CN106608540A - Novel variable-freedom-degree-linkage-mechanism feed stacking mechanical arm provided with rotation pair locking devices - Google Patents
Novel variable-freedom-degree-linkage-mechanism feed stacking mechanical arm provided with rotation pair locking devices Download PDFInfo
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- CN106608540A CN106608540A CN201611062464.0A CN201611062464A CN106608540A CN 106608540 A CN106608540 A CN 106608540A CN 201611062464 A CN201611062464 A CN 201611062464A CN 106608540 A CN106608540 A CN 106608540A
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- connecting rod
- locking device
- wrist
- freedom
- driving lever
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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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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Abstract
A novel variable-freedom-degree-linkage-mechanism feed stacking mechanical arm provided with rotation pair locking devices is characterized by comprising a base 19, a second driving rod 21, a second connection rod 2, an upper arm body 4, a wrist connection rod 7, a first driving rod 17, a big arm body 9, a fourth connection rod 14, a first connection rod 12, a wrist 27, a gripper 28, a servo drive device and a third connection rod 10, wherein a first electromagnetic locking device 23 is installed on a second rotation pair 15, and a second electromagnetic locking device 24 is installed on a tenth rotation pair 3; the servo drive device comprises a first servo motor and a second servo motor, the first servo motor is connected with the first driving rod 17 so as to drive the first driving rod 17 to rotate, and the second servo motor is connected with the second driving rod 21 so as to drive the second driving rod 21 to rotate; and the first locking device 23 and the second locking device 24 conduct locking in an electromagnetic manner, the first locking device 23 and the second locking device 24 jointly complete the motions such as ascending and descending of the big arm and pitching of the wrist connection rod and the wrist, and then feed stacking operation can be achieved by the gripper 28. According to the novel variable-freedom-degree-linkage-mechanism feed stacking mechanical arm provided with the rotation pair locking devices, a variable-freedom-degree linkage transmission mechanism is adopted to replace traditional hydraulic transmission, and the defects that a hydraulic system of a hydraulic feed stacking mechanical arm is complicated and prone to leaking oil are overcome.
Description
Technical field
The present invention relates to mechanical field, particularly a kind of new containing the variable freedom linkage for rotating secondary locking device
Feedstuff stacking machine arm.
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 a kind of containing the variable freedom linkage novel fodder for rotating secondary locking device
Stacking machine arm, overcomes fluid pressure type feedstuff stacking machine arm hydraulic system element required precision height, complex structure, easy oil leakage etc. to lack
Point, the motor for overcoming open-chain structure is required for being arranged on the shortcoming of joint position, and causes the quantity of controllable drive motor
Less than the degree of freedom of feedstuff stacking machine arm link mechanism, the electronic feedstuff stacking machine arm structure of existing machinery formula is overcome 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.For achieving the above object, the present invention provides a kind of containing rotation secondary locking device
Variable freedom linkage novel fodder stacking machine arm, including base 19, the second driving lever 21, second connecting rod 2, upper arm 4,
Wrist connecting rod 7, the first driving lever 17, large arm 9, fourth link 14, first connecting rod 12, wrist 27, paw 28, servo drive
And third connecting rod 10；The base 19 is arranged on removable revolving dial；Described one end of second driving lever 21 is by the
Eighth-turn dynamic secondary 20 is connected on base 19, and the other end of the second driving lever 21 rotates secondary 1 and connects with the one end of second connecting rod 2 by the 9th
Connect, the other end of second connecting rod 2 rotates secondary 3 and is connected with the one end of upper arm 4 by the tenth, and the other end of upper arm 4 rotates secondary 6 by the 11st
It is connected on wrist connecting rod 7；Described one end of first driving lever 17 rotates secondary 16 and is connected on base 19 by the 6th, and first actively
The other end of bar 17 rotates secondary 18 and is connected with the one end of large arm 9 by the 7th, and the other end of large arm 9 rotates secondary 8 and is connected to handss by the 5th
On wrist connecting rod 7；The one end of the fourth link 14 rotates pair 13 and is connected on base 19 by first, the other end of fourth link 14
Secondary 15 are rotated by second to be connected with the one end of first connecting rod 12, the other end of first connecting rod 12 rotates secondary 11 and the 3rd and connects by the 3rd
Bar 10 connects, and the other end of third connecting rod 10 rotates secondary 5 and is connected on upper arm 4 by the 4th；Rotate second and installed on secondary 15
There is the first electromagnetic locking device 23；Rotate the tenth and second electromagnetic locking device 24 is installed on secondary 3；Servo drive includes
First servomotor, the second servomotor, are connected to drive it to rotate with the first driving lever 17, the second driving lever 21；First lock
The tight locking device 24 of device 23 and second is locked using electromagnetic mode, according to different working conditions, tight lock is selected respectively
Or open, the motions such as the pitching of large arm lifting, wrist connecting rod and wrist are completed jointly, realize the feedstuff stacking operation of paw 28.
