rod rod member makes lighter bar, so that whole mechanism kinematic inertia is little, dynamic performance is good, it is easy to control, by arranging
Revolving dial, makes the revolution work space that feed stacking mechanical hand possesses 360 degree, and Work Space Range is big.
Claims (1)
1. drive can variable freedom multi link feed stacking mechanical hand for a kind of servomotor, it is characterised in that include：It is base 1, big
Arm elevating mechanism, wrist connecting rod luffing mechanism, wrist 27, paw 28, servo drive and the first locking device 5 and second
Locking device 18；The large arm elevating mechanism is made up of large arm 9 and elevating mechanism, and the large arm 9 rotates secondary 4 and connects by the tenth
In frame 1, one end of fourth link 3 of the elevating mechanism rotates secondary 2 and is connected on base 1 by second, and the other end passes through
3rd rotates secondary 6 is connected with the 5th connecting rod 7, and the other end of the 5th connecting rod 7 rotates secondary 8 and is connected with large arm 9 by the 4th；The wrist
Connecting rod luffing mechanism is made up of wrist connecting rod 22 and luffing mechanism, and the wrist connecting rod 22 rotates secondary 12 and is connected to by the 12nd
In large arm 9, the luffing mechanism is made up of driving lever 14, first connecting rod 16, third connecting rod 10 and second connecting rod 20, driving lever 14
One end rotates secondary 13 and is connected on base 1 by first, and the other end rotates secondary 15 and is connected with first connecting rod 16 by the 5th；First
The one end of connecting rod 16 rotates secondary 17 and is connected on third connecting rod 10 by the 7th, and the other end of first connecting rod 16 rotates secondary 19 by the 6th
It is connected on second connecting rod 20；The other end of third connecting rod 10 is connected in large arm 9 by eighth-turn dynamic secondary 11, and second connecting rod 20 is another
One end rotates secondary 21 and is connected with wrist connecting rod 22 by the 9th；The locking device 18 of first locking device 5 and second is pacified respectively
It is mounted in the 3rd rotation secondary 6 and the 7th to rotate on secondary 17, is locked in good time according to different operating modes；Servo drive includes the
One servomotor, is connected to drive it to rotate with the first driving lever 14；The locking device 18 of first locking device 5 and second
Locked using electromagnetic mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611062480.XA CN106607864A (en) | 2016-11-28 | 2016-11-28 | Variable freedom degree multi-connecting-rod fodder stacking mechanical arm driven by servo motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611062480.XA CN106607864A (en) | 2016-11-28 | 2016-11-28 | Variable freedom degree multi-connecting-rod fodder stacking mechanical arm driven by servo motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106607864A true CN106607864A (en) | 2017-05-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611062480.XA Pending CN106607864A (en) | 2016-11-28 | 2016-11-28 | Variable freedom degree multi-connecting-rod fodder stacking mechanical arm driven by servo motor |
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| CN (1) | CN106607864A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106826913A (en) * | 2016-11-30 | 2017-06-13 | 广西大学 | One kind drives variable active degree multi-connecting-rod mechanism using servomotor |
Citations (8)
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| US4756662A (en) * | 1986-03-31 | 1988-07-12 | Agency Of Industrial Science & Technology | Varible compliance manipulator |
| JP2001254798A (en) * | 2000-03-08 | 2001-09-21 | Natl Inst Of Advanced Industrial Science & Technology Meti | Multi-degree-of-freedom driving mechanism by parallel mechanism |
| CN104047309A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Controllable multi-connecting-rod loading machine with active metamorphic function |
| CN104612189A (en) * | 2014-12-25 | 2015-05-13 | 广西大学 | Rotatable type multi-freedom-degree controllable excavating mechanism with active cell changing function |
| CN104674873A (en) * | 2015-03-18 | 2015-06-03 | 广西大学 | Metamorphic mechanism type dumping excavator |
| CN204658449U (en) * | 2015-06-08 | 2015-09-23 | 广西大学 | A kind of allosteric state large space robot palletizer mechanism |
| CN104929167A (en) * | 2015-06-04 | 2015-09-23 | 广西大学 | Active metamorphic mechanism type controllable excavating mechanism |
| CN105887950A (en) * | 2016-06-01 | 2016-08-24 | 广西大学 | Initiative metamorphic multi-link controllable mechanism type backhoe excavator |
-
2016
- 2016-11-28 CN CN201611062480.XA patent/CN106607864A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4756662A (en) * | 1986-03-31 | 1988-07-12 | Agency Of Industrial Science & Technology | Varible compliance manipulator |
| JP2001254798A (en) * | 2000-03-08 | 2001-09-21 | Natl Inst Of Advanced Industrial Science & Technology Meti | Multi-degree-of-freedom driving mechanism by parallel mechanism |
| CN104047309A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Controllable multi-connecting-rod loading machine with active metamorphic function |
| CN104612189A (en) * | 2014-12-25 | 2015-05-13 | 广西大学 | Rotatable type multi-freedom-degree controllable excavating mechanism with active cell changing function |
| CN104674873A (en) * | 2015-03-18 | 2015-06-03 | 广西大学 | Metamorphic mechanism type dumping excavator |
| CN104929167A (en) * | 2015-06-04 | 2015-09-23 | 广西大学 | Active metamorphic mechanism type controllable excavating mechanism |
| CN204658449U (en) * | 2015-06-08 | 2015-09-23 | 广西大学 | A kind of allosteric state large space robot palletizer mechanism |
| CN105887950A (en) * | 2016-06-01 | 2016-08-24 | 广西大学 | Initiative metamorphic multi-link controllable mechanism type backhoe excavator |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106826913A (en) * | 2016-11-30 | 2017-06-13 | 广西大学 | One kind drives variable active degree multi-connecting-rod mechanism using servomotor |
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Application publication date: 20170503 |