CN106625559A - Multi-connecting-rod variable-freedom-degree feed stacking manipulator driven by servo motors - Google Patents
Multi-connecting-rod variable-freedom-degree feed stacking manipulator driven by servo motors Download PDFInfo
- Publication number
- CN106625559A CN106625559A CN201611063052.9A CN201611063052A CN106625559A CN 106625559 A CN106625559 A CN 106625559A CN 201611063052 A CN201611063052 A CN 201611063052A CN 106625559 A CN106625559 A CN 106625559A
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- CN
- China
- Prior art keywords
- connecting rod
- locking device
- rotates
- rod
- freedom
- 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
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- 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
- 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
-
- 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
Abstract
The invention discloses a multi-connecting-rod variable-freedom-degree feed stacking manipulator driven by servo motors. The multi-connecting-rod variable-freedom-degree feed stacking manipulator is composed of a base 1, a driving rod 13, a first connecting rod 15, a first connecting piece 5, a fourth connecting rod 4, a big arm 2, a wrist connecting rod 6, a second connecting rod 22, a third connecting rod 26, a wrist 27, a gripper 28, a servo driving device, a first locking device 23 and a second locking device 24; The big arm 2 is connected to the base through a first revolute pair 10; the first locking device 23 is mounted on a seventh revolute pair 16, and the second locking device 24 is mounted on an eleventh revolute pair 19; the servo driving device comprises a first servo motor connected with the driving rod 13 to drive the driving rod 13 to rotate; and the first locking device 23 and the second locking device 24 are used for locking in an electromagnetic way. According to the multi-connecting-rod variable-freedom-degree feed stacking manipulator, a hydraulic mechanism is replaced with a connecting rod driving mechanism, so that the defects that the hydraulic mechanism is prone to oil leakage, complex in mechanism and the like are overcome; the locking devices are adopted by the revolute pairs for adapting to different working conditions; and the amount of the used motors is smaller than the freedom degree of the mechanism.
Description
Technical field
The present invention relates to mechanical field, particularly a kind of multi link driven with servomotor can variable freedom feed code
Pile manipulator.
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 hand in feed stacking operation.Feed stacking manipulator has mechanical and fluid pressure type two types, current feed
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 gross 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 manipulator function, its hydraulic system is increasingly
Complexity, breaks down with more sudden, disguised.Mechanical feed stacking manipulator is to realize feed using mechanical transmissioning piece
Piling action, have the advantages that it is sturdy and durable, but the mechanical feed stacking manipulator of traditional single-degree-of-freedom can not complete multiple
Miscellaneous action, range of application is extremely limited, the electronic feed stacking manipulator of mechanical controllable mechanism, and with linkage liquid is instead of
Pressure transmission, when driving lever is driven by servomotor, easily realizes automation, NC postprocessing control, solves hydraulic system presence
Some shortcomings, but exist and need to be equipped with the controlled motor of linkage free degree 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 manipulator.
The content of the invention
It is an object of the invention to provide a kind of servomotor drive link formula can variable freedom feed stacking manipulator, 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 free degree of tool hand linkage, overcomes the electronic feed stacking manipulator 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 variable freedom of multi link driven with servomotor
Degree feed stacking manipulator, by base 1, driving lever 13, first connecting rod 15, the first connector 5, fourth link 4, large arm 2, wrist
Connecting rod 6, second connecting rod 22, third connecting rod 26, wrist 27, paw 28, servo drive, the first locking device 23 and
Two locking devices 24 are constituted；The large arm 2 rotates secondary 10 and is connected on base by first, and the other end of large arm 2 passes through the 3rd turn
Dynamic secondary 8 are connected with wrist connecting rod 6；The driving lever 13 rotates secondary 12 and is connected with base 1 by the 5th, and the other end passes through the 6th
Rotate secondary 14 to be connected with first connecting rod 15, first connecting rod 15 rotates secondary 16 and is connected with the first connector 5 by the 7th；Described first
Connector 5 is connected by eighth-turn dynamic secondary 17 with second connecting rod 22, and the other end of second connecting rod 22 rotates secondary 7 and wrist by the 9th
Connecting rod 6 connects；The fourth link 4 rotates secondary 20 and is connected with base 1 by the 13rd, one end by the tenth rotate secondary 18 and
First connector 5 is connected, and middle part rotates secondary 19 and is connected with third connecting rod 26 by the 11st, and the other end of third connecting rod 26 leads to
Cross rotation secondary 25 to be connected with large arm 2；The locking device 24 of first locking device 23 and second is separately mounted to the 7th rotation
Secondary 16 and the 11st rotates on secondary 19, is locked in good time according to different operating modes；Servo drive includes the first servomotor, with master
Lever 13 connects to drive it to rotate；First locking device 23 and the second locking device 24 are locked using electromagnetic mode.
