CN106607906A - Feed stacking mechanism arm with variable degree-of-freedom link mechanism - Google Patents
Feed stacking mechanism arm with variable degree-of-freedom link mechanism Download PDFInfo
- Publication number
- CN106607906A CN106607906A CN201611062478.2A CN201611062478A CN106607906A CN 106607906 A CN106607906 A CN 106607906A CN 201611062478 A CN201611062478 A CN 201611062478A CN 106607906 A CN106607906 A CN 106607906A
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- China
- Prior art keywords
- connecting rod
- locking device
- link
- arm
- wrist
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Classifications
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- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- 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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1643—Programme controls characterised by the control loop redundant control
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a feed stacking mechanism arm with a variable degree-of-freedom link mechanism. The feed stacking mechanism arm comprises a base 1, a big arm lifting mechanism, a wrist link pitch mechanism, a wrist 27, claws 28, a servo driving device, a first locking device 5 and a second locking device 12, wherein the big arm lifting mechanism comprises a big arm 8, a fourth link 3 and a fifth link 6; the wrist link pitch mechanism comprises a driving rod 16, a first link 18, a second link 21 and a third link 11; the first locking device 5 and the second locking device 12 are separately arranged on an eleventh revolute pair 4 and an eighth revolute pair 7, and can be locked in due time according to different working conditions of a feed stacking mechanical arm structure; the servo driving device comprises a first servo motor which is connected with the driving rod 16, so that the servo motor is driven to rotate; and the first locking device 5 and the second locking device 12 are locked by adopting an electromagnetic mode. According to the feed stacking mechanism arm disclosed by the invention, the two-degree-of-freedom feed stacking operation can be realized by only using one driving rod, so that the use amount of motors is reduced and the construction cost of the feed stacking mechanical arm structure is reduced.
Description
Technical field
The present invention relates to mechanical field, particularly one kind can variable freedom linkage feedstuff stacking machine arms.
Background technology
Over the years, because the personnel of labour market are in short supply, human cost rises year by year, promotes feedstuff stacking machine
Extensive application of the arm in feedstuff stacking operation.Feedstuff stacking machine arm has mechanical type and fluid pressure type two types, current feedstuff
The mechanical arm great majority of stacking machine 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 feedstuff stacking machine arm function, its hydraulic system is increasingly
Complexity, breaks down with more sudden, disguised.Mechanical type feedstuff stacking machine arm is to realize feedstuff using mechanical transmissioning piece
Pile action, have the advantages that it is sturdy and durable, but traditional single-degree-of-freedom mechanical type feedstuff stacking machine arm can not complete multiple
Miscellaneous action, range of application is extremely limited, the electronic feedstuff stacking machine arm 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 feedstuff stacking machine arm.
The content of the invention
It is an object of the invention to provide one kind can variable freedom linkage feedstuff stacking machine arm, overcome fluid pressure type to raise
The shortcomings of stockpile code mechanical arm hydraulic system element required precision height, complex structure, easy oil leakage, overcome the driving electricity of open-chain structure
Machine is required for being arranged on the shortcoming of joint position, and causes the quantity of controllable drive motor to be less than feedstuff stacking machine arm link machine
The degree of freedom of structure, overcomes the electronic feedstuff stacking machine arm structure of existing machinery formula to need to be equipped with and linkage degree of freedom equivalent amount
Controlled motor come the shortcoming that is controlled, simplify the complexity of structure, the weight of reducing mechanism, movement inertia, volume and
Cost.For achieving the above object, the invention provides one kind can variable freedom linkage feedstuff stacking machine arm, including base
1st, large arm elevating mechanism, wrist connecting rod luffing mechanism, wrist 27, paw 28, servo drive, the first locking device 5 and
Two locking devices 12；The base 1 is arranged on removable revolving dial；The large arm elevating mechanism includes large arm the 8, the 4th
The connecting rod 6 of connecting rod 3 and the 5th, one end of the large arm 8 rotates secondary 14 and is connected with base 1 by the 6th, and the other end is rotated by the 9th
Secondary 9 are connected with wrist connecting rod 10；The one end of the fourth link 3 rotates secondary 2 and is connected with base 1 by the tenth, and the other end passes through the
11 rotate secondary 4 is connected with the one end of the 5th connecting rod 6, and the other end of the 5th connecting rod 6 rotates secondary 13 and is connected with large arm 8 by the 7th；Institute
Wrist connecting rod luffing mechanism is stated including driving lever 16, first connecting rod 18, second connecting rod 21 and third connecting rod 11, the and of six-bar linkage 23
Seven-link assembly 25, one end of the driving lever 16 rotates secondary 15 and is connected with base 1 by first, and the other end rotates secondary 17 by second
It is connected with the one end of first connecting rod 18, the other end of first connecting rod 18 rotates secondary 19 and is connected with the one end of second connecting rod 21 by the 3rd, the
The other end of two connecting rod 21 rotates secondary 22 and is connected with wrist connecting rod 10 by the 5th, and the one end of six-bar linkage 23 rotates secondary by the 12nd
24 are connected with the one end of seven-link assembly 25, the other end of six-bar linkage 23 rotates secondary 26 and connects with the middle part of first connecting rod 18 by the 13rd
Connect, the other end of seven-link assembly 25 rotates secondary 15 connect base 1 by first；The one end of the third connecting rod 11 is by the dynamic pair of eighth-turn
7 are connected with large arm 8, and the other end rotates secondary 20 and is connected with second connecting rod 21 by the 4th；First locking device 5 and the second locking dress
Put 12 to be separately mounted in the 11st rotation secondary 4 and eighth-turn dynamic secondary 7, can be according to the different operating mode of feedstuff stacking machine arm structure
Locked in good time；Servo drive is connected to drive it to rotate including the first servomotor with driving lever 16；First locking
The locking device 12 of device 5 and second is locked using electromagnetic mode.
