CN106944343A - A kind of two-freedom-degree parallel mechanism vibratory sieve - Google Patents
A kind of two-freedom-degree parallel mechanism vibratory sieve Download PDFInfo
- Publication number
- CN106944343A CN106944343A CN201710083359.3A CN201710083359A CN106944343A CN 106944343 A CN106944343 A CN 106944343A CN 201710083359 A CN201710083359 A CN 201710083359A CN 106944343 A CN106944343 A CN 106944343A
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- motor
- vibratory sieve
- side chains
- thing box
- freedom
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07B—SEPARATING SOLIDS FROM SOLIDS BY SIEVING, SCREENING, SIFTING OR BY USING GAS CURRENTS; SEPARATING BY OTHER DRY METHODS APPLICABLE TO BULK MATERIAL, e.g. LOOSE ARTICLES FIT TO BE HANDLED LIKE BULK MATERIAL
- B07B1/00—Sieving, screening, sifting, or sorting solid materials using networks, gratings, grids, or the like
- B07B1/28—Moving screens not otherwise provided for, e.g. swinging, reciprocating, rocking, tilting or wobbling screens
- B07B1/36—Moving screens not otherwise provided for, e.g. swinging, reciprocating, rocking, tilting or wobbling screens jigging or moving to-and-fro in more than one direction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07B—SEPARATING SOLIDS FROM SOLIDS BY SIEVING, SCREENING, SIFTING OR BY USING GAS CURRENTS; SEPARATING BY OTHER DRY METHODS APPLICABLE TO BULK MATERIAL, e.g. LOOSE ARTICLES FIT TO BE HANDLED LIKE BULK MATERIAL
- B07B1/00—Sieving, screening, sifting, or sorting solid materials using networks, gratings, grids, or the like
- B07B1/42—Drive mechanisms, regulating or controlling devices, or balancing devices, specially adapted for screens
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07B—SEPARATING SOLIDS FROM SOLIDS BY SIEVING, SCREENING, SIFTING OR BY USING GAS CURRENTS; SEPARATING BY OTHER DRY METHODS APPLICABLE TO BULK MATERIAL, e.g. LOOSE ARTICLES FIT TO BE HANDLED LIKE BULK MATERIAL
- B07B1/00—Sieving, screening, sifting, or sorting solid materials using networks, gratings, grids, or the like
- B07B1/46—Constructional details of screens in general; Cleaning or heating of screens
- B07B1/4609—Constructional details of screens in general; Cleaning or heating of screens constructional details of screening surfaces or meshes
- B07B1/4663—Multi-layer screening surfaces
Landscapes
- Combined Means For Separation Of Solids (AREA)
- Apparatuses For Generation Of Mechanical Vibrations (AREA)
Abstract
The invention provides a kind of two-freedom-degree parallel mechanism vibratory sieve, include three parallel branches of moving platform, silent flatform and connection moving platform and silent flatform, the parallel branch is the 2 asymmetric parallel institutions of RRRR ⊥ SR, including for A side chains, B side chains and redundancy branched chain, A side chains and B side chains are driven by motor M1 and motor M2 respectively, and the silent flatform and moving platform are parallel to each other when static, and moving platform is provided with vibratory sieve, the vibratory sieve has two layers of compass screen surface, and silent flatform connects thing box provided with multiple.The present invention is by the control two-freedom-degree parallel mechanism motion of ROBO controllers, multi-dimensional vibration can be realized, main load direction substitutes crank using eccentric wheel, enhance adaptivity, the present invention can by paper, coin quick separating, and can 1 yuan of coin of sorting and five jiaos of dimes, structure of the present invention is simpler, easily fabricated processing, it can be widely applied in engineering the presence of the occasion of multi-dimensional vibration, be equally applicable for the classification or screening of object.
Description
Technical field
The present invention relates to vibrosieve equipment, more particularly to a kind of two-freedom-degree parallel mechanism vibratory sieve.
