CN106607866A - Industrial waste grabbing and loading method with variable-range-of-motion connecting rod mechanism driven by servo motor - Google Patents
Industrial waste grabbing and loading method with variable-range-of-motion connecting rod mechanism driven by servo motor Download PDFInfo
- Publication number
- CN106607866A CN106607866A CN201611083462.XA CN201611083462A CN106607866A CN 106607866 A CN106607866 A CN 106607866A CN 201611083462 A CN201611083462 A CN 201611083462A CN 106607866 A CN106607866 A CN 106607866A
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- CN
- China
- Prior art keywords
- connecting rod
- large arm
- driving lever
- base
- industrial waste
- Prior art date
- 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
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
-
- 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
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
-
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
-
- 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
- B65G65/00—Loading or unloading
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The invention discloses an industrial waste grabbing and loading method with a variable-range-of-motion connecting rod mechanism driven by a servo motor. The industrial waste grabbing and loading method is characterized in that the variable-range-of-motion connecting rod mechanism driven by the servo motor comprises a base, a large arm telescoping mechanism, a lifting mechanism, a wrist connecting rod pitching mechanism, a wrist, a paw, a servo driving device and two locking devices, wherein the large arm telescoping mechanism comprises a first connecting rod, a second connecting rod and a third connecting rod, one end of the first connecting rod is connected with the base by virtue of a first revolving pair, the other end of the first connecting rod is connected with one end of the third connecting rod by virtue of a third revolving pair, the other end of the third connecting rod is connected with the second connecting rod by virtue of a fourth revolving pair, one end of the second connecting rod is connected with the base by virtue of a second revolving pair, the other end of the second connecting rod is connected with a large arm by virtue of a fifth revolving pair, and the locking devices are installed on the revolving pairs. According to the industrial waste grabbing and loading method, the connecting rod transmission mechanism is used for replacing traditional hydraulic transmission, so that the defects of complex hydraulic system, easiness in oil leakage and the like of a hydraulic industrial waste grabbing and loading machine can be solved; the locking devices are installed on the revolving pairs, so that the three-degree-of-freedom operation can be realized only by utilizing two driving rods.
Description
Technical field
The present invention relates to mechanical field, particularly a kind of to drive to enter with variable active degree linkage using servomotor
Row industrial waste grabs dress operational method.
Background technology
Because the personnel of labour market are in short supply, human cost rises year by year and the increasing realized to labor protection of enterprise
By force, promote industrial waste and grab the extensive application installed in industrial waste crawl loading operation.It is organic that industrial waste grabs installation
Tool formula and fluid pressure type two types, it is hydraulic-driven that current industrial waste grabs the mechanical arm great majority of installation, due to hydraulic drive
Using hydraulic oil as the medium of transmission power, there is problems with：Its startability is poor, easily because after inner member abrasion
Leakage is produced, and the hydraulic oil for leaking pollutes the environment；Hydraulic oil temperature influence is larger, and aggregate efficiency is relatively low, makes an uproar sometimes
Sound and vibration.It sometimes appear that overheated, the phenomenon such as powerless in work；Hydraulic Elements requirement on machining accuracy is high, and matching requirements are strict, system
Make more difficult, maintenance in use requires that technology is higher, and difficulty is larger.As industrial waste grabs the increase of installation function,
Its hydraulic system becomes increasingly complex, and breaks down with more sudden, disguised.It is to utilize machine that mechanical type industrial waste grabs installation
Tool driving member realizes that industrial waste grabs dress action, have the advantages that it is sturdy and durable, but the industry of traditional single-degree-of-freedom mechanical type
Waste material is grabbed installation and can not complete the action of complexity, and range of application is extremely limited, and mechanical type controllable mechanism electric industry waste material grabs dress
Machine, with linkage hydraulic drive is instead of, and when driving lever is driven by servomotor, easily realizes automatization, NC postprocessing control
System, solves some shortcomings of hydraulic system presence, but there is the control for needing outfit and linkage degree of freedom equivalent amount
Motor is being controlled big and high cost the problem of mechanism's weight, movement inertia that complex structure is 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 and be applied to the Variable Freedom Mechanism that industrial waste grabs installation.
