CN106737832A - One kind using servomotor driving can variable freedom linkage carry out industrial waste and grab dress operational method - Google Patents
One kind using servomotor driving can variable freedom linkage carry out industrial waste and grab dress operational method Download PDFInfo
- Publication number
- CN106737832A CN106737832A CN201611082222.8A CN201611082222A CN106737832A CN 106737832 A CN106737832 A CN 106737832A CN 201611082222 A CN201611082222 A CN 201611082222A CN 106737832 A CN106737832 A CN 106737832A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- locking device
- wrist
- industrial waste
- grab
- 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
- 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
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more 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
-
- 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
Abstract
One kind using servomotor drive can variable freedom linkage carry out industrial waste and grab dress operational method, its feature with the servomotor drive can variable freedom linkage include base 1, large arm 17, wrist connecting rod luffing mechanism, servo drive and the first locking device 8, the second locking device 16；The wrist connecting rod luffing mechanism is made up of wrist connecting rod and luffing mechanism, the wrist connecting rod is connected in large arm 17 by coaxial the 9th rotation secondary 19 and the tenth rotation secondary 20, the luffing mechanism is made up of driving link 3, first connecting rod 5, second connecting rod 10 and third connecting rod 9, first locking device 8, the second locking device 16 are separately mounted to the 4th rotation the secondary 7, the 7th and rotate on secondary 15, are locked in good time according to the different operating mode of mechanism；First locking device 8, the second locking device 16 are locked using electromagnetic mode.Instant invention overcomes open-chain structure motor be required for be arranged on joint position shortcoming, and the controllable drive motor for using quantity less than linkage the free degree.
Description
Technical field
The present invention relates to mechanical field, it is particularly a kind of using servomotor driving can variable freedom linkage carry out work
Industry waste material 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 grab dress action, have the advantages that it is sturdy and durable, but the mechanical industrial waste of traditional single-degree-of-freedom grabs dress
Machine can not complete the action of complexity, and range of application is extremely limited, and mechanical controllable mechanism electric industry waste material grabs installation, uses connecting rod
Mechanism instead of hydraulic drive, when driving lever is driven by servomotor, easily realize automation, NC postprocessing control, solve
The some shortcomings that hydraulic system is present, but carried out with the controlled motor of linkage free degree equivalent amount in the presence of needs outfit
Mechanism's weight, big and high cost the problem of movement inertia that control structure complicated band is come.
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 servomotor drive can variable freedom linkage carry out industrial waste and grab
Dress operational method, overcomes fluid pressure type industrial waste to grab installation hydraulic system element required precision high, complex structure, easy oil leakage etc. and lacks
Point, overcomes the motor of open-chain structure to be required for being arranged on the shortcoming of joint position, and cause the quantity of controllable drive motor
Less than the free degree that industrial waste grabs installation linkage, overcoming existing machinery formula electric industry waste material to grab mounting mechanism needs to be equipped with
The shortcoming being controlled with the controlled motor of linkage free degree equivalent amount, simplifies the complexity of structure, reduces machine
The weight of structure, movement inertia, volume and cost.To achieve the above object, driven using servomotor the invention provides one kind
Can variable freedom linkage carry out industrial waste and grab dress operational method, its feature is driving variable freedom with the servomotor
Degree linkage includes：Base 1, large arm 17, wrist connecting rod luffing mechanism, servo drive and the first locking device 8,
Two locking devices 16；The wrist connecting rod luffing mechanism is made up of wrist connecting rod and luffing mechanism, and the wrist connecting rod is by same
9th rotation secondary 19 of axle and the tenth rotates secondary 20 and is connected in large arm 17, the luffing mechanism by driving link 3, first connecting rod 5,
Second connecting rod 10 and third connecting rod 9 are constituted, and the one end of driving link 3 rotates secondary 2 and is connected on base 1 by first, and the other end passes through
Second rotates secondary 4 is connected with first connecting rod 5；The other end of first connecting rod 5 rotates secondary 6 and is connected on second connecting rod 10 by the 3rd；
The another two ends of second connecting rod 10 rotate secondary 11 and are connected with wrist connecting rod 12 by the 5th respectively, and rotating secondary 7 and the 3rd by the 4th connects
Bar 9 is connected.Third connecting rod 9 rotates secondary 18 and is connected with large arm 17 by the 6th, first locking device 8, the second locking device
16 are separately mounted to the 4th rotation the secondary 7, the 7th rotates on secondary 15, is locked in good time according to the different operating mode of mechanism；Servo is driven
Dynamic device includes the first servomotor, is connected to drive it to rotate with driving lever 3；First locking device 8, the second locking device
16 are 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 12 is coupled together with the wrist 21 of installation, paw 22 is grabbed；Grab when pretending industry and carrying out, drive the driving lever 3 to carry out by motor
Rotary motion, 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
Be to be capable of achieving Three Degree Of Freedom to grab and pretend industry using two driving levers by spending, overcome existing industrial waste grab installation need to be equipped with even
The controlled motor of linkage free degree equivalent amount simplifies the complexity of structure come the shortcoming being controlled, reducing mechanism
Weight, movement inertia, volume and cost, increased the controllability and stability of mechanism, improve operating efficiency.Also overcome simultaneously
Fluid pressure type industrial waste grabs installation hydraulic system element required precision high, complex structure, easy oil leakage, poor reliability, transmission effect
The low shortcoming of rate.