Background technology
Parallel institution has the advantages that serial mechanism is incomparable, is increasingly used in robot and crop harvesting
On machine.Vibratory sieve includes polytype, such as resonance screens, linear vibrating screen, eddy flow probability screen, China Patent No. both at home and abroad at present
ZL200920143613.5 discloses a kind of four-freedom hybrid vibratory sieve, and it is only capable of to crop seeds screening to other things
Body can not but carry out coin screening.The country has many units studying coin sorting, is obtained in terms of Coin sorting is related to
Preferable effect, but also lack the device for being capable of accurately sorting paper, coin.
The content of the invention
For Shortcomings in the prior art, the invention provides it is a kind of can sorting paper, coin two-degree-of-freedoparallel parallel
Mechanism vibrations are sieved.
The present invention is to realize above-mentioned technical purpose by following technological means.
A kind of two-freedom-degree parallel mechanism vibratory sieve, including moving platform, silent flatform and connection moving platform and silent flatform three
Bar parallel branch, three parallel branches are mutually perpendicular in space, respectively A side chains, B side chains and redundancy branched chain, the A
Side chain includes rotating secondary RA1、RA2、RA3And RA4, RA1//RA2⊥RA3//RA4, the B side chains are including rotating secondary RB1、RB2、RB3With
RB4, RB1∥RB2⊥RB3∥RB4, the redundancy branched chain is to include ball secondary SE1With rotation secondary RE2, the A side chains and B side chains respectively by
Motor M1 and motor M2 drivings, the silent flatform and moving platform are parallel to each other when static, and vibratory sieve is fixed with moving platform.
Preferably, the vibratory sieve is provided with two layers of compass screen surface, and first layer compass screen surface is provided with rectangular mesh screen hole, the rectangular mesh screen
The size dimension of hole is 22.5mm~25mm, and second layer compass screen surface is provided with multiple circular openings, the diameter of the circular opening
For 22.5mm~25mm, first layer compass screen surface is located above second layer compass screen surface, and a side wall of vibratory sieve is open provided with two, the
One opening is concordant with first layer compass screen surface, and the second opening is located between first layer compass screen surface and second layer compass screen surface；
It is located on silent flatform below vibratory sieve and connects thing box provided with first, first connects thing box two ends is put down by two hinges with quiet
Platform is connected, and the first side wall for connecing thing box is provided with the 3rd opening, and the 3rd opening can make one jiao to pass through with half a buck,
It is additionally provided with second on the silent flatform connect thing box, the 3rd connect thing box and the 4th and connect thing box, described second connects thing box connects positioned at first
The open lower end of thing box, the described 3rd connect thing box and the 4th connect thing box be separately positioned on vibratory sieve first opening and second opening under
Side.
Preferably, the described first other end lower surface for connecing thing box is provided with cylindrical roller, the cylindrical roller and cam
It is engaged, the silent flatform is provided with the 3rd motor, the cam is connected with the motor shaft of the 3rd motor.
Preferably, R in the A side chainsA1、RA2、RA4Axis is parallel with x-axis, RA3Axis is parallel with y-axis, in the B side chains
RB3Axis is parallel with x-axis, RB1、RB2、RB4Axis is parallel with y-axis.
Preferably, also including control system, the control system includes ROBO controllers, motor, electronic switch, battery
And computer, the output end of the ROBO controllers electrically connects with motor M1, motor M2 and motor M3, the input of ROBO controllers
End and electronic switch and calculating mechatronics, the electronic switch include the first counter and the second counter, first meter
There is number device correspondence motor M1 counting, the counting of the second counter correspondence motor M2, the ROBO controllers USB to connect
Mouthful, it is connected by USB data line with computer USB port, the ROBO controllers and power electric connection.
A kind of control method of two-freedom-degree parallel mechanism vibratory sieve, specifically includes following steps：
Step one：It is n, single revolution time to be that the count value of the first counter, which is set, as m, the second counter count value
X, is rotated forward x seconds simultaneously by ROBO controller controlled motor M2 and motor M1, two-freedom-degree parallel mechanism motion；
Step 2：First counter starts the cycle over counting, and motor M1 is inverted x seconds after rotating forward x seconds, A branch chain movements, the first meter
Rolling counters forward 1 time, until the count value of the first counter is m, circulation terminates；
Step 3：Second counter starts the cycle over counting, and motor M1 is inverted x seconds after rotating forward x seconds, A branch chain movements, motor M2
Inverted x seconds after rotating forward x seconds, B branch chain movements, vibratory sieve produces periodic inclination, the second rolling counters forward 1 in horizontal level
Secondary, until the count value of the first counter is n, circulation terminates；
Step 4：Motor M3 is rotated forward x seconds, and first, which connects thing box, tumbles；
Step 5：Motor M1 is inverted x seconds after rotating forward x seconds, A branch chain vibrations.
