CN106737831A - One kind is driven using Dual-Servo Motor can variable freedom multi link feed stacking manipulator - Google Patents
One kind is driven using Dual-Servo Motor can variable freedom multi link feed stacking manipulator Download PDFInfo
- Publication number
- CN106737831A CN106737831A CN201611063040.6A CN201611063040A CN106737831A CN 106737831 A CN106737831 A CN 106737831A CN 201611063040 A CN201611063040 A CN 201611063040A CN 106737831 A CN106737831 A CN 106737831A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- locking device
- large arm
- wrist
- feed stacking
- 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.)
- Pending
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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
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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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
Abstract
One kind is driven using Dual-Servo Motor can variable freedom multi link feed stacking manipulator, including 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；The large arm elevating mechanism includes large arm 8, the connecting rod 6 of fourth link 3 and the 5th, the wrist connecting rod luffing mechanism includes driving lever 16, first connecting rod 18, second connecting rod 21 and third connecting rod 11, first locking device 5 and the second locking device 12 are separately mounted in the 11st rotation secondary 4 and eighth-turn dynamic secondary 7, can in good time be locked according to the different operating mode of feed stacking manipulator 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 locking device 12 are locked using electromagnetic mode.The present invention is only to be capable of achieving two free degree feed stacking operations with a driving lever, reduces motor usage quantity, reduces feed stacking manipulator construction valency.
Description
Technical field
The present invention relates to mechanical field, particularly a kind of driving using Dual-Servo Motor can variable freedom multi link 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 use of the hand in feed stacking operation.Feed stacking manipulator has mechanical and fluid pressure type two types, current feed
Most of mechanical arm of palletizing mechanical arm is hydraulic-driven, 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 of leakage can be dirty
Dye environment, influences quality of the fodder；Hydraulic oil temperature influence is larger, and gross efficiency is relatively low, there is noise and vibration sometimes.Sometimes
There are the phenomenons such as overheat, 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
Stacking is acted, 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 mechanical electronic feed stacking manipulator of controllable mechanism, and liquid is instead of with linkage
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
Being driven using Dual-Servo Motor it is an object of the invention to provide one kind can variable freedom multi link feed stacking machine
Tool hand, overcomes the shortcomings of fluid pressure type feed stacking mechanical hand hydraulic system element required precision high, complex structure, easy oil leakage, gram
The motor for taking open-chain structure is required for being arranged on the shortcoming of joint position, and causes the quantity of controllable drive motor less than feeding
Expect the free degree of palletizing mechanical arm linkage, overcome the electronic feed stacking manipulator structure of existing machinery formula to need to be equipped with and connecting rod
The controlled motor of mechanism freedom equivalent amount simplifies the complexity of structure, the weight of reducing mechanism come the shortcoming being controlled
Amount, movement inertia, volume and cost.To achieve the above object, driven using Dual-Servo Motor the invention provides one kind variable
Free degree multi link feed stacking manipulator, including base 1, large arm elevating mechanism, wrist connecting rod luffing mechanism, wrist 27, hand
Pawl 28, servo drive, the first locking device 5 and the second locking device 12；The large arm elevating mechanism includes large arm 8, the
The connecting rod 6 of double leval jib 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 passes through the 9th turn
Dynamic 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
11st rotates 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；
The wrist connecting rod luffing mechanism includes driving lever 16, first connecting rod 18, second connecting rod 21 and third connecting rod 11, the driving lever
16 one end rotate secondary 15 and are connected with base 1 by first, and the other end rotates secondary 17 and is connected with the one end of first connecting rod 18 by second,
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, and the other end of second connecting rod 21 passes through the 5th
Secondary 22 are rotated to be connected with wrist connecting rod 10；The one end of the third connecting rod 11 is connected by eighth-turn dynamic secondary 7 with large arm 8, the other end
Secondary 20 are rotated by the 4th to be connected with second connecting rod 21；First locking device 5 and the second locking device 12 are separately mounted to the tenth
One rotates in secondary 4 and eighth-turn dynamic secondary 7, can in good time be locked according to the different operating mode of feed stacking manipulator structure；Servo
Drive device is connected to drive it to rotate including the first servomotor with driving lever 16；First locking device 5 and the second locking dress
12 are put to be locked using electromagnetic mode.
A kind of servomotor drive link formula of the present invention can variable freedom feed stacking manipulator use controllable many bar closed chains
Mechanism, the motor for overcoming open-chain structure is required for being arranged on the shortcoming of joint position, improves the steady of arm operation
Property and reliability, 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
Specific rotation is secondary with loosening, and the free degree of mechanism is reduced in good time, realizes in the case where expected requirement is completed, and uses
The quantity of controllable drive motor, less than the free degree of feed stacking manipulator linkage, is to be capable of achieving two certainly using a driving lever
By degree feed stacking operation, existing feed stacking manipulator is overcome to need to be equipped with the control with linkage free degree equivalent amount
Motor simplifies the complexity of structure the shortcoming that is controlled, the weight of reducing mechanism, movement inertia, volume and cost, increases
Add the controllability and stability of mechanism, improve operating efficiency.Also overcome fluid pressure type feed stacking mechanical hand hydraulic simultaneously
System element required precision is high, complex structure, easy oil leakage, poor reliability, the low shortcoming of transmission efficiency.