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 feedstuff stacking machine arm link mechanism from
By spending, two degrees of freedom feedstuff stacking operation is capable of achieving using a driving lever, overcomes existing feedstuff stacking machine arm to need to be equipped with
The shortcoming being controlled with the controlled motor of linkage degree of freedom equivalent amount, simplifies the complexity of structure, reduces machine
The weight of structure, movement inertia, volume and cost, increased the controllability and stability of mechanism, improve work efficiency.Simultaneously
Overcome fluid pressure type feedstuff stacking machine arm hydraulic system element required precision height, complex structure, easy oil leakage, poor reliability, biography
The low shortcoming of efficiency of movement.
Description of the drawings
Fig. 1 can variable freedom linkage feedstuff stacking machine arm schematic diagram for one kind of the present invention.
Specific embodiment
One kind can variable freedom linkage feedstuff stacking machine arm, including base 1, large arm elevating mechanism, wrist connecting rod pitching
Mechanism, wrist 27, paw 28, servo drive, the first locking device 5 and the second locking device 12；The base 1 is arranged on
On removable revolving dial；The large arm elevating mechanism includes large arm 8, the connecting rod 6 of fourth link 3 and the 5th, the one end of the large arm 8
Secondary 14 are rotated by the 6th to be connected with base 1, the other end rotates secondary 9 and is connected with wrist connecting rod 10 by the 9th；Described 4th connects
The one end of bar 3 rotates secondary 2 and is connected with base 1 by the tenth, and the other end rotates secondary 4 and is connected with the one end of the 5th connecting rod 6 by the 11st,
The other end of 5th connecting rod 6 rotates secondary 13 and is connected with large arm 8 by the 7th；The wrist connecting rod luffing mechanism include driving lever 16,
First connecting rod 18, second connecting rod 21 and third connecting rod 11, six-bar linkage 23 and seven-link assembly 25, one end of the driving lever 16 passes through
First rotates secondary 15 is connected with base 1, and the other end rotates secondary 17 and is connected with the one end of first connecting rod 18 by second, first connecting rod 18
The other end rotates secondary 19 and be connected with the one end of second connecting rod 21 by the 3rd, the other end of second connecting rod 21 by the 5th rotate pair 22 and
Wrist connecting rod 10 connects, and the one end of six-bar linkage 23 is connected by the 12nd rotation secondary 24 with the one end of seven-link assembly 25, six-bar linkage
23 other ends rotate secondary 26 and are connected with the middle part of first connecting rod 18 by the 13rd, and the other end of seven-link assembly 25 rotates secondary by first
15 connect bases 1；The one end of the third connecting rod 11 is connected by eighth-turn dynamic secondary 7 with large arm 8, and the other end rotates secondary by the 4th
20 are connected with second connecting rod 21；First locking device 5 and the second locking device 12 are separately mounted to the 11st rotation secondary 4 and the 8th
Rotate on secondary 7, can in good time be locked according to the different operating mode of feedstuff stacking machine arm structure；Servo drive includes first
Servomotor, is connected to drive it to rotate with driving lever 16；First locking device 5 and the second locking device 12 adopt electromagnetic mode
Locked.
At work, when large arm 8 is lifted, the first locking device 5 is opened, and the 11st rotates secondary 4 degree of affranchising, the second lock
Tight device 12 is closed, and eighth-turn dynamic secondary 7 loses degree of freedom, and now, large arm 8 is lifted under the effect of driving lever 16.Wrist connecting rod 10
Individually during pitching, the second locking device 12 is opened, and eighth-turn 7 degree of affranchising of dynamic pair, the first locking device 5 is locked, and the 11st
Rotate secondary 4 and lose degree of freedom, the respect thereto 1 of large arm 8 loses degree of freedom, now wrist connecting rod is realized bowing under the driving of driving lever 16
Face upward.During whole feedstuff stacking operation, the first locking device 5 and the second locking device 12 according to different working conditions,
Tight lock is selected respectively or is opened, the motions such as large arm lifting and flexible, wrist connecting rod 10 and the pitching of wrist 27 are completed jointly, realize
The feedstuff stacking operation of paw 28.First locking device 5 and the second locking device 12 can be locked using electromagnetic mode, control
Easily realize.