Beneficial effects of the present invention：
1) present invention can realize multi-dimensional vibration, and main load direction substitutes crank using eccentric wheel, enhances the present invention
Adaptivity；
2) present invention can fast vibration, paper, coin quick separating, efficiency high in a short time；
3) structure of the present invention is simpler, easily fabricated processing, can be widely applied in engineering the presence of the occasion of multi-dimensional vibration
Under, it is equally applicable for the classification or screening of object.
Brief description of the drawings
Fig. 1 is the structural representation of two-freedom-degree parallel mechanism vibratory sieve of the present invention.
Fig. 2 is the structure diagram of two-freedom-degree parallel mechanism vibratory sieve of the present invention.
Fig. 3 is Fig. 1 rearview.
Fig. 4 is the workflow diagram of two-freedom-degree parallel mechanism vibratory sieve of the present invention.
Wherein：
1. moving platform；2. silent flatform；3.A side chain cranks；4.A side chain connecting rods；5.A side chain rocking bars；6.B side chain cranks；7.B
Side chain connecting rod；8.B side chain rocking bars；9.E side chain swing rods；10. cam；11. roller；12. meet thing box G；13. first layer sieve plate is sieved
Face；14. second layer sieve plate compass screen surface；15. the second opening；16. the first opening；17. the 3rd opening；18. the 4th connects thing box；19. the
Three connect thing box；20. second connects thing box；RA1、RA2、RA3、RA4、RB1、RB2、RB3、RB4、RE2：Rotate secondary；SE1：Ball pair.
Embodiment
Below in conjunction with the accompanying drawings and specific embodiment the present invention is further illustrated, but protection scope of the present invention is simultaneously
Not limited to this.
As shown in figure 1, a kind of two-freedom-degree parallel mechanism vibratory sieve of the present invention, including moving platform 1, silent flatform 2
And three parallel branches and control system of connection moving platform 1 and silent flatform 2.As shown in Fig. 2 three parallel branches are
The asymmetric parallel institutions of 2-RRRR ⊥ SR, including A side chains RA1//RA2⊥RA3//RA4, B side chains RB1∥RB2⊥RB3∥RB4With it is superfluous
Remaining side chain SE1RE2, three side chains are orthogonal in space.In the A side chains, one end of A side chains crank 3 is by rotating secondary RA1With
Silent flatform 2 is connected, and the two ends of A side chains connecting rod 4 are respectively by rotating secondary RA2With rotation secondary RA3With the other end of A side chains crank 3 and
One end connection of A side chains rocking bar 5, the other end of the A side chains rocking bar 5 is by rotating secondary RA4It is connected with moving platform 1, wherein, institute
State RA1、RA2、RA4Axis is parallel with x-axis, RA3Axis is parallel with y-axis；In the B side chains, one end of B side chains crank 6 is by rotating
Secondary RB1It is connected with silent flatform 2, the two ends of B side chains connecting rod 7 pass through R respectivelyB2And RB3With the other end and B side chains of B side chains crank 6
One end connection of rocking bar 8, the other end of B side chains rocking bar 8 is by rotating secondary RB4It is connected with moving platform 1, wherein, the RB1、RB2、
RB4Axis is parallel with y-axis, RB3Axis is parallel with x-axis.As shown in Figures 2 and 3, in the redundancy branched chain, the one of E side chains swing rod 9
End passes through a Three Degree Of Freedom ball secondary SE1It is connected with silent flatform 2, the other end of E side chains swing rod 9 is rotated by a single-degree-of-freedom
Secondary RE2It is connected with moving platform 1, in the redundancy branched chain, by (SE1, RE2) use { (RE1X, RE1Y, RE1Z), RE2Make equivalent replacement,
Redundancy branched chain has been equivalent to 4 single-degree-of-freedoms and has rotated secondary, and can be represented with line vector, RE1XAxis is parallel with x-axis,
RE1Y、RE2Axis is parallel with y-axis, and two-freedom-degree parallel mechanism vibratory sieve feature set of the present invention is：
The moving platform 1 has parallel to RA1And RB1Two parallel frees degree of axis and parallel to RA1And RB1Axis
Two rotational freedoms.When two rotational freedoms are independent element, two one-movement-freedom-degrees are dependent element.When input two
Individual rotation secondary RA1、RB1During for drive pair, moving platform 1 is exportable two and rotated and two mobile spatial movements.