A kind of multi link driven with servomotor of the present invention can variable freedom feed stacking manipulator using controllable many
Bar closed chain mechanism, the motor for overcoming open-chain structure is required for being arranged on the shortcoming of joint position, improves arm operation
Stationarity and reliability, without accumulated error, precision is higher；Compact conformation, rigidity is high, and large carrying capacity, inertia are low, dynamic
Can good, arm motion track flexible and diverse.Install locking device additional on linkage, and allow it according to the different operating modes of mechanism
Lock and loosen specific rotation secondary, the free degree of mechanism is reduced in good time, realize in the case where expected requirement is completed, make
The quantity of controllable drive motor, can be real using a driving lever less than the free degree of feed stacking manipulator linkage
Existing two degrees of freedom feed stacking operation, overcomes existing feed stacking manipulator to need to be equipped with and linkage free degree 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, increased the controllability and stability of mechanism, improve operating efficiency.Fluid pressure type feed stacking machinery is also overcomed simultaneously
Hand hydraulic 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 a kind of multi link driven with servomotor of the present invention can variable freedom feed stacking manipulator
Structural representation.
Specific embodiment
It is a kind of with servomotor drive multi link can variable freedom feed stacking manipulator, by base 1, driving lever
13rd, first connecting rod 15, the first connector 5, fourth link 4, large arm 2, wrist connecting rod 6, second connecting rod 22, third connecting rod 26, hand
Wrist 27, paw 28, servo drive, the first locking device 23 and the second locking device 24 are constituted；The base 1 is installed
On removable revolving dial；The large arm 2 rotates secondary 10 and is connected on base by first, and the other end of large arm 2 passes through the 3rd
Rotate secondary 8 to be connected with wrist connecting rod 6；The driving lever 13 rotates secondary 12 and is connected with base 1 by the 5th, and the other end passes through the
Six rotate secondary 14 is connected with first connecting rod 15, and first connecting rod 15 rotates secondary 16 and is connected with the first connector 5 by the 7th；Described
A connection piece 5 is connected by eighth-turn dynamic secondary 17 with second connecting rod 22, and the other end of second connecting rod 22 rotates secondary 7 and hand by the 9th
Wrist connecting rod 6 connects；The fourth link 4 rotates secondary 20 and is connected with base 1 by the 13rd, and one end rotates secondary 18 by the tenth
It is connected with the first connector 5, middle part rotates secondary 19 and is connected with third connecting rod 26 by the 11st, the other end of third connecting rod 26
It is connected with large arm 2 by rotating secondary 25；The locking device 24 of first locking device 23 and second is separately mounted to the 7th turn
Dynamic secondary 16 and the 11st rotates on secondary 19, is locked in good time according to different operating modes；Servo drive includes the first servomotor, with
Driving lever 13 connects to drive it to rotate；First locking device 23 and the second locking device 24 are locked using electromagnetic mode.
