CN106677237A - Method for adopting servo motor driving variable-mobility multi-connecting-rod mechanism for conducting industrial waste grabbing and loading work - Google Patents
Method for adopting servo motor driving variable-mobility multi-connecting-rod mechanism for conducting industrial waste grabbing and loading work Download PDFInfo
- Publication number
- CN106677237A CN106677237A CN201611083463.4A CN201611083463A CN106677237A CN 106677237 A CN106677237 A CN 106677237A CN 201611083463 A CN201611083463 A CN 201611083463A CN 106677237 A CN106677237 A CN 106677237A
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- Prior art keywords
- connecting rod
- locking device
- large arm
- wrist
- rod
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- 230000007246 mechanism Effects 0.000 title claims abstract description 58
- 239000002440 industrial waste Substances 0.000 title claims abstract description 29
- 238000000034 method Methods 0.000 title claims abstract description 13
- 210000000707 wrist Anatomy 0.000 claims abstract description 29
- 238000009434 installation Methods 0.000 claims description 16
- 230000003028 elevating effect Effects 0.000 claims description 8
- 238000003754 machining Methods 0.000 abstract description 2
- 230000007547 defect Effects 0.000 abstract 1
- 230000033001 locomotion Effects 0.000 description 8
- 239000012530 fluid Substances 0.000 description 3
- 239000010720 hydraulic oil Substances 0.000 description 3
- 239000002699 waste material Substances 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000001965 increasing effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 238000012805 post-processing Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/301—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom with more than two arms (boom included), e.g. two-part boom with additional dipper-arm
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/38—Cantilever beams, i.e. booms;, e.g. manufacturing processes, forms, geometry or materials used for booms; Dipper-arms, e.g. manufacturing processes, forms, geometry or materials used for dipper-arms; Bucket-arms
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/40—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets
- E02F3/413—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets with grabbing device
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The invention discloses a method for adopting a servo motor driving variable-mobility multi-connecting-rod mechanism for conducting industrial waste grabbing and loading work. The method is characterized in that the servo motor driving variable-mobility multi-connecting-rod mechanism comprises a base 1, a large arm lifting mechanism, a wrist connecting rod pitching mechanism, a servo driving device, a first locking device 5 and a second locking device 18; the large arm lifting mechanism is composed of a large 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 installed on a third rotation pair 6 and a seventh rotation pair 17 correspondingly, and proper locking is conducted according to different work conditions; the servo driving device comprises a first servo motor which is connected with a first drive rod 14 to drive the first drive rod 14 to rotate; and the first locking device 5 and the second locking device 18 conduct locking in an electromagnetic manner. According to the method, the defects that a hydraulic system is complex, the requirement for the machining precision is high, and oil leakage is likely to happen are overcome, the locking devices are adopted on the rotation pairs to achieve two freedom-degree work, and the number of servo drive motors in use is smaller than the number of the freedom degree of the connecting rod mechanism.
Description
Technical field
The present invention relates to mechanical field, particularly a kind of to drive variable active degree multi-connecting-rod mechanism to carry out using servomotor
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 labour 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 gross 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 industrial waste grabs installation
Tool driving member realizes that industrial waste grabs dress action, have the advantages that it is sturdy and durable, but traditional single-degree-of-freedom is mechanically industrial
Waste material is grabbed installation and can not complete the action of complexity, and range of application is extremely limited, and mechanical 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 automation, NC postprocessing control
System, solves some shortcomings of hydraulic system presence, but there is the control for needing outfit and linkage free degree 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 a kind of drive variable active degree multi-connecting-rod mechanism to carry out industry using servomotor
Waste material grabs dress operational method, overcomes fluid pressure type industrial waste to grab installation hydraulic system element required precision height, complex structure, leakiness
Oily the shortcomings of, the motor for overcoming open-chain structure is required for being arranged on the shortcoming of joint position, and causes controllable drive motor
Quantity less than industrial waste grab installation linkage the free degree, overcome existing machinery formula electric industry waste material grab mounting mechanism need
The shortcoming for being equipped with the controlled motor with linkage free degree equivalent amount to be controlled, simplifies the complexity of structure,
The weight of reducing mechanism, movement inertia, volume and cost.For achieving the above object, the invention provides a kind of using servo electricity
Machine drives variable active degree multi-connecting-rod mechanism to carry out industrial waste and grabs dress operational method, it is characterised in that the servomotor drives
Variable active degree multi-connecting-rod mechanism include base 1, large arm elevating mechanism, wrist connecting rod luffing mechanism, 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, the large arm 9