Silent flatform 2 is provided with motor M1 and motor M2, motor M1 driving A side chains crank 3, motor M2 drivings B as described in Figure 1
Side chain crank 6, two rotation secondary RA1、RB1For driving pair.The moving platform 1 is square platform, and fixation is set on moving platform 1
There is vibratory sieve, the vibratory sieve has two layers of compass screen surface, and first layer compass screen surface 13 is located at the top of second layer compass screen surface 14, first layer compass screen surface 13
Rectangle sieve aperture is cut into by easy poly (methyl methacrylate) plate, the size dimension H of rectangle sieve aperture span is 22.5mm ＜ H ＜
25mm.Second layer compass screen surface 14 is using the poly (methyl methacrylate) plate that multiple circular openings are distributed with, the size d of circular opening span
Be circular opening on 22.5mm ＜ d ＜ 25mm, second layer compass screen surface 14 aperture ensure unitary coin can not by and remaining is hard
Coin can be passed through.One side wall of vibratory sieve is provided with two openings, and the first opening 16 is concordant with first layer compass screen surface 13, the
Two openings 15 are located between first layer compass screen surface 13 and second layer compass screen surface 14；Set respectively below the first opening 16 and the second opening 15
There is the 3rd to connect thing box 19 and the 4th and connect thing box 18, the described 3rd, which connects thing box 19 and the 4th, connects thing box 18 and be each attached on silent flatform 2,
It is located on silent flatform 2 below vibratory sieve and connects thing box 12 provided with first, first to connect thing box 12 identical with the size of second layer compass screen surface 14,
As shown in figure 3, because moving platform 1 has the motion in x, y, z direction, the frequency and amplitude of motion can be by controlling driving pair RA1、
RB1Two rotate secondary angular displacement and determine, by controlled motor M1 and motor M2 pulse, can both realize the screening of moving platform 1
Function, the first layer compass screen surface 13 of vibratory sieve leaves bank note, and second layer compass screen surface 14 leaves unitary coin, enters the under remaining coin sieve
One connects thing box 12, and moving platform 1 can again tilted, and the bank note of first layer compass screen surface 13 is poured into the 3rd automatically connects thing box 19, the second layer
The unitary coin of compass screen surface 14 pours into the 4th and connects thing box 18 automatically.
Described first one end for connecing thing box 12 is connected by hinge with silent flatform 2, and the hinge formation rotates secondary RF1, first
A side wall of thing box 12 is connect provided with the 3rd opening 17, the 3rd opening 17 can make one jiao to pass through with half a buck, described
First other end lower surface for connecing thing box 12 is provided with cylindrical roller, and the cylindrical roller is engaged with cam 10, the cam
10 are connected with motor M3 motor shaft, and motor M3 is fixed on silent flatform 2.Motor M3 work band moving cams 10 rotate, and first connects
The box of thing 12 is overturn so that one jiao is slipped into second from the 3rd opening 17 with half a buck and connects thing box 20.
The control system includes ROBO controllers, motor, electronic switch, battery and computer, the ROBO controls
Device input port connects the first counter and the second counter, output port connection motor M1, motor M2 and motor M3, described
ROBO controllers have USB interface, are connected by USB data line with computer USB port, the ROBO controllers and power supply electricity
Connection.