Brief description of the drawings
Fig. 1 for it is of the present invention it is a kind of using servomotor driving can variable freedom linkage carry out industrial waste and grab
Fill the operating diagram of operational method.
Specific embodiment
One kind using servomotor driving can variable freedom linkage carry out industrial waste and grab dress operational method, its feature
With the servomotor drive can variable freedom linkage include base 1, large arm 17, wrist connecting rod luffing mechanism, servo
Drive device and the first locking device 8, the second locking device 16；The base 1 is arranged on removable revolving dial；Institute
State wrist connecting rod luffing mechanism to be made up of wrist connecting rod and luffing mechanism, the wrist connecting rod is by the 9th coaxial rotation secondary 19
Secondary 20 are rotated with the tenth to be connected in large arm 17, the luffing mechanism is by driving link 3, first connecting rod 5, second connecting rod 10 and the 3rd
Connecting rod 9 is constituted, and the one end of driving link 3 rotates secondary 2 and is connected on base 1 by first, and the other end rotates secondary 4 and first by second
Connecting rod 5 is connected；The other end of first connecting rod 5 rotates secondary 6 and is connected on second connecting rod 10 by the 3rd；The another two ends of second connecting rod 10 point
The 5th Tong Guo not rotate secondary 11 and be connected with wrist connecting rod 12, rotate pair 7 by the 4th is connected with third connecting rod 9.Third connecting rod 9 leads to
Cross the 6th rotation secondary 18 to be connected with large arm 17, first locking device 8, the second locking device 16 are separately mounted to the 4th turn
Dynamic secondary 7, the 7th rotates on secondary 15, is locked in good time according to the different operating mode of mechanism；Servo drive includes the first servo
Motor, is connected to drive it to rotate with driving lever 3；First locking device 8, the second locking device 16 are carried out using electromagnetic mode
Locking.
Before industrial waste crawl loading operation, base 1 is coupled together with rubber-tyred or crawler type walking mechanism, by wrist
Connecting rod 12 is coupled together with the wrist 21 of installation, paw 22 is grabbed；Grab when pretending industry and carrying out, drive the driving lever 3 to carry out by motor
Rotary motion, makes linkage complete to grab to pretend industry.
In each operating mode operation, during 17 lifting of large arm, the second locking device 16 is opened, and the 7th rotates secondary 15 affranchises
Degree, the first locking device 8 is locked, i.e., the 4th kinematic pair 7 loses the free degree.Now, third connecting rod 9, second connecting rod 10, wrist connect
Bar 12 and large arm 17 are mutually relative to lose the free degree, links integral.Now motion passes through first connecting rod 5 under driving link driving
Large arm 17 is delivered to, large arm 17 rotates pair 13 around the 7th and eighth-turn dynamic secondary 15 is rotated and realizes large arm lifting.Wrist connecting rod pitching
When, the first locking device 8 is opened, the degree of affranchising of the 4th kinematic pair 7, and the second locking device 16 is locked, and the 7th rotates secondary 15 loses
The free degree is gone, large arm respect thereto loses the free degree, now moving across first connecting rod 5 and second under the driving of driving link 3 connects
Bar 10 passes to wrist connecting rod 12 and realizes wrist connecting rod pitching.It is whole grab pretend industry during, the first locking device 8, second is locked
Tight device 16 selects tight lock or opens respectively according to different working conditions, it is common complete the lifting of large arm 2, wrist connecting rod 12 with
Pitching of wrist 21 etc. is moved, and realizes that grabbing for paw 22 pretends industry.First locking device 8, the second locking device 16 use electromagnetism
Mode is locked, and control is easily realized.
