CN108116898A - A kind of servomotor drive link formula can variable freedom feed stacking manipulator - Google Patents
A kind of servomotor drive link formula can variable freedom feed stacking manipulator Download PDFInfo
- Publication number
- CN108116898A CN108116898A CN201611062744.1A CN201611062744A CN108116898A CN 108116898 A CN108116898 A CN 108116898A CN 201611062744 A CN201611062744 A CN 201611062744A CN 108116898 A CN108116898 A CN 108116898A
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- CN
- China
- Prior art keywords
- connecting rod
- revolute pair
- locking device
- large arm
- pedestal
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Classifications
-
- 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
-
- 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
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of servomotor drive link formula can variable freedom feed stacking manipulator, including pedestal, large arm telescoping mechanism, elevating mechanism, wrist connecting rod luffing mechanism and wrist, paw, servo drive, two locking devices.The large arm telescoping mechanism includes first connecting rod, second connecting rod and third connecting rod, described first connecting rod one end is connected with pedestal by the first revolute pair, the other end of first connecting rod is connected with third connecting rod one end by the 3rd revolute pair, and the other end of third connecting rod is connected with second connecting rod by the 4th revolute pair；Second connecting rod one end is connected with pedestal by the second revolute pair, and the second connecting rod other end is connected with large arm by the 5th revolute pair；The locking device is mounted in revolute pair, the present invention substitutes conventional hydraulic transmission using jointed gear unit, can solve the shortcomings of complicated hydraulic pressure feed palletizing mechanical arm hydraulic system, easy oil leakage, due to using locking device in revolute pair, Three Degree Of Freedom feed stacking operation can be realized using two driving levers.
Description
Technical field
It can variable freedom feed stacking machinery the present invention relates to machinery field, particularly a kind of servomotor drive link formula
Hand.
Background technology
Over the years, since 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, at present feed
Most of mechanical arm of palletizing mechanical arm is hydraulic-driven, since hydraulic drive uses medium of the hydraulic oil as passing power,
It has the following problems：Its startability is poor, and easily because generating leakage after internal element abrasion, and the hydraulic oil leaked can be dirty
Environment is contaminated, influences quality of the fodder；Hydraulic oil is affected by temperature larger, and gross efficiency is relatively low, there is noise and vibration sometimes.Sometimes
It overheats, phenomena such as powerless in work；Hydraulic Elements requirement on machining accuracy is high, and matching requirements are stringent, and manufacture is more difficult, uses
Middle maintenance requires technology higher, and difficulty is larger.With the increase of feed stacking manipulator function, hydraulic system is increasingly
Complexity breaks down with more sudden, concealment.Mechanical feed stacking manipulator is to realize feed using mechanical transmissioning piece
Stacking act, have many advantages, such as it is sturdy and durable, but the mechanical feed stacking manipulator of traditional single-degree-of-freedom cannot complete answer
Miscellaneous action, application range is extremely limited, the mechanical electronic feed stacking manipulator of controllable mechanism, with linkage instead of liquid
Pressure transmission, when driving lever is driven by servomotor, it is easy to implement automation, NC postprocessing control, solve hydraulic system presence
Some shortcomings, but exist and need to be equipped with the control motor of linkage degree of freedom equivalent amount to carry out control structure complexity
The mechanism weight brought, the problem of movement inertia is big and of high cost.
Variable Freedom Mechanism adapts to the functional requirement of different phase by being combined into new topological structure.It can apply at present
It is also seldom in actual Variable Freedom Mechanism, had not seen the Variable Freedom Mechanism applied to feed stacking manipulator.