In each operating mode work, during lifting operating mode, the first locking device 23 and the second locking device 24 are locked, the 7th turn
Dynamic secondary 16 and the 11st rotates secondary 19 loses the free degree, and now driving lever 13 is connected by first connecting rod 15, third connecting rod 26, first
Fitting 5, the collective effect of fourth link 4, large arm 2, second connecting rod 22 lifts on wrist connecting rod 6.The independent pitching of wrist connecting rod 6
During operating mode, the first locking device 23 is opened, and the 7th rotates secondary 16 degree of affranchising, and the second locking device 24 is locked, the 11st turn
Dynamic secondary 19 lose the free degree, and now driving lever 13 is by the presence of first connecting rod 15, the first connector 5 and second connecting rod 22
Make the pitching of wrist connecting rod 6.First locking device 7 and the second locking device 29 select respectively tight lock according to different working conditions
Or open, complete jointly large arm 2 lift, the motion such as the pitching of wrist connecting rod 6 and wrist 27, the feed stacking for realizing paw 28 makees
Industry, the first locking device 23 and the second locking device 24 can be locked using electromagnetic mode, and control is easily realized.
Claims (1)
1. a kind of multi link driven with servomotor can variable freedom feed stacking manipulator, it is characterised in that by base 1,
Driving lever 13, first connecting rod 15, the first connector 5, fourth link 4, large arm 2, wrist connecting rod 6, second connecting rod 22, third connecting rod
26th, wrist 27, paw 28, servo drive, the first locking device 23 and the second locking device 24 are constituted；The base
1 is arranged on removable revolving dial；The large arm 2 rotates secondary 10 and is connected on base by first, and the other end of large arm 2 passes through
3rd rotates secondary 8 is connected with wrist connecting rod 6；The driving lever 13 rotates secondary 12 and is connected with base 1 by the 5th, and the other end leads to
Cross the 6th rotation secondary 14 to be connected with first connecting rod 15, first connecting rod 15 rotates secondary 16 and is connected with the first connector 5 by the 7th；Institute
State the first connector 5 to be connected with second connecting rod 22 by eighth-turn dynamic secondary 17, the other end of second connecting rod 22 rotates secondary 7 by the 9th
It is connected with wrist connecting rod 6；The fourth link 4 rotates secondary 20 and is connected with base 1 by the 13rd, and one end rotates by the tenth
Secondary 18 are connected with the first connector 5, and middle part rotates secondary 19 and is connected with third connecting rod 26 by the 11st, and third connecting rod 26 is another
One end is connected by rotating secondary 25 with large arm 2；The locking device 24 of first locking device 23 and second is separately mounted to
Seven rotate the secondary 16 and the 11st rotates on secondary 19, is locked in good time according to different operating modes；Servo drive includes the first servo electricity
Machine, is connected to drive it to rotate with driving lever 13；First locking device 23 and the second locking device 24 are carried out using electromagnetic mode
Locking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611063052.9A CN106625559A (en) | 2016-11-28 | 2016-11-28 | Multi-connecting-rod variable-freedom-degree feed stacking manipulator driven by servo motors |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611063052.9A CN106625559A (en) | 2016-11-28 | 2016-11-28 | Multi-connecting-rod variable-freedom-degree feed stacking manipulator driven by servo motors |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106625559A true CN106625559A (en) | 2017-05-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611063052.9A Pending CN106625559A (en) | 2016-11-28 | 2016-11-28 | Multi-connecting-rod variable-freedom-degree feed stacking manipulator driven by servo motors |
Country Status (1)
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| CN (1) | CN106625559A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106609521A (en) * | 2016-11-30 | 2017-05-03 | 广西大学 | Variable-freedom-degree multi-connection-rod mechanism driven by servo motor |
| CN106609515A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Multi-connecting-rod variable-freedom-degree wood grasping machine provided with servo motors for driving |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104047310A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Multi-connecting-rod loading mechanism with active metamorphic function |
-
2016
- 2016-11-28 CN CN201611063052.9A patent/CN106625559A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104047310A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Multi-connecting-rod loading mechanism with active metamorphic function |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106609515A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Multi-connecting-rod variable-freedom-degree wood grasping machine provided with servo motors for driving |
| CN106609521A (en) * | 2016-11-30 | 2017-05-03 | 广西大学 | Variable-freedom-degree multi-connection-rod mechanism driven by servo motor |
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Application publication date: 20170510 |
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| WD01 | Invention patent application deemed withdrawn after publication |