CN106695821A - Method for grabbing and loading industrial wastes by variable-degree-of-freedom connecting rod mechanism comprising rotating pair locking device - Google Patents
Method for grabbing and loading industrial wastes by variable-degree-of-freedom connecting rod mechanism comprising rotating pair locking device Download PDFInfo
- Publication number
- CN106695821A CN106695821A CN201611084548.4A CN201611084548A CN106695821A CN 106695821 A CN106695821 A CN 106695821A CN 201611084548 A CN201611084548 A CN 201611084548A CN 106695821 A CN106695821 A CN 106695821A
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- China
- Prior art keywords
- connecting rod
- locking device
- driving lever
- wrist
- link
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- 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
- B25J5/007—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
- B25J9/10—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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
A method for grabbing and loading industrial wastes by a variable-degree-of-freedom connecting rod mechanism comprising a rotating pair locking device is characterized in that the variable-degree-of-freedom connecting rod mechanism comprising the rotating pair locking device comprises a base 1, a big arm retractable mechanism, a lower arm lifting mechanism, a wrist connecting rod maintaining mechanism, a servo driving device, a first locking device 25 and a second locking device 26, wherein the big arm retractable mechanism consists of a fourth connecting rod 5, a first driving rod 3, a second driving rod 20 and a first connecting rod 22; the maintaining mechanism consists of a second connecting rod 17, a maintaining connecting rod 18 and a big arm 8; the first locking device 25 is mounted on a second rotating pair 4; the second locking device 26 is mounted on a tenth rotating pair 16; and the servo driving device comprises a first servo motor and a second servo motor which are connected with the first driving rod 3 and the second driving rod 20 so as to drive the first driving rod 3 and the second driving rod 20 to rotate. The variable-degree-of-freedom connecting rod transmission mechanism replaces traditional hydraulic transmission, and therefore, the shortcoming that a hydraulic system is complicated and leaks oil easily is overcome.
Description
Technical field
It is particularly a kind of to be carried out containing the variable freedom linkage for rotating secondary locking device the present invention relates to mechanical field
Industrial waste grabs dress operational method.
Background technology
Because the personnel of labour market are in short supply, the increasing that human cost rises year by year and enterprise is realized to labour protection
By force, promote industrial waste and grab extensive use of the installation 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 most of mechanical arm 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, and the hydraulic oil of leakage is produced to pollute 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 the phenomenon such as overheat, powerless in work；Hydraulic Elements requirement on machining accuracy is high, and matching requirements are strict, system
Make more difficult, maintenance requires that technology is higher in use, and difficulty is larger.The increase of installation function is grabbed with industrial waste,
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 realize industrial waste grab 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, hydraulic drive is instead of with linkage, 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 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 industry is carried out containing the variable freedom linkage for rotating secondary locking device
Waste material grabs dress operational method, overcomes fluid pressure type industrial waste to grab installation hydraulic system element required precision high, complex structure, leakiness
Oily the shortcomings of, the motor of open-chain structure is overcome to be required for being arranged on the shortcoming of joint position, and cause 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.To achieve the above object, it is secondary containing rotating the invention provides one kind
The variable freedom linkage of locking device carries out industrial waste and grabs dress operational method, it is characterised in that described to contain the secondary lock of rotation
The variable freedom linkage of tight device includes：Base 1, large arm telescoping mechanism, underarm elevating mechanism, wrist connecting rod keep machine
Structure, servo drive, the first locking device 25 and the second locking device 26；The large arm telescoping mechanism by fourth link 5,
First driving lever 3, the second driving lever 20 and first connecting rod 22 are constituted, and first driving lever 3 rotates secondary 2 and base by first
1 is connected, and the other end of the first driving lever 3 rotates secondary 4 and is connected with fourth link 5 by second, and the second driving lever 20 passes through the 3rd turn
Dynamic secondary 19 are connected with base 1, and the other end of the second driving lever 20 rotates secondary 21 and is connected with first connecting rod 22 by the 4th, first connecting rod
22 other ends rotate secondary 6 and are connected with fourth link 5 by the 5th, and fourth link 5 rotates secondary 24 and connects with large arm 8 by the 14th
Connect；The underarm elevating mechanism is made up of underarm 12, second connecting rod 17 and six-bar linkage 14, and the six-bar linkage 14 passes through the 6th
Rotate secondary 15 to be connected with the second driving lever 20, the other end of six-bar linkage 14 rotates secondary 16 and is connected with second connecting rod 17 by the 7th,
The other end of third connecting rod 17 rotates secondary 23 and is connected with underarm 12 by the 13rd, the other end of underarm 12 by eighth-turn dynamic secondary 11 and
Wrist connecting rod 10 is connected；The wrist link retaining mechanism is made up of wrist connecting rod 10 and maintaining body, the maintaining body by
Second connecting rod 17, holding connecting rod 18 and large arm 8 are constituted, and second connecting rod 17 rotates secondary 16 and is connected with six-bar linkage 14 by the 7th,
The other end of second connecting rod 17 rotates secondary 13 and is connected with connecting rod 18 is kept by the tenth, keeps the other end of connecting rod 18 to pass through the 11st turn
Dynamic secondary 7 are connected with large arm 8, and the other end of large arm 8 rotates secondary 9 and is connected with wrist connecting rod 10 by the 12nd；The first locking dress
25 the second rotations secondary 4 for being arranged on the end of the first driving lever 3 and the junction of fourth link 5 are put, the second locking device 26 is arranged on
The end of second connecting rod 17 and the tenth rotation secondary 16 of the junction of six-bar linkage 14, are locked in good time according to the different operating mode of mechanism
Tightly；Servo drive include the first servomotor, the second servomotor, be connected with the first driving lever 3, the second driving lever 20 with
It is driven to rotate；First locking device 25 and the second locking device 26 are locked using electromagnetic mode, according to different operations
Operating mode, selects tight lock or opens respectively.