The content of the invention
It is an object of the invention to provide there is a kind of driving using servomotor variable active degree linkage to carry out work
Industry waste material grabs dress operational method, overcomes fluid pressure type industrial waste to grab installation hydraulic system element required precision height, complex structure, easy
The shortcomings of oil leak, the motor for overcoming open-chain structure is required for being arranged on the shortcoming of joint position, and causes controllable driving electricity
The quantity of machine grabs the degree of freedom of installation linkage less than industrial waste, overcomes existing machinery formula electric industry waste material to grab mounting mechanism
The shortcoming for being equipped with the controlled motor with linkage degree of freedom equivalent amount to be controlled is needed, simplifies the complicated journey of structure
Degree, the weight of reducing mechanism, movement inertia, volume and cost.For achieving the above object, the invention provides one kind utilizes servo
Motor drive there is variable active degree linkage to carry out industrial waste grab dress operational method, it is characterised in that the servomotor
Drive and there is variable active degree linkage to include：Base 1, large arm telescoping mechanism, elevating mechanism, wrist connecting rod luffing mechanism,
Servo drive, the first locking device 7 and the second locking device 29；The large arm telescoping mechanism include first connecting rod 27, the
Two connecting rods 23 and third connecting rod 24, one end of the first connecting rod 27 rotates secondary 28 and is connected with base 1 by first, first connecting rod 27
The other end and the one end of third connecting rod 24 rotate secondary 26 by the 3rd and be connected, the other end of third connecting rod 24 is logical with second connecting rod 23
Cross the 4th rotation secondary 25 to connect；The one end of second connecting rod 23 rotates secondary 22 and is connected with base 1 by second, the other end of second connecting rod 23
Secondary 9 are rotated with large arm 8 by the 5th to be connected；The elevating mechanism includes forearm 14, the 5th connecting rod 18, six-bar linkage 16 and the
One driving lever 20, first driving lever 20 and base 1 be connecteds by eighth-turn dynamic secondary 21, the other end of the first driving lever 20 and
The one end of 5th connecting rod 18 rotates secondary 19 and connects by the 9th, and the other end and the one end of forearm 14 of the 5th connecting rod 18 rotate by the tenth
Secondary 15 connect, and the other end of forearm 14 rotates secondary 13 and is connected with wrist connecting rod 12 by the 14th, one end of six-bar linkage 16 and
Forearm 14 rotates secondary 17 and connects by the 15th, and the other end of six-bar linkage 16 rotates secondary 10 and is connected with large arm 8 by the 16th；
The wrist connecting rod luffing mechanism includes the second driving lever 3, fourth link 5, large arm 8 and wrist connecting rod 12, and described second actively
Bar 3 and base 1 rotate secondary 2 and be connecteds by the 11st, and the other end and the one end of fourth link 5 of second driving lever 3 pass through the
12 rotate secondary 4 connects, and the other end of fourth link 5 rotates secondary 6 and is connected with the one end of large arm 8 by the 6th, the other end of large arm 8 and
Wrist connecting rod 12 rotates secondary 11 and connects by the 13rd；First locking device 7 and the second locking device 29 are separately mounted to the 6th
Rotate secondary 6 and the 4th to rotate at secondary 25, can in good time be locked according to different operating modes；Servo drive is watched including first
Motor, the second servomotor are taken, is connected to drive it to rotate with the first driving lever 20 and the second driving lever 3 respectively；First locking
The locking device 29 of device 7 and second is locked using electromagnetic mode.
Before industrial waste crawl loading operation, base 1 is coupled together with rubber-tyred or crawler type walking mechanism, by wrist connecting rod
12 couple together with the wrist 31 of installation, paw 32 is grabbed；Grab when pretending industry and carrying out, by the first servomotor, the second servo electricity
Machine drives the first driving lever 20 and the second driving lever 3 to be rotated, and linkage is completed to grab and is pretended industry.
The present invention adopts controllable many bar closed chain mechanisms, and the motor for overcoming open-chain structure is required for being arranged on joint position
The shortcoming put, improves the stationarity and reliability of arm operation, and 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 and loosen specific rotation pair, the degree of freedom of mechanism is reduced in good time, realize
In the case where expected requirement is completed, the quantity of the controllable drive motor for using less than industrial waste grab installation linkage from
By spending, grabbed using the i.e. achievable Three Degree Of Freedom industrial waste of two driving levers and pretend industry, overcome existing industrial waste to grab installation needs
The shortcoming for being equipped with the controlled motor with linkage degree of freedom equivalent amount to be controlled, simplifies the complexity of structure, drop
The weight of low mechanism, movement inertia, volume and cost, increased the controllability and stability of mechanism, improve work efficiency.Together
When also overcome fluid pressure type industrial waste grab installation hydraulic system element required precision height, complex structure, easy oil leakage, reliability
Difference, the low shortcoming of transmission efficiency.
Description of the drawings
Fig. 1 for a kind of driving using servomotor of the present invention there is variable active degree linkage to carry out industrial waste
Grab dress operational method operating diagram.
