CN106759571A - One kind using servomotor drive can variable freedom multi-connecting-rod mechanism carry out industrial waste and grab dress operational method - Google Patents
One kind using servomotor drive can variable freedom multi-connecting-rod mechanism carry out industrial waste and grab dress operational method Download PDFInfo
- Publication number
- CN106759571A CN106759571A CN201611082223.2A CN201611082223A CN106759571A CN 106759571 A CN106759571 A CN 106759571A CN 201611082223 A CN201611082223 A CN 201611082223A CN 106759571 A CN106759571 A CN 106759571A
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- China
- Prior art keywords
- connecting rod
- locking device
- drive
- base
- rotates
- 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
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 32
- 239000002440 industrial waste Substances 0.000 title claims abstract description 27
- 238000000034 method Methods 0.000 title claims abstract description 9
- 210000000707 wrist Anatomy 0.000 claims abstract description 21
- 238000009434 installation Methods 0.000 claims description 15
- 230000033001 locomotion Effects 0.000 description 7
- 239000012530 fluid Substances 0.000 description 3
- 239000010720 hydraulic oil Substances 0.000 description 3
- 239000002699 waste material Substances 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005299 abrasion Methods 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
- 238000003754 machining Methods 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
- E02F3/40—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
- E02F3/425—Drive systems for dipper-arms, backhoes or the like
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
One kind using servomotor drive can variable freedom multi-connecting-rod mechanism carry out industrial waste and grab dress operational method, its feature with the servomotor drive can variable freedom multi-connecting-rod mechanism be made up of 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, servo drive, the first locking device 23 and the second locking device 24；The large arm 2 rotates secondary 10 and is connected on base by first, the locking device 24 of first locking device 23 and second is separately mounted to the 7th rotation the secondary 16 and the 11st and rotates on secondary 19, servo drive includes the first servomotor, is connected to drive it to rotate with driving lever 13；First locking device 23 and the second locking device 24 are locked using electromagnetic mode.The present invention replaces hydraulic mechanism using jointed gear unit, solves the easy oil leak of hydraulic mechanism, the shortcomings of mechanism is complicated, different operating modes, the free degree of the quantity less than mechanism using motor is adapted to using locking device on pair is rotated.
Description
Technical field
The present invention relates to mechanical field, it is particularly a kind of using servomotor drive can variable freedom multi-connecting-rod mechanism carry out
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 more using sudden, disguised.It is to utilize machine that mechanical industrial waste grabs installation
Tool driving member realize industrial waste grab dress action, using it is sturdy and durable the advantages of, 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 one kind using servomotor drive can variable freedom multi-connecting-rod mechanism carry out industry
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, the invention provides one kind using servo electricity
Machine drive can variable freedom multi-connecting-rod mechanism carry out industrial waste and grab dress operational method, its feature drives with the servomotor
Can variable freedom multi-connecting-rod mechanism 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, servo drive, the first locking device 23 and the second locking device 24
Composition；The large arm 2 rotates secondary 10 and is connected on base by first, and the other end of large arm 2 rotates secondary 8 and connects with wrist by the 3rd
Bar 6 is connected；The driving lever 13 rotates secondary 12 and is connected with base 1 by the 5th, and the other end rotates pair 14 and the by the 6th
One connecting rod 15 is connected, and first connecting rod 15 rotates secondary 16 and is connected with the first connector 5 by the 7th；First connector 5 passes through
Eighth-turn dynamic secondary 17 is connected with second connecting rod 22, and the other end of second connecting rod 22 rotates secondary 7 and is connected with wrist connecting rod 6 by the 9th；
The fourth link 4 rotates secondary 20 and is connected with base 1 by the 13rd, and one end is by the tenth rotation secondary 18 and the first connector
5 are 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 is by rotating secondary 25
It is 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 tenth
One rotates on secondary 19, is locked in good time according to different operating modes；Servo drive includes the first servomotor, is connected with driving lever 13
To drive it to rotate；First locking device 23 and the second locking device 24 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 6 is coupled together with the wrist 27 of installation, paw 28 is grabbed；Grab when pretending industry and carrying out, drive the driving lever 13 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
It is to be capable of achieving two degrees of freedom industrial waste and grab to pretend industry using driving lever by spending, 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 high, complex structure, easy oil leakage, reliability
Difference, 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 servomotor drive can variable freedom multi-connecting-rod mechanism carry out industrial waste
Grab the operating diagram of dress operational method.