The content of the invention
It is an object of the invention to provide a kind of servomotor drive link formula can variable freedom feed stacking manipulator, gram
The shortcomings of taking high fluid pressure type feed stacking mechanical hand hydraulic system element required precision, complicated, easy oil leakage, overcomes open chain knot
The shortcomings that driving motor of structure is required for being mounted on joint position, and the quantity of controllable drive motor is caused to be less than feed stacking machine
The degree of freedom of tool hand linkage overcomes the electronic feed stacking manipulator structure of existing machinery formula to need to be equipped with and linkage freedom
The control motor of equivalent amount is spent the shortcomings that control, to simplify the complexity of structure, and the weight of reducing mechanism, movement are used
Amount, volume and cost.It to achieve the above object, can variable freedom feed the present invention provides a kind of servomotor drive link formula
Palletizing mechanical arm including pedestal 1, large arm telescoping mechanism, elevating mechanism, wrist connecting rod luffing mechanism, wrist 31, paw 32, is watched
Take driving device, the first locking device 7 and the second locking device 29；The large arm telescoping mechanism includes first connecting rod 27, second
Connecting rod 23 and third connecting rod 24, described 27 one end of first connecting rod are connected with pedestal 1 by the first revolute pair 28, first connecting rod 27
The other end is connected with 24 one end of third connecting rod by the 3rd revolute pair 26, and the other end and the second connecting rod 23 of third connecting rod 24 pass through
4th revolute pair 25 connects；23 one end of second connecting rod is connected with pedestal 1 by the second revolute pair 22,23 other end of second connecting rod with
Large arm 8 is connected by the 5th revolute pair 9；The elevating mechanism includes forearm 14, the 5th connecting rod 18, six-bar linkage 16 and first
Driving lever 20, first driving lever 20 are connected with pedestal 1 by the 8th revolute pair 21, the other end of the first driving lever 20 and
Five connecting rods, 18 one end is connected by the 9th revolute pair 19, and the other end and 14 one end of forearm of the 5th connecting rod 18 pass through the tenth revolute pair
15 connections, the other end of forearm 14 is connected with wrist connecting rod 12 by the 14th revolute pair 13, one end of six-bar linkage 16 with it is small
Arm 14 is connected by the 15th revolute pair 17, and the other end of six-bar linkage 16 is connected with large arm 8 by the 16th revolute pair 10；Institute
Stating wrist connecting rod luffing mechanism includes the second driving lever 3, fourth link 5, large arm 8 and wrist connecting rod 12, second driving lever 3
It is connected with pedestal 1 by the 11st revolute pair 2, the other end and 5 one end of fourth link of second driving lever 3 pass through the 12nd
Revolute pair 4 connects, and 5 other end of fourth link is connected with 8 one end of large arm by the 6th revolute pair 6, the other end and wrist of large arm 8
Connecting rod 12 is connected by the 13rd revolute pair 11；First locking device 7 and the second locking device 29 are separately mounted to the 6th rotation
At 6 and the 4th revolute pair 25 of pair, can in due course it be locked according to different operating modes；Servo drive includes the first servo electricity
Machine, the second servomotor are connected to drive its rotation with the first driving lever 20 and the second driving lever 3 respectively；First locking device
7 and second locking device 29 locked using electromagnetic mode.
A kind of servomotor drive link formula of the present invention can the controllable more bar closed chains of variable freedom feed stacking manipulator use
Mechanism, overcome open-chain structure driving motor be required for be mounted on joint position the shortcomings that, improve the steady of arm operation
Property and reliability, no accumulated error, precision are higher；Compact-sized, rigidity is high, large carrying capacity, inertia are low, dynamic property is good,
Arm motion track flexible and diverse.It installs locking device additional on linkage, and it is allowed to be locked according to the different operating modes of mechanism
With loosen specific revolute pair, reduce the degree of freedom of mechanism in due course, realize in the case where completing expected requirement, use
The quantity of controllable drive motor is less than the degree of freedom of feed stacking manipulator linkage, and three are can be realized certainly using two driving levers
By degree feed stacking operation, existing feed stacking manipulator is overcome to need to be equipped with the control with linkage degree of freedom equivalent amount
Motor is come the shortcomings that control, the complexity of simplified structure, weight, movement inertia, volume and the cost of reducing mechanism increase
The controllability and stability of mechanism are added, have improved work efficiency.Also overcome fluid pressure type feed stacking mechanical hand hydraulic simultaneously
The shortcomings such as system element required precision is high, complicated, easy oil leakage, poor reliability, transmission efficiency are low.
Description of the drawings
Fig. 1 can variable freedom feed stacking manipulator schematic diagram for a kind of servomotor drive link formula of the present invention.