As shown in figure 4, a kind of course of work of two-freedom-degree parallel mechanism vibratory sieve of the present invention is as follows：
Step one：In the first layer compass screen surface 13 that the bank note coin mixed is poured into the i.e. vibratory sieve of moving platform 1, setting first is counted
Number devices count value be the 32, second counter count value be 100, single revolution time be 10 seconds.Startup is fixed on silent flatform 2
On motor M2 and motor M1, by motor M2 to parallel institution B side chains provide power；After motor M2 is powered, motor M2 drivings B
Side chain driving pair RB1Drive B side chains crank 6 is rotated, power is given to B side chains rocking bar 8 by B side chains connecting rod 7, and B side chains rocking bar 8 is hinged
On moving platform 1, moving platform 1 is set to produce vibration.Power is provided to the A side chains of parallel institution by motor M1, after motor M1 is powered,
Motor M1 driving A side chain driving pairs RA1Drive A side chains crank 3 is rotated, power is given to A side chains rocking bar 5, A branch by A side chains connecting rod 4
Chain rocking bar 5 is hinged on moving platform 1, moving platform 1 is produced vibration, bank note coin separation, bank note is stayed on first layer compass screen surface 13,
Unitary coin sieve is dropped down onto on second layer compass screen surface 14, and five jiaos of part, new and old dime sieve are failed and one connect thing box 12.
Step 2：Into two cycle count modules, the first counter starts the cycle over counting, and motor M1 was first rotated forward after x seconds
Reversion x seconds, A branch chain movements, the first rolling counters forward 1 time, until the count value of the first counter is 32, circulation terminates, five jiaos,
New and old dime sieve, which is failed, one connects thing box 12.
Step 3：After first cycle count terminates, the second counter starts the cycle over counting, and motor M1 and motor M2 are first just
Turn to invert x seconds after x seconds, A side chains and B branch chain movements, the second rolling counters forward 1 time, until the count value of the second counter is
100, circulation terminates so that bank note pours into the 3rd and connect in thing box 19, and unitary coin pours into the 4th and connect in thing box 18.
Step 4：Start the motor M3 being fixed on silent flatform 2, connect thing box 12 to first by motor M3 and power is provided；Electricity
Band moving cam 10 is rotated after machine M3 is powered, make first connect thing box 12 horizontal level produce it is periodic tilt, five jiaos and new and old
Dime pours into second and connect in thing box 20.
Step 5, starts the motor M1 being fixed on silent flatform 2, and motor M1 main storys are inverted x seconds after x seconds, produce moving platform 1
Raw vibration.
For the present invention preferred embodiment, but the present invention is not limited to above-mentioned embodiment to the embodiment, not
In the case of the substance of the present invention, any conspicuously improved, replacement that those skilled in the art can make
Or modification belongs to protection scope of the present invention.
Claims (6)
1. a kind of two-freedom-degree parallel mechanism vibratory sieve, it is characterised in that dynamic flat including moving platform (1), silent flatform (2) and connection
Three parallel branches of platform (1) and silent flatform (2), three parallel branches are mutually perpendicular in space, respectively A side chains, B
Side chain and redundancy branched chain, the A side chains include rotating secondary RA1、RA2、RA3And RA4, RA1//RA2⊥RA3//RA4, the B side chains bag
Include rotation secondary RB1、RB2、RB3And RB4, RB1∥RB2⊥RB3∥RB4, the redundancy branched chain is to include ball secondary SE1With rotation secondary RE2, institute
State A side chains and B side chains to be driven by motor M1 and motor M2 respectively, the silent flatform (2) and moving platform (1) are mutually flat when static
OK, it is fixed with vibratory sieve on moving platform (1).