Specific embodiment
One kind using servomotor drive can variable freedom multi-connecting-rod mechanism carry out industrial waste and grab dress operational method, it is special
Levy with the servomotor drive can variable freedom multi-connecting-rod mechanism by base 1, driving lever 13, first connecting rod 15, first connect
Fitting 5, fourth link 4, large arm 2, wrist connecting rod 6, second connecting rod 22, third connecting rod 26, servo drive, the first locking dress
Put 23 and second locking device 24 constitute；The base 1 is arranged on removable revolving dial；The large arm 2 passes through first
Rotate secondary 10 to be connected on base, the other end of large arm 2 rotates secondary 8 and is connected with wrist connecting rod 6 by the 3rd；The driving lever 13
Secondary 12 are rotated by the 5th to be connected with base 1, the other end rotates secondary 14 and is connected with first connecting rod 15 by the 6th, first connecting rod 15
Secondary 16 are rotated by the 7th to be connected with the first connector 5；First connector 5 is by eighth-turn dynamic secondary 17 and second connecting rod 22
Connection, the other end of second connecting rod 22 rotates secondary 7 and is connected with wrist connecting rod 6 by the 9th；The fourth link 4 passes through the 13rd turn
Dynamic secondary 20 are connected with base 1, and one end rotates secondary 18 and is connected with the first connector 5 by the tenth, and middle part passes through the 11st turn
Dynamic secondary 19 are connected with third connecting rod 26, and the other end of third connecting rod 26 is connected by rotating secondary 25 with large arm 2；First lock
The tight locking device 24 of device 23 and second is separately mounted to the 7th rotation the secondary 16 and the 11st and rotates on secondary 19, according to different operating modes
Locking in good time；Servo drive includes the first servomotor, is connected to drive it to rotate with driving lever 13；First locking device
23 and second locking device 24 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 6 is coupled together with the wrist 27 of installation, paw 28 is grabbed；Grab when pretending industry and carrying out, drive the driving lever 13 to carry out by motor
Rotary motion, makes linkage complete to grab to pretend industry.
In the work of each operating mode, 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 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 tight lock respectively according to different working conditions
Or open, it is common complete large arm 2 lift, the motion such as wrist connecting rod 6 and the pitching of wrist 27, realize that the industrial waste of paw 28 is grabbed
Industry is pretended, the first locking device 23 and the second locking device 24 can be locked using electromagnetic mode, control is easily realized.
Claims (1)
1. it is a kind of using servomotor drive can variable freedom multi-connecting-rod mechanism carry out industrial waste and grab dress operational method, its feature
With the servomotor drive can variable freedom multi-connecting-rod mechanism be connected by base 1, driving lever 13, first connecting rod 15, first
Part 5, fourth link 4, large arm 2, wrist connecting rod 6, second connecting rod 22, third connecting rod 26, servo drive, the first locking device
23 and second locking device 24 constitute；The base 1 is arranged on removable revolving dial；The large arm 2 passes through first turn
Dynamic secondary 10 are connected on base, and the other end of large arm 2 rotates secondary 8 and is connected with wrist connecting rod 6 by the 3rd；The driving lever 13 leads to
Cross the 5th rotation secondary 12 to be connected with base 1, the other end rotates secondary 14 and is connected with first connecting rod 15 by the 6th, and first connecting rod 15 leads to
The 7th rotation secondary 16 is crossed to be connected with the first connector 5；First connector 5 is connected by eighth-turn dynamic secondary 17 with second connecting rod 22
Connect, the other end of second connecting rod 22 rotates secondary 7 and is connected with wrist connecting rod 6 by the 9th；The fourth link 4 is rotated by the 13rd
