CN106799744A - One kind drives multiple degrees of freedom linkage novel fodder stacking machine arm using servomotor - Google Patents
One kind drives multiple degrees of freedom linkage novel fodder stacking machine arm using servomotor Download PDFInfo
- Publication number
- CN106799744A CN106799744A CN201611062716.XA CN201611062716A CN106799744A CN 106799744 A CN106799744 A CN 106799744A CN 201611062716 A CN201611062716 A CN 201611062716A CN 106799744 A CN106799744 A CN 106799744A
- Authority
- CN
- China
- Prior art keywords
- driving lever
- servomotor
- connecting rod
- stacking machine
- arm
- 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
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- 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
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
One kind drives multiple degrees of freedom linkage novel fodder stacking machine arm using servomotor, including base 9, first driving lever 1, second driving lever 2, 3rd driving lever 3, third connecting rod 4, fourth link 7, first connecting rod 5, large arm 6, wrist 20, paw 8 and servo drive, the one end of the large arm 6 rotates secondary 19 and is connected with fourth link 7 by the 9th, the other end is connected by wrist 20 with paw 8, servo drive includes the first servomotor, second servomotor, 3rd servomotor, respectively with the first driving lever 1, second driving lever 2 and the 3rd driving lever 3 connect to drive it to rotate, first driving lever 1, second driving lever 2 and common driving of the 3rd driving lever 3 complete the motions such as large arm lifting and the pitching of wrist 20, realize the feed stacking operation of paw 8.Motor is installed on base the present invention to solve open chain mechanism arm weight big, the problems such as bad dynamic performance.
Description
Technical field
It is particularly a kind of that multiple degrees of freedom linkage novel fodder is driven using servomotor the present invention relates to mechanical field
Stacking machine arm.
Background technology
Over the years, because the personnel of labour market are in short supply, human cost rises year by year, promotes feed stacking machine
Extensive use of the arm in feed stacking operation.Feed stacking machine arm has mechanical and fluid pressure type two types, current feed
Most of mechanical arm of stacking machine 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 machine arm function, its hydraulic system is increasingly
Complexity, breaks down with more sudden, disguised.Mechanical feed stacking machine arm is to realize feed using mechanical transmissioning piece
Pile is acted, have the advantages that it is sturdy and durable, but the mechanical feed stacking machine arm of traditional single-degree-of-freedom can not complete multiple
Miscellaneous action, range of application is extremely limited, the mechanical electronic feed stacking machine arm 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.
The content of the invention
Multiple degrees of freedom linkage novel fodder pile is driven using servomotor it is an object of the invention to provide one kind
Mechanical arm, overcomes the shortcomings of fluid pressure type feed stacking machine arm hydraulic system element required precision high, complex structure, easy oil leakage,
Overcome the motor of open-chain structure to be required for being arranged on the shortcoming of joint position, simplify the complexity of structure, reducing mechanism
Weight, movement inertia, volume and cost.To achieve the above object, present invention offer is a kind of more certainly using servomotor driving
By degree linkage novel fodder stacking machine arm, including base 9, the first driving lever 1, the second driving lever 2, the 3rd driving lever 3,
Third connecting rod 4, fourth link 7, first connecting rod 5, large arm 6, wrist 20, paw 8 and servo drive, described first actively
The one end of bar 1 rotates secondary 11 and is connected with base 9 by first, and the other end rotates secondary 14 and is connected with third connecting rod 4 by the 4th, and the 3rd
The other end of connecting rod 4 rotates secondary 15 and is connected with first connecting rod 5 by the 5th；Described one end of second driving lever 2 rotates secondary by second
12 are connected with base 9, and the other end rotates secondary 16 and is connected with first connecting rod 5 by the 6th；Described one end of 3rd driving lever 3 passes through
3rd rotates secondary 13 is connected with base 9, and the other end is connected by eighth-turn dynamic secondary 18 with fourth link 7；The one end of the large arm 6 leads to
Cross the 9th rotation secondary 19 to be connected with fourth link 7, the other end is connected by wrist 20 with paw 8, servo drive includes the
One servomotor, the second servomotor, the 3rd servomotor, respectively with the first driving lever 1, the second driving lever 2 and the 3rd active
Bar 3 is connected to drive it to rotate, and the first driving lever 1, the second driving lever 2 and common driving of the 3rd driving lever 3 complete large arm lifting
Moved with the pitching of wrist 20 etc., realize the feed stacking operation of paw 8.