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 is of the present invention a kind of containing the variable freedom linkage novel fodder stacking machine for rotating secondary locking device
The schematic diagram of tool arm.
Specific embodiment
A kind of variable freedom linkage novel fodder stacking machine arm containing rotation secondary locking device, including base
19th, the second driving lever 21, second connecting rod 2, upper arm 4, wrist connecting rod 7, the first driving lever 17, large arm 9, fourth link 14, first
Connecting rod 12, wrist 27, paw 28, servo drive and third connecting rod 10；It is flat that the base 19 is arranged on removable revolution
On platform；Described one end of second driving lever 21 is connected on base 19 by eighth-turn dynamic secondary 20, and the other end of the second driving lever 21 leads to
Cross the 9th rotation secondary 1 to be connected with the one end of second connecting rod 2, the other end of second connecting rod 2 rotates secondary 3 and connects with the one end of upper arm 4 by the tenth
Connect, the other end of upper arm 4 rotates secondary 6 and is connected on wrist connecting rod 7 by the 11st；Described one end of first driving lever 17 passes through the 6th
Rotate secondary 16 to be connected on base 19, the other end of the first driving lever 17 rotates secondary 18 and is connected with the one end of large arm 9 by the 7th, large arm
9 other ends rotate secondary 8 and are connected on wrist connecting rod 7 by the 5th；The one end of the fourth link 14 by first rotate secondary 13 with
It is connected on base 19, the other end of fourth link 14 rotates secondary 15 and is connected with the one end of first connecting rod 12 by second, first connecting rod
12 other ends rotate secondary 11 and are connected with third connecting rod 10 by the 3rd, and the other end of third connecting rod 10 rotates secondary 5 and connects by the 4th
It is connected on upper arm 4；Rotate second and first electromagnetic locking device 23 is installed on secondary 15；Rotate the tenth and the is provided with secondary 3
Two electromagnetic locking devices 24；Servo drive includes the first servomotor, the second servomotor, with the first driving lever 17, the
Two driving levers 21 connect to drive it to rotate；First locking device 23 and the second locking device 24 are locked using electromagnetic mode
Tightly, according to different working conditions, tight lock being selected respectively or being opened, bowing for large arm lifting, wrist connecting rod and wrist is completed jointly
The motion such as face upward, realize the feedstuff stacking operation of paw 28.