Secondary 20 are connected with base 1, and one end rotates secondary 18 and is connected with the first connector 5 by the tenth, and middle part rotates by the 11st
Secondary 19 are connected with third connecting rod 26, and the other end of third connecting rod 26 is connected by rotating secondary 25 with large arm 2；First locking
The locking device 24 of device 23 and second is separately mounted to the 7th rotation the secondary 16 and the 11st and rotates on secondary 19, suitable according to different operating modes
When lock；Servo drive includes the first servomotor, is connected to drive it to rotate with driving lever 13；First locking device 23
Locked using electromagnetic mode with the second locking device 24, before industrial waste crawl loading operation, by base 1 and rubber-tyred or
Crawler type walking mechanism is coupled together, and wrist connecting rod 6 is coupled together with the wrist 27 of installation, paw 28 is grabbed；Grab and pretend industry and enter
During row, drive driving lever 13 to be rotated by motor, make linkage complete to grab to pretend industry.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611082223.2A CN106759571A (en) | 2016-11-30 | 2016-11-30 | One kind using servomotor drive can variable freedom multi-connecting-rod mechanism carry out industrial waste and grab dress operational method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611082223.2A CN106759571A (en) | 2016-11-30 | 2016-11-30 | One kind using servomotor drive can variable freedom multi-connecting-rod mechanism carry out industrial waste and grab dress operational method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106759571A true CN106759571A (en) | 2017-05-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611082223.2A Pending CN106759571A (en) | 2016-11-30 | 2016-11-30 | One kind using servomotor drive can variable freedom multi-connecting-rod mechanism carry out industrial waste and grab dress operational method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106759571A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07196286A (en) * | 1994-01-10 | 1995-08-01 | Mitsubishi Heavy Ind Ltd | Heavy weight installation work machine |
| DE102004027203B4 (en) * | 2004-03-29 | 2010-01-14 | Komatsu Hanomag Gmbh | working vehicle |
| CN101666104A (en) * | 2009-09-30 | 2010-03-10 | 广西大学 | Excavating mechanism of controllable planar three degree of freedom |
| CN103132551A (en) * | 2013-02-08 | 2013-06-05 | 广西叶茂机电自动化有限责任公司 | Discrete variable speed and human hybrid driving multi-freedom-degree controllable mechanism type sugarcane loading machine |
| CN103168569A (en) * | 2013-02-08 | 2013-06-26 | 广西大学 | Branch-chain stop control type multiple-freedom-degree link mechanism form sugarcane loading machine |
| CN203701163U (en) * | 2013-12-16 | 2014-07-09 | 三一集团有限公司 | Material grabbing machine |
| CN104047310A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Multi-connecting-rod loading mechanism with active metamorphic function |
-
2016
- 2016-11-30 CN CN201611082223.2A patent/CN106759571A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07196286A (en) * | 1994-01-10 | 1995-08-01 | Mitsubishi Heavy Ind Ltd | Heavy weight installation work machine |
| DE102004027203B4 (en) * | 2004-03-29 | 2010-01-14 | Komatsu Hanomag Gmbh | working vehicle |
| CN101666104A (en) * | 2009-09-30 | 2010-03-10 | 广西大学 | Excavating mechanism of controllable planar three degree of freedom |
| CN103132551A (en) * | 2013-02-08 | 2013-06-05 | 广西叶茂机电自动化有限责任公司 | Discrete variable speed and human hybrid driving multi-freedom-degree controllable mechanism type sugarcane loading machine |
| CN103168569A (en) * | 2013-02-08 | 2013-06-26 | 广西大学 | Branch-chain stop control type multiple-freedom-degree link mechanism form sugarcane loading machine |
| CN203701163U (en) * | 2013-12-16 | 2014-07-09 | 三一集团有限公司 | Material grabbing machine |
| CN104047310A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Multi-connecting-rod loading mechanism with active metamorphic function |
Non-Patent Citations (1)
| Title |
|---|
| 詹启贤: "《自动机械设计》", 30 June 1987, 轻工业出版社 * |
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Application publication date: 20170531 |