Claims (1)
1. one kind can variable freedom linkage feedstuff stacking machine arm, it is characterised in that include：Base 1, large arm elevating mechanism,
Wrist connecting rod luffing mechanism, wrist 27, paw 28, servo drive, the first locking device 5 and the second locking device 12；Institute
State base 1 to be arranged on removable revolving dial；The large arm elevating mechanism includes large arm 8, the connecting rod of fourth link 3 and the 5th
6, the one end of the large arm 8 rotates secondary 14 and is connected with base 1 by the 6th, and the other end rotates secondary 9 with wrist connecting rod 10 by the 9th
Connection；The one end of the fourth link 3 rotates secondary 2 and is connected with base 1 by the tenth, and the other end rotates pair 4 and the by the 11st
The one end of five connecting rod 6 connects, and the other end of the 5th connecting rod 6 rotates secondary 13 and is connected with large arm 8 by the 7th；The wrist connecting rod pitching machine
Structure includes driving lever 16, first connecting rod 18, second connecting rod 21 and third connecting rod 11, six-bar linkage 23 and seven-link assembly 25, described
The one end of driving lever 16 rotates secondary 15 and is connected with base 1 by first, and the other end rotates secondary 17 with first connecting rod 18 1 by second
End connection, the other end of first connecting rod 18 rotates secondary 19 and is connected with the one end of second connecting rod 21 by the 3rd, the other end of second connecting rod 21
Secondary 22 are rotated by the 5th to be connected with wrist connecting rod 10, the one end of six-bar linkage 23 rotates secondary 24 and seven-link assembly 25 by the 12nd
One end connection, the other end of six-bar linkage 23 rotate secondary 26 and are connected with the middle part of first connecting rod 18 by the 13rd, and seven-link assembly 25 is another
One end rotates secondary 15 connect base 1 by first；The one end of the third connecting rod 11 is connected by eighth-turn dynamic secondary 7 with large arm 8, separately
One end rotates secondary 20 and is connected with second connecting rod 21 by the 4th；First locking device 5 and the second locking device 12 are separately mounted to
11st rotates in secondary 4 and eighth-turn dynamic secondary 7, can in good time be locked according to the different operating mode of feedstuff stacking machine arm structure；
Servo drive is connected to drive it to rotate including the first servomotor with driving lever 16；First locking device 5 and the second lock
Tight device 12 is locked using electromagnetic mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611062478.2A CN106607906A (en) | 2016-11-28 | 2016-11-28 | Feed stacking mechanism arm with variable degree-of-freedom link mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611062478.2A CN106607906A (en) | 2016-11-28 | 2016-11-28 | Feed stacking mechanism arm with variable degree-of-freedom link mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106607906A true CN106607906A (en) | 2017-05-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611062478.2A Pending CN106607906A (en) | 2016-11-28 | 2016-11-28 | Feed stacking mechanism arm with variable degree-of-freedom link mechanism |
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| Country | Link |
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| CN (1) | CN106607906A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106609519A (en) * | 2016-11-30 | 2017-05-03 | 广西大学 | Variable-freedom-degree connecting rod mechanism |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104552243A (en) * | 2014-12-12 | 2015-04-29 | 广西大学 | Controllable mechanism type metamorphic wheeled mobile welding robot |
| CN104612193A (en) * | 2014-12-12 | 2015-05-13 | 广西大学 | Movable and controllable loading mechanism with initiative metamorphism function |
| CN204657779U (en) * | 2015-03-11 | 2015-09-23 | 湖南汽车工程职业学院 | A kind of six degree of freedom eight-bar linkage Shi Bianbao Automobile Welding robot |
| CN105945918A (en) * | 2016-06-23 | 2016-09-21 | 广西大学 | Five-degree-of-freedom series-parallel mechanism type controllable welding robot |
-
2016
- 2016-11-28 CN CN201611062478.2A patent/CN106607906A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104552243A (en) * | 2014-12-12 | 2015-04-29 | 广西大学 | Controllable mechanism type metamorphic wheeled mobile welding robot |
| CN104612193A (en) * | 2014-12-12 | 2015-05-13 | 广西大学 | Movable and controllable loading mechanism with initiative metamorphism function |
| CN204657779U (en) * | 2015-03-11 | 2015-09-23 | 湖南汽车工程职业学院 | A kind of six degree of freedom eight-bar linkage Shi Bianbao Automobile Welding robot |
| CN105945918A (en) * | 2016-06-23 | 2016-09-21 | 广西大学 | Five-degree-of-freedom series-parallel mechanism type controllable welding robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106609519A (en) * | 2016-11-30 | 2017-05-03 | 广西大学 | Variable-freedom-degree connecting rod mechanism |
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Application publication date: 20170503 |
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