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, overcome fluid pressure type feed stacking machine
Arm hydraulic 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 is of the present invention a kind of using servomotor driving multiple degrees of freedom linkage novel fodder stacking machine arm machine
Structure schematic diagram.
Specific embodiment
One kind drives multiple degrees of freedom linkage novel fodder stacking machine arm, including base 9, first using servomotor
Driving lever 1, the second driving lever 2, the 3rd driving lever 3, third connecting rod 4, fourth link 7, first connecting rod 5, large arm 6, wrist 20, hand
Pawl 8 and servo drive；The base 9 is arranged on removable revolving dial；Described one end of first driving lever 1 passes through
First rotates secondary 11 is connected with base 9, and the other end rotates secondary 14 and is connected with third connecting rod 4 by the 4th, the other end of third connecting rod 4
Secondary 15 are rotated by the 5th to be connected with first connecting rod 5；Described one end of second driving lever 2 rotates secondary 12 and connects with base 9 by second
Connect, the other end rotates secondary 16 and is connected with first connecting rod 5 by the 6th；Described one end of 3rd driving lever 3 rotates secondary 13 by the 3rd
It is connected with base 9, the other end is connected by eighth-turn dynamic secondary 18 with fourth link 7；The one end of the large arm 6 rotates secondary by the 9th
19 are connected with fourth link 7, and the other end is connected by wrist 20 with paw 8, and servo drive includes the first servomotor, the
Two servomotors, the 3rd servomotor, are connected to drive respectively with the first driving lever 1, the second driving lever 2 and the 3rd driving lever 3
It is rotated, and the first driving lever 1, the second driving lever 2 and the common driving of the 3rd driving lever 3 complete the pitching of large arm lifting and wrist 20
Deng motion, the feed stacking operation of paw 8 is realized.
Claims (1)
1. it is a kind of to drive multiple degrees of freedom linkage novel fodder stacking machine arm, including base 9, first to lead using servomotor
Lever 1, the second driving lever 2, the 3rd driving lever 3, third connecting rod 4, fourth link 7, first connecting rod 5, large arm 6, wrist 20, paw
8 and servo drive, the base 9 is arranged on removable revolving dial；Described one end of first driving lever 1 is by the
One rotates secondary 11 is connected with base 9, and the other end rotates secondary 14 and is connected with third connecting rod 4 by the 4th, and the other end of third connecting rod 4 leads to
The 5th rotation secondary 15 is crossed to be connected with first connecting rod 5；Described one end of second driving lever 2 rotates secondary 12 and connects with base 9 by second
Connect, the other end rotates secondary 16 and is connected with first connecting rod 5 by the 6th；Described one end of 3rd driving lever 3 rotates secondary 13 by the 3rd
It is connected with base 9, the other end is connected by eighth-turn dynamic secondary 18 with fourth link 7；The one end of the large arm 6 rotates secondary by the 9th
19 are connected with fourth link 7, and the other end is connected by wrist 20 with paw 8, and servo drive includes the first servomotor, the
Two servomotors, the 3rd servomotor, are connected to drive respectively with the first driving lever 1, the second driving lever 2 and the 3rd driving lever 3
It is rotated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611062716.XA CN106799744A (en) | 2016-11-28 | 2016-11-28 | One kind drives multiple degrees of freedom linkage novel fodder stacking machine arm using servomotor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611062716.XA CN106799744A (en) | 2016-11-28 | 2016-11-28 | One kind drives multiple degrees of freedom linkage novel fodder stacking machine arm using servomotor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106799744A true CN106799744A (en) | 2017-06-06 |
Family
ID=58984759
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611062716.XA Pending CN106799744A (en) | 2016-11-28 | 2016-11-28 | One kind drives multiple degrees of freedom linkage novel fodder stacking machine arm using servomotor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106799744A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106609517A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Multi-freedom-degree connecting rod mechanism novel wood grabbing machine driven by servo motors |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009074704A1 (en) * | 2007-12-13 | 2009-06-18 | Universidad De Málaga | All-terrain robot system comprising a multiple-articulation manoeuvring arm, and control and sensor elements which are removable while remaining functional |