Claims (1)
1. it is a kind of containing the variable freedom linkage novel fodder stacking machine arm for rotating secondary locking device, it is characterised in that bag
Include：Base 19, the second driving lever 21, second connecting rod 2, upper arm 4, wrist connecting rod 7, the first driving lever 17, large arm 9, fourth link
14th, first connecting rod 12, wrist 27, paw 28, servo drive, third connecting rod 10, the first electromagnetic locking device 23 and second
Electromagnetic locking device 24；The base 19 is arranged on removable revolving dial；Described one end of second driving lever 21 is by the
Eighth-turn dynamic secondary 20 is connected on base 19, and the other end of the second driving lever 21 rotates secondary 1 and connects with the one end of second connecting rod 2 by the 9th
Connect, the other end of second connecting rod 2 rotates secondary 3 and is connected with the one end of upper arm 4 by the tenth, and the other end of upper arm 4 rotates secondary 6 by the 11st
It is connected on wrist connecting rod 7；Described one end of first driving lever 17 rotates secondary 16 and is connected on base 19 by the 6th, and first actively
The other end of bar 17 rotates secondary 18 and is connected with the one end of large arm 9 by the 7th, and the other end of large arm 9 rotates secondary 8 and is connected to handss by the 5th
On wrist connecting rod 7；The one end of the fourth link 14 rotates pair 13 and is connected on base 19 by first, the other end of fourth link 14
Secondary 15 are rotated by second to be connected with the one end of first connecting rod 12, the other end of first connecting rod 12 rotates secondary 11 and the 3rd and connects by the 3rd
Bar 10 connects, and the other end of third connecting rod 10 rotates secondary 5 and is connected on upper arm 4 by the 4th；Rotate second and installed on secondary 15
There is the first electromagnetic locking device 23；Rotate the tenth and second electromagnetic locking device 24 is installed on secondary 3；Servo drive includes
First servomotor, the second servomotor, are connected to drive it to rotate with the first driving lever 17, the second driving lever 21；First lock
The tight locking device 24 of device 23 and second is locked using electromagnetic mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611062464.0A CN106608540A (en) | 2016-11-28 | 2016-11-28 | Novel variable-freedom-degree-linkage-mechanism feed stacking mechanical arm provided with rotation pair locking devices |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611062464.0A CN106608540A (en) | 2016-11-28 | 2016-11-28 | Novel variable-freedom-degree-linkage-mechanism feed stacking mechanical arm provided with rotation pair locking devices |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106608540A true CN106608540A (en) | 2017-05-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611062464.0A Pending CN106608540A (en) | 2016-11-28 | 2016-11-28 | Novel variable-freedom-degree-linkage-mechanism feed stacking mechanical arm provided with rotation pair locking devices |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050172750A1 (en) * | 2002-02-06 | 2005-08-11 | Abb Ab | Industrial robot |
| CN104032779A (en) * | 2014-06-27 | 2014-09-10 | 广西大学 | Multi-connecting-rod controllable mining mechanism with variable cell function |
| CN104552246A (en) * | 2014-12-17 | 2015-04-29 | 广西大学 | Movable mechanical arm with nine connection rods and five-freedom-degree controllable mechanism |
| CN104626108A (en) * | 2014-12-25 | 2015-05-20 | 广西大学 | Advanced multi-degree of freedom controllable mechanical arm |
| CN104626093A (en) * | 2014-12-17 | 2015-05-20 | 广西大学 | Four-freedom-degree controllable mechanism type movable mechanical arm with six connecting rods |
-
2016
- 2016-11-28 CN CN201611062464.0A patent/CN106608540A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050172750A1 (en) * | 2002-02-06 | 2005-08-11 | Abb Ab | Industrial robot |
| CN104032779A (en) * | 2014-06-27 | 2014-09-10 | 广西大学 | Multi-connecting-rod controllable mining mechanism with variable cell function |
| CN104552246A (en) * | 2014-12-17 | 2015-04-29 | 广西大学 | Movable mechanical arm with nine connection rods and five-freedom-degree controllable mechanism |
| CN104626093A (en) * | 2014-12-17 | 2015-05-20 | 广西大学 | Four-freedom-degree controllable mechanism type movable mechanical arm with six connecting rods |
| CN104626108A (en) * | 2014-12-25 | 2015-05-20 | 广西大学 | Advanced multi-degree of freedom controllable mechanical arm |
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