Specific embodiment
One kind carries out industrial waste and grabs dress operational method using servomotor driving with variable active degree linkage, its
Be characterised by that the servomotor drives includes with variable active degree linkage：Base 1, large arm telescoping mechanism, elevator
Structure, wrist connecting rod luffing mechanism, servo drive, the first locking device 7 and the second locking device 29；The base 1 is installed
On removable revolving dial；The large arm telescoping mechanism includes first connecting rod 27, second connecting rod 23 and third connecting rod 24, institute
State the one end of first connecting rod 27 to be connected by the first rotation secondary 28 with base 1, the other end and the third connecting rod 24 1 of first connecting rod 27
End rotates secondary 26 and connects by the 3rd, and the other end of third connecting rod 24 rotates secondary 25 and is connected with second connecting rod 23 by the 4th；The
The one end of two connecting rod 23 rotates secondary 22 and is connected with base 1 by second, and the other end of second connecting rod 23 rotates secondary with large arm 8 by the 5th
9 connections；The elevating mechanism includes forearm 14, the 5th connecting rod 18, the driving lever 20 of six-bar linkage 16 and first, first master
Lever 20 and base 1 be connecteds by eighth-turn dynamic secondary 21, and the other end of the first driving lever 20 and the one end of the 5th connecting rod 18 pass through the
Nine rotate secondary 19 connects, and the other end of the 5th connecting rod 18 rotates pair 15 and is connected with the one end of forearm 14 by the tenth, forearm 14 it is another
One end rotates secondary 13 and is connected with wrist connecting rod 12 by the 14th, and one end and the forearm 14 of six-bar linkage 16 are rotated by the 15th
Secondary 17 connect, and the other end of six-bar linkage 16 rotates secondary 10 and is connected with large arm 8 by the 16th；The wrist connecting rod luffing mechanism
Including the second driving lever 3, fourth link 5, large arm 8 and wrist connecting rod 12, second driving lever 3 passes through the 11st with base 1
Rotate secondary 2 to connect, the other end of second driving lever 3 rotates secondary 4 and is connected with the one end of fourth link 5 by the 12nd, the 4th
The other end of connecting rod 5 rotates secondary 6 and is connected with the one end of large arm 8 by the 6th, and the other end and the wrist connecting rod 12 of large arm 8 pass through the 13rd
Rotate secondary 11 to connect；First locking device 7 and the second locking device 29 are separately mounted to the 6th rotation secondary 6 and the 4th and rotate secondary 25
Place, can in good time be locked according to different operating modes；Servo drive includes the first servomotor, the second servomotor,
It is connected to drive it to rotate with the first driving lever 20 and the second driving lever 3 respectively；First locking device 7 and the second locking device
29 are locked using electromagnetic mode.
Before industrial waste crawl loading operation, base 1 is coupled together with rubber-tyred or crawler type walking mechanism, by wrist
Connecting rod 12 is coupled together with the wrist 31 of installation, paw 32 is grabbed；Grab when pretending industry and carrying out, watched by the first servomotor, second
Take Motor drive the first driving lever 20 and the second driving lever 3 is rotated, linkage is completed to grab and is pretended industry.
One kind of the present invention carries out industrial waste and grabs dress using servomotor driving with variable active degree linkage
Operational method in operating mode operation, when large arm 8 is stretched, open, and the 6th rotates secondary 6 by the first locking device 7 of the 6th rotation vice division chief 6
Degree of gaining freedom, the 4th rotates the second locking device 29 at secondary 25 locks, and the 4th rotates secondary 25 loses degree of freedom, now, greatly
Arm 8 is realized flexible.First locking device 7 of the 6th rotation vice division chief 6 is locked, and the 6th rotates secondary 6 loses degree of freedom, and the 4th rotates secondary
The second locking device 29 at 25 is opened, and the 4th rotates secondary 25 degree of gaining freedom, and now, large arm 8 realizes lifting.Rotate to the 6th
Pair 6 and the 4th rotates secondary 25 and is all locked, and the 6th rotates the rotation secondary 25 of pair 6 and the 4th loses degree of freedom, wrist connecting rod 12
Pitching is implemented separately.First locking device 7 and the second locking device 29 select respectively tight lock or beat according to different working conditions
Open, the motions such as large arm lifting and flexible, wrist connecting rod 12 and the pitching of wrist 31 are completed jointly, realize the industrial waste of paw 32
Grab and pretend industry.First locking device 7 and the second locking device 29 are locked using electromagnetic mode, and control is easily realized.
The invention enables the quantity of controllable drive motor grabs the degree of freedom of installation linkage less than industrial waste, overcome existing
Have the shortcomings that industrial waste is grabbed installation and 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 present invention can do each connecting rod rod member
Into lighter bar, so that whole mechanism kinematic inertia is little, dynamic performance is good, it is easy to control.
