CN109605324A - It is a kind of to use combination drive closed chain mechanism form parallel connection feed automatic stacking machinery device - Google Patents
It is a kind of to use combination drive closed chain mechanism form parallel connection feed automatic stacking machinery device Download PDFInfo
- Publication number
- CN109605324A CN109605324A CN201710925553.1A CN201710925553A CN109605324A CN 109605324 A CN109605324 A CN 109605324A CN 201710925553 A CN201710925553 A CN 201710925553A CN 109605324 A CN109605324 A CN 109605324A
- Authority
- CN
- China
- Prior art keywords
- forearm
- drive rod
- connecting rod
- arm link
- large 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.)
- Withdrawn
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
-
- 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
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
It is a kind of to use combination drive closed chain mechanism form parallel connection feed automatic stacking machinery device, it is characterised in that: including large arm, big arm link, large arm drive rod, forearm, small arm link, forearm drive rod, connecting rod, electric pushrod, wrist connecting rod, wrist, gripper, pedestal, rotatable platform and servo drive；Forearm one end is connected on wrist connecting rod, the forearm other end is connect with small arm link one end, small arm link is connect with forearm drive rod one end, the forearm drive rod other end is connected on pedestal, wrist connecting rod one end is connected on forearm, described big arm link one end is connected in the middle part of large arm, the big arm link other end is connect with large arm drive rod one end, the large arm drive rod other end is connected on rotatable platform, two motors are mounted on workbench by the present invention, it is big to overcome cascaded structure articulated robot rotary inertia, dynamic performance is poor, the shortcomings that structure is complicated, the advantages of combining constant speed motor and servo motor, with being easy to control, it is quick on the draw, manufacture the low advantage of maintenance cost.
Description
Technical field
It is especially a kind of automatic using combination drive closed chain mechanism form parallel connection feed the invention belongs to feed manufacturing machine field
Palletizing mechanical device.
Background technique
Over the years, since the personnel of labour market are in short supply, human cost rises year by year, promotes manipulator stacking and exists
Extensive use in feed manufacturing emterprise.Most of general palletizing mechanical arm of feed processing industry is the series connection for open form at present
Formation joint type motor drive machinery arm, is mainly characterized in that driving motor is all mounted on each joint of mechanical arm,
The rotation that each joint of mechanical arm is driven by motor, realizes the various movements of mechanical arm, this frame mode is asked there are following
Topic: mechanical arm arm needs to carry the weight of motor and need to meet rigidity requirement, and arm sectional dimension needs to be made larger, in this way
The load that will increase driving motor increases the movement inertia of arm, causes mechanical arm dynamic property to decline, while driving motor is all
It is mounted on joint position and causes that the accumulated error of mechanical arm is big, bearing capacity is small, structure is complicated, the degree of modularity is low.With electricity
The development of machine technology and the raising of control technology, parallel institution provide extensive development space for mechanical arm.By control motor
The multiple freedom parallel mechanism of driving not only has big working space, flexible movements, the motion profile output of achievable complexity, together
When also have many advantages, such as that manufacturing cost is low, maintenance is simple.
Hybrid Input Five―bar Mechanism is driven using two kinds of motors (constant speed motor and servo motor) of different nature, in machinery
There is a good compromise to be well positioned to meet modern feed to adapt to feed stacking working flexibility feature and add in performance and cost
The requirement of work production.
Summary of the invention
It is an object of the invention to overcome existing feed stacking robot drives motor to be all mounted on the position in joint, cause
The problem of manipulator rotary inertia is big, dynamic property declines, and accumulated error is big, and bearing capacity is small, structure is complicated.The present invention passes through
Following technical scheme realizes above functions: a kind of to be filled using combination drive closed chain mechanism form parallel connection feed automatic stacking machinery
It sets, it is characterised in that: including large arm, big arm link, large arm drive rod, forearm, small arm link, forearm drive rod, connecting rod, electronic
Push rod, wrist connecting rod, wrist, gripper, pedestal, rotatable platform and servo drive；Forearm one end is connected to wrist connecting rod
On, the forearm other end is connect with small arm link one end, and small arm link is connect with forearm drive rod one end, the forearm drive rod other end
It is connected on pedestal, connecting rod one end connect with small arm link one end, connects in the middle part of the other end and large arm, the connection of electric pushrod one end
On forearm, the electric pushrod other end is connected on wrist connecting rod, and wrist connecting rod one end is connected on forearm, the big arm link
One end is connected in the middle part of large arm, and the big arm link other end is connect with large arm drive rod one end, and the large arm drive rod other end is connected to
On rotatable platform, servo drive includes first servo motor and the second servo motor, and first servo motor and large arm are driven
Lever connection, the second servo motor are connect with forearm drive rod.