Before industrial waste crawl loading operation, base 1 is coupled together with rubber-tyred or crawler type walking mechanism, by wrist
Connecting rod 10 is coupled together with the wrist 27 of installation, paw 28 is grabbed；Grab when pretending industry and carrying out, watched by the first servomotor, second
Taking motor drives the first driving lever 1 and the second driving lever 2 to be rotated, and makes linkage complete to grab to pretend industry.
The present invention uses 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 that specific rotation pair is locked and loosened according to the different operating modes of mechanism, and 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
It is to be capable of achieving two degrees of freedom industrial waste to grab and pretend industry using a driving lever by spending, overcomes 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, drop
The weight of low mechanism, movement inertia, volume and cost, increased the controllability and stability of mechanism, improve operating efficiency.Together
When also overcome fluid pressure type industrial waste grab installation hydraulic system element required precision be high, complex structure, easy oil leakage, reliability
Difference, the low shortcoming of transmission efficiency.
Brief description of the drawings
Fig. 1 is that a kind of variable freedom linkage containing rotation secondary locking device of the present invention carries out industrial waste
Grab the operating diagram of dress operational method.
Specific embodiment
A kind of variable freedom linkage containing rotation secondary locking device carries out industrial waste and grabs dress operational method, and it is special
Levy is that the variable freedom linkage containing rotation secondary locking device includes：Base 1, large arm telescoping mechanism, underarm liter
Descending mechanism, wrist link retaining mechanism, servo drive, the first locking device 25 and the second locking device 26；The bottom
Seat 1 is arranged on removable revolving dial；The large arm telescoping mechanism is by fourth link 5, the first driving lever 3, the second driving lever
20 and first connecting rod 22 constitute, first driving lever 3 rotates secondary 2 and is connected with base 1 by first, and the first driving lever 3 is another
End rotates secondary 4 and is connected with fourth link 5 by second, and the second driving lever 20 rotates secondary 19 and is connected with base 1 by the 3rd, and second
The other end of driving lever 20 rotates secondary 21 and is connected with first connecting rod 22 by the 4th, and the other end of first connecting rod 22 rotates secondary by the 5th
6 are connected with fourth link 5, and fourth link 5 rotates secondary 24 and is connected with large arm 8 by the 14th；The underarm elevating mechanism is under
Arm 12, second connecting rod 17 and six-bar linkage 14 are constituted, and the six-bar linkage 14 rotates the driving lever 20 of pair 15 and second by the 6th
Connection, the other end of six-bar linkage 14 rotates secondary 16 and is connected with second connecting rod 17 by the 7th, and the other end of third connecting rod 17 passes through the
13 rotate secondary 23 is connected with underarm 12, and the other end of underarm 12 is connected by eighth-turn dynamic secondary 11 with wrist connecting rod 10；The hand
Wrist link retaining mechanism is made up of wrist connecting rod 10 and maintaining body, and the maintaining body is by second connecting rod 17, holding connecting rod 18
Constituted with large arm 8, second connecting rod 17 rotates secondary 16 and is connected with six-bar linkage 14 by the 7th, the other end of second connecting rod 17 passes through the
Ten rotate secondary 13 is connected with connecting rod 18 is kept, and keeps the other end of connecting rod 18 to rotate secondary 7 by the 11st and is connected with large arm 8, large arm 8
The other end rotates secondary 9 and is connected with wrist connecting rod 10 by the 12nd；First locking device 25 is arranged on the end of the first driving lever 3
End rotates secondary 4 with the second of the junction of fourth link 5, and the second locking device 26 is arranged on the end of second connecting rod 17 and six-bar linkage
Tenth rotation secondary 16 of 14 junction, is locked in good time according to the different operating mode of mechanism；Servo drive includes first
Servomotor, the second servomotor, are connected to drive it to rotate with the first driving lever 3, the second driving lever 20；First locking device
25 and second locking device 26 locked using electromagnetic mode, according to different working conditions, tight lock is selected respectively or is opened,
Before industrial waste crawl loading operation, base 1 is coupled together with rubber-tyred or crawler type walking mechanism, by wrist connecting rod 10 and
The wrist 27 of installation, paw 28 is grabbed to couple together；Grab when pretending industry and carrying out, driven by the first servomotor, the second servomotor
Dynamic first driving lever 1 and the second driving lever 2 are rotated, and make linkage complete to grab to pretend industry.