Secondary 4 are rotated by the tenth to be connected in frame 1, one end of fourth link 3 of the elevating mechanism rotates secondary 2 and is connected to by second
On base 1, the other end rotates secondary 6 and is connected with the 5th connecting rod 7 by the 3rd, the other end of the 5th connecting rod 7 by the 4th rotate secondary 8 and
Large arm 9 connects；The wrist connecting rod luffing mechanism is made up of wrist connecting rod 22 and luffing mechanism, and the wrist connecting rod 22 is by the
12 rotate secondary 12 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 is constituted, and the one end of driving lever 14 rotates secondary 13 and is connected on base 1 by first, the other end by the 5th rotate secondary 15 with
First connecting rod 16 connects；The one end of first connecting rod 16 rotates secondary 17 and is connected on third connecting rod 10 by the 7th, and first connecting rod 16 is another
One end rotates secondary 19 and is connected on second connecting rod 20 by the 6th；The other end of third connecting rod 10 is connected to by eighth-turn dynamic secondary 11
In large arm 9, the other end of second connecting rod 20 rotates secondary 21 and is connected with wrist connecting rod 22 by the 9th；The He of first locking device 5
Second locking device 18 is separately mounted to the 3rd rotation secondary 6 and the 7th and rotates on secondary 17, is locked in good time according to different operating modes
Tightly；Servo drive includes the first servomotor, is connected to drive it to rotate with the first driving lever 14；First locking
The locking device 18 of device 5 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 22 is coupled together with the wrist 27 of installation, paw 28 is grabbed；Grab when pretending industry and carrying out, carried out by Motor drive driving lever 14
Rotary motion, makes linkage complete to grab and pretend 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 accumulated 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 free degree 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 two degrees of freedom industrial waste of a driving lever and pretend industry, overcoming existing industrial waste to grab installation needs
The shortcoming for being equipped with the controlled motor with linkage free degree equivalent amount to be controlled, simplifies 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 industrial waste is also overcomed simultaneously grabs 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 drives variable active degree multi-connecting-rod mechanism to carry out industrial waste for one kind of the present invention using servomotor
Grab the operating diagram of dress operational method.
Specific embodiment
One kind of the present invention drives variable active degree multi-connecting-rod mechanism to carry out industrial waste and grabs dress using servomotor
Operational method, it is characterised in that the servomotor drives variable active degree multi-connecting-rod mechanism to include base 1, large arm lift
Structure, wrist connecting rod luffing mechanism, servo drive and the first locking device 5 and the second locking device 18；The large arm liter
Descending mechanism is made up of large arm 9 and elevating mechanism, and the large arm 9 rotates secondary 4 and is connected in frame 1 by the tenth, the lift
One end of fourth link 3 of structure rotates secondary 2 and is connected on base 1 by second, and the other end is by the 3rd rotation secondary 6 and the 5th connecting rod
7 connections, 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 connected by wrist
Bar 22 and luffing mechanism are constituted, and the wrist connecting rod 22 rotates secondary 12 and is connected in large arm 9 by the 12nd, the luffing mechanism
It is made up of driving lever 14, first connecting rod 16, third connecting rod 10 and second connecting rod 20, the one end of driving lever 14 rotates secondary 13 by first
It is connected on base 1, the other end rotates secondary 15 and is connected with first connecting rod 16 by the 5th；The one end of first connecting rod 16 passes through the 7th turn
Dynamic secondary 17 are connected on third connecting rod 10, and the other end of first 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 connected in large arm 9 by eighth-turn dynamic secondary 11, and the other end of second connecting rod 20 rotates secondary by the 9th
21 are connected with wrist connecting rod 22；The locking device 18 of first locking device 5 and second is separately mounted to the 3rd rotation secondary 6 and the
Seven rotate on secondary 17, are locked in good time according to different operating modes；Servo drive includes the first servomotor, with the first master
Lever 14 connects to drive it to rotate；The locking device 18 of first locking device 5 and second is locked using electromagnetic mode
Tightly.
Before industrial waste crawl loading operation, base 1 is coupled together with rubber-tyred or crawler type walking mechanism, by wrist
Connecting rod 22 is coupled together with the wrist 27 of installation, paw 28 is grabbed；Grab when pretending industry and carrying out, carried out by Motor drive driving lever 14
Rotary motion, makes linkage complete to grab and pretend industry.
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
The free degree, the second locking device 18 is locked, and the 7th rotates secondary 17 loses the free degree, 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 the free degree, and the respect thereto 1 of large arm 9 loses the free degree, 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 hand
The industrial waste of pawl 28 is grabbed and pretends industry.First locking device 5 and the second locking device 18 can be locked using electromagnetic mode, control
System is easily realized.
The invention enables the quantity of controllable drive motor grabs the free degree 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 free degree 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 make each connecting rod rod member
Lighter bar, so that whole mechanism kinematic inertia is little, dynamic performance is good, it is easy to control.