Of the invention is a kind of using combination drive closed chain mechanism form parallel connection feed automatic stacking machinery device, by two electricity
Machine is mounted on workbench, is used to control the angular dimension of wrist pitching using an electric pushrod, and two motors are pacified
On workbench, overcome that cascaded structure articulated robot rotary inertia is big, and dynamic performance is poor, structure is complicated, mould
The low disadvantage of block degree, the advantages of combining constant speed motor and servo motor, have and are easy to control, are quick on the draw, manufacturing dimension
Repair advantage at low cost.
Detailed description of the invention
Fig. 1 is of the present invention a kind of using combination drive closed chain mechanism form parallel connection feed automatic stacking machinery device
Structural scheme of mechanism
Specific embodiment
It is a kind of that combination drive closed chain mechanism form parallel connection feed automatic stacking machinery device, including large arm 6, large arm is used to connect
Bar 4, large arm drive rod 5, forearm 7, small arm link 8, forearm drive rod 9, connecting rod 13, electric pushrod 3, wrist connecting rod 11, wrist
12, gripper 10, pedestal 2, rotatable platform 1 and servo drive, 7 one end of forearm are connected on wrist connecting rod 11, and forearm 7 is another
One end is connect with small 8 one end of arm link, and small arm link 8 is connect with 9 one end of forearm drive rod, the connection of 9 other end of forearm drive rod
On pedestal 2,13 one end of connecting rod connect with small 8 one end of arm link, connects in the middle part of the other end and large arm 6, and 3 one end of electric pushrod connects
It connects on forearm 7,3 other end of electric pushrod is connected on wrist connecting rod 11, and 11 one end of wrist connecting rod is connected on forearm 7, institute
It states big 4 one end of arm link and is connected to 6 middle part of large arm, connected in the middle part of big 4 other end of arm link and large arm drive rod 5, large arm driving
5 other end of bar is connected on rotatable platform 1, and servo drive includes first servo motor and the second servo motor, and first
Servo motor is connect with large arm drive rod 5, and the second servo motor is connect with forearm drive rod 9.
In use, the large arm drive rod 5 is controlled by first servo motor, forearm drive rod 9 is driven by the second servo motor
Dynamic, the electric pushrod 3 is controlled by a direct current constant-seed motor in itself.By in servo drive motor and electric pushrod
Corresponding movement is realized in the combination drive cooperation of constant speed direct current generator, passes through turning for two servo motors to servo drive
The control of the telescopic displacement of angle control and electric pushrod, realizes the track abundant of feed stacking manipulator claw flexible and diverse
Movement.
Controllable drive motor is mounted on revolving platform by the present invention, simplifies the complexity of structure, reducing mechanism
Each connecting rod rod piece is made into lighter bar by weight, volume and cost, mechanical arm of the invention, so that entire mechanism kinematic inertia
Small, dynamic performance is good, easily controllable, by the way that revolving platform, the revolution working space for making mechanical arm possess 360 degree, work is arranged
It is big to make spatial dimension.
Claims (1)
1. a kind of use combination drive closed chain mechanism form parallel connection feed automatic stacking machinery device, it is characterised in that: including big
Arm, big arm link, large arm drive rod, forearm, small arm link, forearm drive rod, connecting rod, electric pushrod, wrist connecting rod, wrist,
Gripper, pedestal, rotatable platform and servo drive；Forearm one end is connected on wrist connecting rod, the forearm other end and forearm
The connection of connecting rod one end, small arm link are connect with forearm drive rod one end, and the forearm drive rod other end is connected on pedestal, connecting rod one
End connect with small arm link one end, connects in the middle part of the other end and large arm, and electric pushrod one end is connected on forearm, and electric pushrod is another
One end is connected on wrist connecting rod, and wrist connecting rod one end is connected on forearm, and described big arm link one end is connected in the middle part of large arm,
The big arm link other end is connect with large arm drive rod one end, and the large arm drive rod other end is connected on rotatable platform, and servo is driven
Dynamic device includes first servo motor and the second servo motor, and first servo motor is connect with large arm drive rod, the second servo electricity
Machine is connect with forearm drive rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710925553.1A CN109605324A (en) | 2017-10-04 | 2017-10-04 | It is a kind of to use combination drive closed chain mechanism form parallel connection feed automatic stacking machinery device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710925553.1A CN109605324A (en) | 2017-10-04 | 2017-10-04 | It is a kind of to use combination drive closed chain mechanism form parallel connection feed automatic stacking machinery device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109605324A true CN109605324A (en) | 2019-04-12 |
Family
ID=66001632
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710925553.1A Withdrawn CN109605324A (en) | 2017-10-04 | 2017-10-04 | It is a kind of to use combination drive closed chain mechanism form parallel connection feed automatic stacking machinery device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109605324A (en) |
-
2017
- 2017-10-04 CN CN201710925553.1A patent/CN109605324A/en not_active Withdrawn
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190412 |