Brief description of the drawings
Fig. 1 for it is of the present invention it is a kind of using Dual-Servo Motor drive can variable freedom multi link feed stacking manipulator show
It is intended to.
Specific embodiment
One kind is driven using Dual-Servo Motor can variable freedom multi link feed stacking manipulator, including base 1, large arm liter
Descending mechanism, wrist connecting rod luffing mechanism, wrist 27, paw 28, servo drive, the first locking device 5 and the second locking dress
Put 12；The base 1 is arranged on removable revolving dial；The large arm elevating mechanism includes large arm 8, fourth link 3 and the
Five connecting rods 6, 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 and wrist by the 9th
Connecting rod 10 is connected；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 secondary by the 11st
4 are 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；The wrist connecting rod
Luffing mechanism includes driving lever 16, first connecting rod 18, second connecting rod 21 and third connecting rod 11, and the one end of the driving lever 16 is by the
One 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, and first connecting rod 18 is another
One end rotates secondary 19 and is connected with the one end of second connecting rod 21 by the 3rd, and the other end of second connecting rod 21 rotates secondary 22 and hand by the 5th
Wrist connecting rod 10 is connected；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 is rotated by the 4th
Secondary 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
In eighth-turn dynamic secondary 7, can in good time be locked according to the different operating mode of feed stacking manipulator structure；Servo drive includes the
One servomotor is connected to drive it to rotate with driving lever 16；First locking device 5 and the second locking device 12 use electromagnetism side
Formula is 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 the free degree, and now, large arm 8 is lifted under the effect of driving lever 16.Wrist connecting rod 10
During independent 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 the free degree, the respect thereto 1 of large arm 8 loses the free degree, now wrist connecting rod is realized bowing under the driving of driving lever 16
Face upward.In whole feed stacking operation process, the first locking device 5 and the second locking device 12 according to different working conditions,
Tight lock is selected respectively or is opened, it is common to complete the motions such as large arm lifting and flexible, wrist connecting rod 10 and the pitching of wrist 27, realize
The feed 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. a kind of driving using Dual-Servo Motor can variable freedom multi link feed stacking manipulator, including base 1, large arm lifting
Mechanism, wrist connecting rod luffing mechanism, wrist 27, paw 28, servo drive, the first locking device 5 and the second locking device
12；The base 1 is arranged on removable revolving dial；The large arm elevating mechanism includes large arm 8, fourth link 3 and the 5th
Connecting rod 6, 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 and connects with wrist by the 9th
Bar 10 is connected；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 secondary 4 by the 11st
It is connected with the one end of the 5th connecting rod 6, 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 is bowed
Facing upward mechanism includes driving lever 16, first connecting rod 18, second connecting rod 21 and third connecting rod 11, and the one end of the driving lever 16 passes through first
Rotate secondary 15 to be connected with base 1, the other end rotates secondary 17 and is connected with the one end of first connecting rod 18 by second, and first connecting rod 18 is another
End rotates secondary 19 and is connected with the one end of second connecting rod 21 by the 3rd, and the other end of second connecting rod 21 rotates secondary 22 and wrist by the 5th
Connecting rod 10 is connected；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 feed stacking manipulator 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 use electromagnetic mode
Locked.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611063040.6A CN106737831A (en) | 2016-11-28 | 2016-11-28 | One kind is driven using Dual-Servo Motor can variable freedom multi link feed stacking manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611063040.6A CN106737831A (en) | 2016-11-28 | 2016-11-28 | One kind is driven using Dual-Servo Motor can variable freedom multi link feed stacking manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106737831A true CN106737831A (en) | 2017-05-31 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611063040.6A Pending CN106737831A (en) | 2016-11-28 | 2016-11-28 | One kind is driven using Dual-Servo Motor can variable freedom multi link feed stacking manipulator |
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| Country | Link |
|---|---|
| CN (1) | CN106737831A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106609522A (en) * | 2016-11-30 | 2017-05-03 | 广西大学 | A double servo motor-driven variable-degree of freedom multi-connecting rod mechanism |
| CN110877824A (en) * | 2019-10-17 | 2020-03-13 | 湖北省建为包装科技有限公司 | Novel stacker crane |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104612191A (en) * | 2014-12-12 | 2015-05-13 | 广西大学 | MDOF movable loading mechanism with initiative metamorphism function |
| CN204823889U (en) * | 2015-06-14 | 2015-12-02 | 侯学志 | Has born of same parents of change function from adjustment mechanism formula hoist |
-
2016
- 2016-11-28 CN CN201611063040.6A patent/CN106737831A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104612191A (en) * | 2014-12-12 | 2015-05-13 | 广西大学 | MDOF movable loading mechanism with initiative metamorphism function |
| CN204823889U (en) * | 2015-06-14 | 2015-12-02 | 侯学志 | Has born of same parents of change function from adjustment mechanism formula hoist |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106609522A (en) * | 2016-11-30 | 2017-05-03 | 广西大学 | A double servo motor-driven variable-degree of freedom multi-connecting rod mechanism |
| CN110877824A (en) * | 2019-10-17 | 2020-03-13 | 湖北省建为包装科技有限公司 | Novel stacker crane |
| CN110877824B (en) * | 2019-10-17 | 2024-01-19 | 鹤山市建为包装科技有限公司 | Novel stacker crane |
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Application publication date: 20170531 |
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