Specific embodiment
A kind of servomotor drive link formula can variable freedom feed stacking manipulator, including pedestal 1, large arm telescopic machine
Structure, elevating mechanism, wrist connecting rod luffing mechanism, wrist 31, paw 32, servo drive, the first locking device 7 and the second lock
Tight device 29；The pedestal 1 is mounted on removable revolving platform；The large arm telescoping mechanism includes first connecting rod 27, second
Connecting rod 23 and third connecting rod 24, described 27 one end of first connecting rod are connected with pedestal 1 by the first revolute pair 28, first connecting rod 27
The other end is connected with 24 one end of third connecting rod by the 3rd revolute pair 26, and the other end and the second connecting rod 23 of third connecting rod 24 pass through
4th revolute pair 25 connects；23 one end of second connecting rod is connected with pedestal 1 by the second revolute pair 22,23 other end of second connecting rod with
Large arm 8 is connected by the 5th revolute pair 9；The elevating mechanism includes forearm 14, the 5th connecting rod 18, six-bar linkage 16 and first
Driving lever 20, first driving lever 20 are connected with pedestal 1 by the 8th revolute pair 21, the other end of the first driving lever 20 and
Five connecting rods, 18 one end is connected by the 9th revolute pair 19, and the other end and 14 one end of forearm of the 5th connecting rod 18 pass through the tenth revolute pair
15 connections, the other end of forearm 14 is connected with wrist connecting rod 12 by the 14th revolute pair 13, one end of six-bar linkage 16 with it is small
Arm 14 is connected by the 15th revolute pair 17, and the other end of six-bar linkage 16 is connected with large arm 8 by the 16th revolute pair 10；Institute
Stating wrist connecting rod luffing mechanism includes the second driving lever 3, fourth link 5, large arm 8 and wrist connecting rod 12, second driving lever 3
It is connected with pedestal 1 by the 11st revolute pair 2, the other end and 5 one end of fourth link of second driving lever 3 pass through the 12nd
Revolute pair 4 connects, and 5 other end of fourth link is connected with 8 one end of large arm by the 6th revolute pair 6, the other end and wrist of large arm 8
Connecting rod 12 is connected by the 13rd revolute pair 11；First locking device 7 and the second locking device 29 are separately mounted to the 6th rotation
At 6 and the 4th revolute pair 25 of pair, can in due course it be locked according to different operating modes；Servo drive includes the first servo electricity
Machine, the second servomotor are connected to drive its rotation with the first driving lever 20 and the second driving lever 3 respectively；First locking device
7 and second locking device 29 locked using electromagnetic mode.
A kind of servomotor drive link formula of the present invention can variable freedom feed stacking manipulator in operating mode operation,
When large arm 8 is stretched, the first locking device 7 of the 6th rotation vice division chief 6 is opened, 6 degree of gaining freedom of the 6th revolute pair, the 4th revolute pair
The second locking device 29 at 25 is locked, and the 4th revolute pair 25 loses degree of freedom, is stretched at this point, large arm 8 is realized.6th revolute pair
First locking device 7 at place 6 is locked, and the 6th revolute pair 6 loses degree of freedom, and the second locking device 29 at the 4th revolute pair 25 is beaten
It opens, 25 degree of gaining freedom of the 4th revolute pair, at this point, large arm 8 realizes lifting.To the 6th revolute pair 6 and the 4th revolute pair 25 all into
Row locking, the 6th revolute pair 6 and the 4th revolute pair 25 lose degree of freedom, and pitching is implemented separately in wrist connecting rod 12.First locking
7 and second locking device 29 of device the tight lock of selection or is opened respectively according to different working conditions, it is common complete large arm lifting with
The feed stacking operation of paw 32 is realized in the movements such as the pitching of flexible, wrist connecting rod 12 and wrist 31.First locking device, 7 He
Second locking device 29 is locked using electromagnetic mode, and control is easy to implement.
Quantity the invention enables controllable drive motor is less than the degree of freedom of feed stacking manipulator linkage, overcomes existing
There is feed stacking manipulator to need to be equipped with the control motor of linkage degree of freedom equivalent amount come the shortcomings that control, letter
Change the complexity of structure, weight, movement inertia, volume and the cost of reducing mechanism, feed stacking manipulator of the invention will
Each connecting rod rod piece makes lighter bar, so that entire mechanism kinematic inertia is small, dynamic performance is good, easily controllable, passes through setting
Revolving platform, the revolution working space that feed stacking manipulator is made to possess 360 degree, Work Space Range are big.