| CN104493816A (en) * | 2014-12-25 | 2015-04-08 | 广西大学 | Metamorphic parallel-connection robot palletizer mechanism |
| CN104626092A (en) * | 2014-12-17 | 2015-05-20 | 广西大学 | Four-freedom-degree controllable mechanism type movable mechanical arm with seven connecting rods |
-
2016
- 2016-11-28 CN CN201611062716.XA patent/CN106799744A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009074704A1 (en) * | 2007-12-13 | 2009-06-18 | Universidad De Málaga | All-terrain robot system comprising a multiple-articulation manoeuvring arm, and control and sensor elements which are removable while remaining functional |
| CN104626092A (en) * | 2014-12-17 | 2015-05-20 | 广西大学 | Four-freedom-degree controllable mechanism type movable mechanical arm with seven connecting rods |
| CN104493816A (en) * | 2014-12-25 | 2015-04-08 | 广西大学 | Metamorphic parallel-connection robot palletizer mechanism |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106609517A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Multi-freedom-degree connecting rod mechanism novel wood grabbing machine driven by servo motors |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106737720A (en) | One kind drives two degrees of freedom linkage Simple welding mechanical arm using servomotor | |
| CN106826745A (en) | One kind drives Three-freedom-degree connection rod mechanism feed stacking machine arm using servomotor | |
| CN106799744A (en) | One kind drives multiple degrees of freedom linkage novel fodder stacking machine arm using servomotor | |
| CN106671136A (en) | Two-motion-range closed-chain connecting rod mechanism mechanical arm for assembling work | |
| CN106737716A (en) | A kind of mobility linkage Simple mechanical arm of servo-drive two for assembling work | |
| CN106759569A (en) | One kind drives the simple linkage of two degrees of freedom using servomotor | |
| CN106799322A (en) | One kind drives multiple degrees of freedom linkage novel coating Work machine arm using servomotor | |
| CN106608543A (en) | Two-freedom-degree connecting rod mechanism simple fodder stacking mechanical arm driven by servo motors | |
| CN106625559A (en) | Multi-connecting-rod variable-freedom-degree feed stacking manipulator driven by servo motors | |
| CN106737831A (en) | One kind is driven using Dual-Servo Motor can variable freedom multi link feed stacking manipulator | |
| CN106826910A (en) | A kind of servo-drive multi-activity degree linkage novel mechanical arm for assembling work | |
| CN106608544A (en) | Feed stacking mechanical arm of variable-degree-of-freedom connecting rod mechanism containing revolving pair locking device | |
| CN106737721A (en) | One kind drives the simple painted Work machine arm of two degrees of freedom linkage using servomotor | |
| CN106607914A (en) | Servo drive rod type variable freedom degree mechanical arm used for assembling work | |
| CN106607885A (en) | Multi-freedom-degree connecting rod mechanism fodder stacking mechanical arm driven by servo motors | |
| CN106759566A (en) | One kind drives the simple timber grab of two degrees of freedom linkage using servomotor | |
| CN106737718A (en) | One kind drives multiple degrees of freedom linkage novel welding machinery arm using servomotor | |
| CN106671130A (en) | Double-servo-drive multi-rod mechanical arm for assembling work | |
| CN106737719A (en) | One kind drives multi link electroplating equipment wielding machine arm using Dual-Servo Motor | |
| CN106737715A (en) | It is a kind of for assembling work variable active containing locking device degree linkage mechanical arm | |
| CN108118730A (en) | A kind of three mobility linkage mechanical arm of servo-drive for assembling work | |
| CN106737728A (en) | A kind of mobility linkage Simple mechanical arm of servo-drive two for transport operation | |
| CN106607927A (en) | Servo-driven variable-motion-degree connecting rod mechanism mechanical arm used for assembling work | |
| CN106799323A (en) | One kind drives multi link painting operation machinery arm using Dual-Servo Motor | |
| CN109605321A (en) | A kind of combination drive closed linkage parallel connection cane catching machine mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170606 |
|
| WD01 | Invention patent application deemed withdrawn after publication |