Claims (1)
1. it is a kind of using servomotor driving can variable freedom linkage carry out industrial waste and grab dress operational method, its feature exists
With the servomotor drive can variable freedom linkage include：Base 1, large arm 17, wrist connecting rod luffing mechanism, servo are driven
Dynamic device and the first locking device 8, the second locking device 16；The base 1 is arranged on removable revolving dial；It is described
Wrist connecting rod luffing mechanism is made up of wrist connecting rod and luffing mechanism, and the wrist connecting rod is by coaxial secondary 19 Hes of the 9th rotation
Tenth rotates secondary 20 is connected in large arm 17, and the luffing mechanism is connected by driving link 3, first connecting rod 5, second connecting rod 10 and the 3rd
Bar 9 is constituted, and the one end of driving link 3 rotates secondary 2 and is connected on base 1 by first, and the other end rotates secondary 4 and first and connects by second
Bar 5 is connected；The other end of first connecting rod 5 rotates secondary 6 and is connected on second connecting rod 10 by the 3rd；Distinguish at the another two ends of second connecting rod 10
Secondary 11 are rotated by the 5th to be connected with wrist connecting rod 12, rotate secondary 7 by the 4th is connected with third connecting rod 9, and third connecting rod 9 passes through
6th rotates secondary 18 is connected with large arm 17, and first locking device 8, the second locking device 16 are separately mounted to the 4th rotation
Secondary 7, the 7th rotates on secondary 15, is locked in good time according to the different operating mode of mechanism；Servo drive includes the first servo electricity
Machine, is connected to drive it to rotate with driving lever 3；First locking device 8, the second locking device 16 are 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
12 couple together with the wrist 21 of installation, paw 22 is grabbed；Grab when pretending industry and carrying out, drive driving lever 3 to be rotated by motor
Motion, makes linkage complete to grab to pretend industry.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611082222.8A CN106737832A (en) | 2016-11-30 | 2016-11-30 | One kind using servomotor driving can variable freedom linkage carry out industrial waste and grab dress operational method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611082222.8A CN106737832A (en) | 2016-11-30 | 2016-11-30 | One kind using servomotor driving can variable freedom linkage carry out industrial waste and grab dress operational method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106737832A true CN106737832A (en) | 2017-05-31 |
Family
ID=58898183
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611082222.8A Pending CN106737832A (en) | 2016-11-30 | 2016-11-30 | One kind using servomotor driving can variable freedom linkage carry out industrial waste and grab dress operational method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106737832A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102320479A (en) * | 2011-07-01 | 2012-01-18 | 广西大学 | Controllable mechanism type palletizing robot mechanism |
| CN104047315A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Loading mechanism with active metamorphic function |
| JP2014208387A (en) * | 2013-04-16 | 2014-11-06 | トヨタ自動車株式会社 | Robot hand |
| CN104612189A (en) * | 2014-12-25 | 2015-05-13 | 广西大学 | Rotatable type multi-freedom-degree controllable excavating mechanism with active cell changing function |
-
2016
- 2016-11-30 CN CN201611082222.8A patent/CN106737832A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102320479A (en) * | 2011-07-01 | 2012-01-18 | 广西大学 | Controllable mechanism type palletizing robot mechanism |
| JP2014208387A (en) * | 2013-04-16 | 2014-11-06 | トヨタ自動車株式会社 | Robot hand |
| CN104047315A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Loading mechanism with active metamorphic function |
| CN104612189A (en) * | 2014-12-25 | 2015-05-13 | 广西大学 | Rotatable type multi-freedom-degree controllable excavating mechanism with active cell changing function |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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Application publication date: 20170531 |