Claims (1)
1. a kind of servomotor drive link formula can variable freedom feed stacking manipulator, it is characterised in that including：It is pedestal 1, big
Arm telescoping mechanism, elevating mechanism, wrist connecting rod luffing mechanism, wrist 31, paw 32, servo drive, the first locking device 7
With the second locking device 29；The pedestal 1 is mounted on removable revolving platform；The large arm telescoping mechanism includes first connecting rod
27th, second connecting rod 23 and third connecting rod 24, described 27 one end of first connecting rod are connected with pedestal 1 by the first revolute pair 28, and first
The other end of connecting rod 27 is connected with 24 one end of third connecting rod by the 3rd revolute pair 26, and the other end of third connecting rod 24 and second connects
Bar 23 is connected by the 4th revolute pair 25；23 one end of second connecting rod is connected with pedestal 1 by the second revolute pair 22, second connecting rod 23
The other end is connected with large arm 8 by the 5th revolute pair 9；The elevating mechanism includes forearm 14, the 5th connecting rod 18, six-bar linkage
16 and first driving lever 20, first driving lever 20 be connected with pedestal 1 by the 8th revolute pair 21, the first driving lever 20 it is another
One end is connected with 18 one end of the 5th connecting rod by the 9th revolute pair 19, and the other end of the 5th connecting rod 18 and 14 one end of forearm pass through the
Ten revolute pairs 15 connect, and the other end of forearm 14 is connected with wrist connecting rod 12 by the 14th revolute pair 13, six-bar linkage 16
One end is connected with forearm 14 by the 15th revolute pair 17, and the other end and the large arm 8 of six-bar linkage 16 pass through the 16th revolute pair
10 connections；The wrist connecting rod luffing mechanism includes the second driving lever 3, fourth link 5, large arm 8 and wrist connecting rod 12, and described the
Two driving levers 3 are connected with pedestal 1 by the 11st revolute pair 2, the other end and 5 one end of fourth link of second driving lever 3
Connected by the 12nd revolute pair 4,5 other end of fourth link is connected with 8 one end of large arm by the 6th revolute pair 6, large arm 8 it is another
One end is connected with wrist connecting rod 12 by the 13rd revolute pair 11；First locking device 7 and the second locking device 29 are installed respectively
At the 6th revolute pair 6 and the 4th revolute pair 25, can in due course it be locked according to different operating modes；Servo drive includes
First servomotor, the second servomotor are connected to drive its rotation with the first driving lever 20 and the second driving lever 3 respectively；The
One locking device 7 and the second locking device 29 are locked using electromagnetic mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611062744.1A CN108116898A (en) | 2016-11-28 | 2016-11-28 | A kind of servomotor drive link formula can variable freedom feed stacking manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611062744.1A CN108116898A (en) | 2016-11-28 | 2016-11-28 | A kind of servomotor drive link formula can variable freedom feed stacking manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN108116898A true CN108116898A (en) | 2018-06-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611062744.1A Pending CN108116898A (en) | 2016-11-28 | 2016-11-28 | A kind of servomotor drive link formula can variable freedom feed stacking manipulator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR3089445A1 (en) | 2018-12-11 | 2020-06-12 | Sigma Clermont | Mobile manipulator module and robotic system consisting of at least two mobile manipulator module |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102275743A (en) * | 2011-07-01 | 2011-12-14 | 广西大学 | Metamorphic mechanism type stacking robot mechanism |
| CN104452840A (en) * | 2014-11-11 | 2015-03-25 | 广西大学 | Multi-degree-of-freedom metamorphism controllable excavation mechanism comprising parallelogram bucket maintaining mechanism |
| CN104552243A (en) * | 2014-12-12 | 2015-04-29 | 广西大学 | Controllable mechanism type metamorphic wheeled mobile welding robot |
-
2016
- 2016-11-28 CN CN201611062744.1A patent/CN108116898A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102275743A (en) * | 2011-07-01 | 2011-12-14 | 广西大学 | Metamorphic mechanism type stacking robot mechanism |
| CN104452840A (en) * | 2014-11-11 | 2015-03-25 | 广西大学 | Multi-degree-of-freedom metamorphism controllable excavation mechanism comprising parallelogram bucket maintaining mechanism |
| CN104552243A (en) * | 2014-12-12 | 2015-04-29 | 广西大学 | Controllable mechanism type metamorphic wheeled mobile welding robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR3089445A1 (en) | 2018-12-11 | 2020-06-12 | Sigma Clermont | Mobile manipulator module and robotic system consisting of at least two mobile manipulator module |
| WO2020120447A1 (en) | 2018-12-11 | 2020-06-18 | Sigma Clermont | Mobile manipulator module and robot system made up of at least two mobile manipulator modules |
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Application publication date: 20180605 |