Claims (1)
1. one kind drives variable active degree multi-connecting-rod mechanism to carry out industrial waste and grabs dress operational method using servomotor, its feature
It is that the servomotor drives variable active degree multi-connecting-rod mechanism to include base 1, large arm elevating mechanism, wrist connecting rod pitching machine
Structure, servo drive and the first locking device 5 and the second locking device 18；The large arm elevating mechanism is by large arm 9 and rises
Descending mechanism is constituted, and the large arm 9 rotates secondary 4 and is connected in frame 1 by the tenth, one end of fourth link 3 of the elevating mechanism
Secondary 2 are rotated by second to be connected on base 1, the other end rotates secondary 6 and is connected with the 5th connecting rod 7 by the 3rd, and the 5th connecting rod 7 is another
One end rotates secondary 8 and is connected with large arm 9 by the 4th；The wrist connecting rod luffing mechanism is by wrist connecting rod 22 and luffing mechanism group
Into the wrist connecting rod 22 rotates secondary 12 and is connected in large arm 9 by the 12nd, and the luffing mechanism is by driving lever 14, first
Connecting rod 16, third connecting rod 10 and second connecting rod 20 are constituted, and the one end of driving lever 14 rotates secondary 13 and is connected on base 1 by first,
The other end rotates secondary 15 and is connected with first connecting rod 16 by the 5th；The one end of first connecting rod 16 rotates secondary 17 and is connected to the by the 7th
On three connecting rods 10, the other end of first connecting rod 16 rotates secondary 19 and is connected on second connecting rod 20 by the 6th；Third connecting rod 10 is another
End is connected in large arm 9 by eighth-turn dynamic secondary 11, and the other end of second connecting rod 20 rotates secondary 21 with wrist connecting rod 22 by the 9th
Connection；The locking device 18 of first locking device 5 and second is separately mounted to the 3rd rotation secondary 6 and the 7th and rotates on secondary 17,
Locked in good time according to different operating modes；Servo drive include the first servomotor, be connected with the first driving lever 14 with
It is driven to rotate；The locking device 18 of first locking device 5 and second is locked using electromagnetic mode, and industrial waste is grabbed
Before taking loading operation, base 1 is coupled together with rubber-tyred or crawler type walking mechanism, by wrist connecting rod 22 and the hand for grabbing installation
Wrist 27, paw 28 are coupled together；Grab when pretending industry and carrying out, be rotated by Motor drive driving lever 14, make connecting rod machine
Structure completes to grab pretends industry.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611083463.4A CN106677237A (en) | 2016-11-30 | 2016-11-30 | Method for adopting servo motor driving variable-mobility multi-connecting-rod mechanism for conducting industrial waste grabbing and loading work |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611083463.4A CN106677237A (en) | 2016-11-30 | 2016-11-30 | Method for adopting servo motor driving variable-mobility multi-connecting-rod mechanism for conducting industrial waste grabbing and loading work |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106677237A true CN106677237A (en) | 2017-05-17 |
Family
ID=58866865
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611083463.4A Pending CN106677237A (en) | 2016-11-30 | 2016-11-30 | Method for adopting servo motor driving variable-mobility multi-connecting-rod mechanism for conducting industrial waste grabbing and loading work |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106677237A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107414824A (en) * | 2017-06-26 | 2017-12-01 | 北京若贝特智能机器人科技有限公司 | A kind of robot controller and control module |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11343631A (en) * | 1998-06-01 | 1999-12-14 | Maruma Technica Kk | Parallel link device for wheel loader |
| US6032746A (en) * | 1998-08-17 | 2000-03-07 | Lowery; Lloyd | Road leveller |
| CN104032782A (en) * | 2014-06-27 | 2014-09-10 | 广西大学 | Low-cost loading mechanism with active metamorphic function |
| CN104047309A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Controllable multi-connecting-rod loading machine with active metamorphic function |
| CN104074212A (en) * | 2014-06-27 | 2014-10-01 | 广西大学 | Multi-linkage mechanism with initiative metamorphic function |
-
2016
- 2016-11-30 CN CN201611083463.4A patent/CN106677237A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11343631A (en) * | 1998-06-01 | 1999-12-14 | Maruma Technica Kk | Parallel link device for wheel loader |
| US6032746A (en) * | 1998-08-17 | 2000-03-07 | Lowery; Lloyd | Road leveller |
| CN104032782A (en) * | 2014-06-27 | 2014-09-10 | 广西大学 | Low-cost loading mechanism with active metamorphic function |
| CN104047309A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Controllable multi-connecting-rod loading machine with active metamorphic function |
| CN104074212A (en) * | 2014-06-27 | 2014-10-01 | 广西大学 | Multi-linkage mechanism with initiative metamorphic function |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107414824A (en) * | 2017-06-26 | 2017-12-01 | 北京若贝特智能机器人科技有限公司 | A kind of robot controller and control module |
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Application publication date: 20170517 |