Claims (1)
1. a kind of variable freedom linkage containing rotation secondary locking device carries out industrial waste and grabs dress operational method, its feature
It is that the variable freedom linkage containing rotation secondary locking device includes：Base 1, large arm telescoping mechanism, underarm lifting
Mechanism, wrist link retaining mechanism, servo drive, the first locking device 25 and the second locking device 26；The large arm
Telescoping mechanism is made up of fourth link 5, the first driving lever 3, the second driving lever 20 and first connecting rod 22, first driving lever 3
Secondary 2 are rotated by first to be connected with base 1, the other end of the first driving lever 3 rotates secondary 4 and is connected with fourth link 5 by second, the
Two driving levers 20 rotate secondary 19 and are connected with base 1 by the 3rd, and the other end of the second driving lever 20 rotates pair 21 and the by the 4th
One connecting rod 22 is connected, and the other end of first connecting rod 22 rotates secondary 6 and is connected with fourth link 5 by the 5th, and fourth link 5 passes through the tenth
Four rotate secondary 24 is connected with large arm 8；The underarm elevating mechanism is made up of underarm 12, second connecting rod 17 and six-bar linkage 14, institute
State six-bar linkage 14 to be connected with the second driving lever 20 by the 6th rotation secondary 15, the other end of six-bar linkage 14 rotates secondary by the 7th
16 are connected with second connecting rod 17, and the other end of third connecting rod 17 rotates secondary 23 and is connected with underarm 12 by the 13rd, and underarm 12 is another
End is connected by eighth-turn dynamic secondary 11 with wrist connecting rod 10；The wrist link retaining mechanism is by wrist connecting rod 10 and maintaining body
Composition, the maintaining body is made up of second connecting rod 17, holding connecting rod 18 and large arm 8, and second connecting rod 17 rotates secondary by the 7th
16 are connected with six-bar linkage 14, and the other end of second connecting rod 17 rotates secondary 13 and is connected with connecting rod 18 is kept by the tenth, keeps connecting rod
18 other ends rotate secondary 7 and are connected with large arm 8 by the 11st, and the other end of large arm 8 rotates secondary 9 with wrist connecting rod 10 by the 12nd
Connection；First locking device 25 is arranged on the second rotation secondary 4 of the end of the first driving lever 3 and the junction of fourth link 5, the
Two locking devices 26 are arranged on the tenth rotation secondary 16 of the end of second connecting rod 17 and the junction of six-bar linkage 14, according to mechanism not
Same operating mode is locked in good time；Servo drive include the first servomotor, the second servomotor, with the first driving lever 3,
Second driving lever 20 connects to drive it to rotate；First locking device 25 and the second locking device 26 are locked using electromagnetic mode
Tightly, according to different working conditions, tight lock is selected respectively or is opened, before industrial waste crawl loading operation, by base 1 and tire
Formula or crawler type walking mechanism are coupled together, and wrist connecting rod 10 is coupled together with the wrist 27 of installation, paw 28 is grabbed；Grab and pretend
When industry is carried out, rotation fortune is carried out by the first servomotor, the second servomotor the first driving lever 1 of driving and the second driving lever 2
It is dynamic, make linkage complete to grab to pretend industry.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611084548.4A CN106695821A (en) | 2016-11-30 | 2016-11-30 | Method for grabbing and loading industrial wastes by variable-degree-of-freedom connecting rod mechanism comprising rotating pair locking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611084548.4A CN106695821A (en) | 2016-11-30 | 2016-11-30 | Method for grabbing and loading industrial wastes by variable-degree-of-freedom connecting rod mechanism comprising rotating pair locking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106695821A true CN106695821A (en) | 2017-05-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611084548.4A Pending CN106695821A (en) | 2016-11-30 | 2016-11-30 | Method for grabbing and loading industrial wastes by variable-degree-of-freedom connecting rod mechanism comprising rotating pair locking device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106695821A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6480773B1 (en) * | 2000-08-09 | 2002-11-12 | Harnischfeger Industries, Inc. | Automatic boom soft setdown mechanism |
| CN103174178A (en) * | 2013-02-08 | 2013-06-26 | 广西大学 | Branch-chain stop control type multiple degrees of freedom link mechanism form loading machine |
| CN104594406A (en) * | 2014-12-25 | 2015-05-06 | 广西大学 | Electromagnetic metamorphism multi-closed-chain connecting rod controllable excavating mechanism with bucket holding mechanism |
-
2016
- 2016-11-30 CN CN201611084548.4A patent/CN106695821A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6480773B1 (en) * | 2000-08-09 | 2002-11-12 | Harnischfeger Industries, Inc. | Automatic boom soft setdown mechanism |
| CN103174178A (en) * | 2013-02-08 | 2013-06-26 | 广西大学 | Branch-chain stop control type multiple degrees of freedom link mechanism form loading machine |
| CN104594406A (en) * | 2014-12-25 | 2015-05-06 | 广西大学 | Electromagnetic metamorphism multi-closed-chain connecting rod controllable excavating mechanism with bucket holding mechanism |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170524 |