Claims (1)
1. one kind carries out industrial waste and grabs dress operational method using servomotor driving with variable active degree linkage, and it is special
Levy is that there is variable active degree linkage to include for the servomotor driving：Base 1, large arm telescoping mechanism, elevating mechanism,
Wrist connecting rod luffing mechanism, servo drive, the first locking device 7 and the second locking device 29；The base 1 is arranged on can
On mobile revolving dial；The large arm telescoping mechanism include first connecting rod 27, second connecting rod 23 and third connecting rod 24, described first
The one end of connecting rod 27 rotates secondary 28 and is connected with base 1 by first, and the other end and the one end of third connecting rod 24 of first connecting rod 27 pass through
3rd rotates secondary 26 connects, and the other end of third connecting rod 24 rotates secondary 25 and is connected with second connecting rod 23 by the 4th；Second connecting rod
23 one end rotate secondary 22 and are connected with base 1 by second, and the other end of second connecting rod 23 rotates secondary 9 and is connected with large arm 8 by the 5th；
The elevating mechanism include forearm 14, the 5th connecting rod 18, the driving lever 20 of six-bar linkage 16 and first, first driving lever 20 with
Base 1 is connected by eighth-turn dynamic secondary 21, and the other end of the first driving lever 20 and the one end of the 5th connecting rod 18 rotate secondary by the 9th
19 connections, the other end of the 5th connecting rod 18 rotates secondary 15 and is connected with the one end of forearm 14 by the tenth, the other end and handss of forearm 14
Wrist connecting rod 12 rotates secondary 13 and connects by the 14th, and one end of six-bar linkage 16 rotates secondary 17 and connects with forearm 14 by the 15th
Connect, the other end of six-bar linkage 16 rotates secondary 10 and is connected with large arm 8 by the 16th；The wrist connecting rod luffing mechanism includes the
Two driving levers 3, fourth link 5, large arm 8 and wrist connecting rod 12, second driving lever 3 rotates secondary 2 with base 1 by the 11st
Connection, the other end of second driving lever 3 rotates secondary 4 and is connected with the one end of fourth link 5 by the 12nd, and fourth link 5 is another
One end rotates secondary 6 and is connected with the one end of large arm 8 by the 6th, and the other end and the wrist connecting rod 12 of large arm 8 rotate secondary by the 13rd
11 connections；First locking device 7 and the second locking device 29 are separately mounted to the 6th rotation secondary 6 and the 4th and rotate at secondary 25, energy
It is enough to be locked in good time according to different operating modes；Servo drive include the first servomotor, the second servomotor, respectively with
First driving lever 20 and the second driving lever 3 connect to drive it to rotate；First locking device 7 and the second locking device 29 are adopted
Electromagnetic mode is locked, and before industrial waste crawl loading operation, base 1 has been connected with rubber-tyred or crawler type walking mechanism
Come, wrist connecting rod 12 is coupled together with the wrist 31 of installation, paw 32 is grabbed；Grab when pretending industry and carrying out, by the first servo electricity
Machine, the second servomotor drive the first driving lever 20 and the second driving lever 3 to be rotated, and linkage is completed to grab and is pretended
Industry.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611083462.XA CN106607866A (en) | 2016-11-30 | 2016-11-30 | Industrial waste grabbing and loading method with variable-range-of-motion connecting rod mechanism driven by servo motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611083462.XA CN106607866A (en) | 2016-11-30 | 2016-11-30 | Industrial waste grabbing and loading method with variable-range-of-motion connecting rod mechanism driven by servo motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106607866A true CN106607866A (en) | 2017-05-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611083462.XA Pending CN106607866A (en) | 2016-11-30 | 2016-11-30 | Industrial waste grabbing and loading method with variable-range-of-motion connecting rod mechanism driven by servo motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106607866A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002021109A (en) * | 2000-07-06 | 2002-01-23 | Hitachi Constr Mach Co Ltd | Working machinery |
| CN104032781A (en) * | 2014-06-27 | 2014-09-10 | 广西大学 | Electromagnetically-braked actively-metamorphic multi-link controllable excavation mechanism |
| CN104452840A (en) * | 2014-11-11 | 2015-03-25 | 广西大学 | Multi-degree-of-freedom metamorphism controllable excavation mechanism comprising parallelogram bucket maintaining mechanism |
-
2016
- 2016-11-30 CN CN201611083462.XA patent/CN106607866A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002021109A (en) * | 2000-07-06 | 2002-01-23 | Hitachi Constr Mach Co Ltd | Working machinery |
| CN104032781A (en) * | 2014-06-27 | 2014-09-10 | 广西大学 | Electromagnetically-braked actively-metamorphic multi-link controllable excavation mechanism |
| CN104452840A (en) * | 2014-11-11 | 2015-03-25 | 广西大学 | Multi-degree-of-freedom metamorphism controllable excavation mechanism comprising parallelogram bucket maintaining mechanism |
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Application publication date: 20170503 |
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