2. two-freedom-degree parallel mechanism vibratory sieve according to claim 1, it is characterised in that the vibratory sieve is provided with two
Layer compass screen surface, first layer compass screen surface (13) is provided with rectangular mesh screen hole, and the size dimension of the rectangular mesh screen hole is 22.5mm~25mm,
Second layer compass screen surface (14) is provided with multiple circular openings, a diameter of 22.5mm~25mm of the circular opening, first layer compass screen surface
(13) it is located above second layer compass screen surface (14), a side wall of vibratory sieve is provided with two openings, the first opening (16) and first
Layer compass screen surface (13) is concordant, and the second opening (15) is located between first layer compass screen surface (13) and second layer compass screen surface (14)；
It is located on silent flatform (2) below vibratory sieve and connects thing box (12) provided with first, first, which connects thing box (12) two ends, passes through two hinges
Chain is connected with silent flatform (2), and first connects a side wall of thing box (12) provided with the 3rd opening (17), the 3rd opening (17)
One jiao can be made to pass through with half a buck, second is additionally provided with the silent flatform (2) and connects thing box (20), the 3rd connect thing box (19) and
Four connect thing box (18), and described second connects thing box (20) positioned at the first open lower end for connecing thing box (12), and the described 3rd connects thing box
(19) and the 4th connect thing box (18) be separately positioned on vibratory sieve first be open (16) and second opening (15) below.
3. two-freedom-degree parallel mechanism vibratory sieve according to claim 2, it is characterised in that described first connects thing box (12)
Other end lower surface be provided with cylindrical roller, the cylindrical roller is engaged with cam (10), and the silent flatform (2) is provided with
Motor M3, the cam (10) is connected with motor M3 motor shaft.
4. two-freedom-degree parallel mechanism vibratory sieve according to claim 1, it is characterised in that R in the A side chainsA1、RA2、
RA4Axis is parallel with x-axis, RA3Axis is parallel with y-axis, R in the B side chainsB3Axis is parallel with x-axis, RB1、RB2、RB4Axis and y
Axle is parallel.
5. two-freedom-degree parallel mechanism vibratory sieve according to claim 1, it is characterised in that also including control system, institute
Stating control system includes ROBO controllers, motor, electronic switch, battery and computer, the output end of the ROBO controllers
Electrically connected with motor M1, motor M2 and motor M3, input and the electronic switch and calculating mechatronics of ROBO controllers are described
Electronic switch includes the first counter and the second counter, the counting of the first counter correspondence motor M1, second meter
Number device correspondence motor M2 counting, the ROBO controllers have USB interface, connected by USB data line and computer USB port
Connect, the ROBO controllers and power electric connection.
6. a kind of control method of two-freedom-degree parallel mechanism vibratory sieve as claimed in claim 1, it is characterised in that specific bag
Include following steps：
Step one：Set the count value of the first counter as m, the second counter count value be n, single revolution time be x, lead to
ROBO controller controlled motor M2 and motor M1 is crossed while rotating forward x seconds, two-freedom-degree parallel mechanism motion；
Step 2：First counter starts the cycle over counting, and motor M1 is inverted x seconds after rotating forward x seconds, A branch chain movements, the first counter
Count 1 time, until the count value of the first counter is m, circulation terminates；
Step 3：Second counter starts the cycle over counting, and motor M1 is inverted x seconds after rotating forward x seconds, and A branch chain movements, motor M2 is rotated forward
Inverted x seconds after x seconds, B branch chain movements, vibratory sieve is produced in horizontal level and periodically tilted, the second rolling counters forward 1 time, directly
Count value to the first counter is n, and circulation terminates；
Step 4：Motor M3 is rotated forward x seconds, and first, which connects thing box (12), tumbles；
Step 5：Motor M1 is inverted x seconds after rotating forward x seconds, A branch chain vibrations.
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| CN201710083359.3A CN106944343B (en) | 2017-02-16 | 2017-02-16 | Two-degree-of-freedom parallel mechanism vibrating screen |
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| CN201710083359.3A CN106944343B (en) | 2017-02-16 | 2017-02-16 | Two-degree-of-freedom parallel mechanism vibrating screen |
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| CN109127362B (en) * | 2018-07-12 | 2021-06-22 | 江苏大学 | Material separation parallel connection vibrating screen |
| CN109499867A (en) * | 2018-10-30 | 2019-03-22 | 江苏大学 | A kind of feed classification vibrating screen in parallel |
| CN109499867B (en) * | 2018-10-30 | 2021-12-21 | 江苏大学 | Feed grading parallel vibrating screen |
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