CN109664286A - It is a kind of that dress operational method is grabbed using nine link mechanism waste material of sealed joint - Google Patents
It is a kind of that dress operational method is grabbed using nine link mechanism waste material of sealed joint Download PDFInfo
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- CN109664286A CN109664286A CN201710961663.3A CN201710961663A CN109664286A CN 109664286 A CN109664286 A CN 109664286A CN 201710961663 A CN201710961663 A CN 201710961663A CN 109664286 A CN109664286 A CN 109664286A
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- connecting rod
- driving lever
- lever
- driving
- articulated
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- 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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
Dress operational method is grabbed using nine link mechanism waste material of sealed joint the present invention provides a kind of, it is characterised in that the closed chain multi-connecting-rod mechanism includes: pedestal, rotatable platform, telescoping mechanism, luffing mechanism, elevating mechanism and driving device；Telescoping mechanism includes: the first driving lever, the second driving lever, large arm, first connecting rod and second connecting rod, one end of first driving lever is articulated in rotatable platform, one end of second driving lever is articulated in rotatable platform, one end of large arm and the other end of the first driving lever are hinged, one end of first connecting rod and the other end of large arm are hinged, second connecting rod is in bending, and one end of second connecting rod and the other end of the second driving lever are hinged, and the other end of second connecting rod is articulated with the middle part of first connecting rod；Driving device is three servo motors, and the present invention improves the stationarity and reliability of arm operation, no accumulated error, and precision is higher；Compact-sized, rigidity is high, and large carrying capacity, inertia are low, dynamic property is good.
Description
Technical field
It is the present invention relates to loading machine field, in particular to a kind of that dress operator is grabbed using nine link mechanism waste material of sealed joint
Method.
Background technique
Since the personnel of labour market are in short supply, the human cost increasing that labour protection is realized by soaring and enterprise year by year
By force, it promotes industrial waste and grabs 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 industrial waste, which grabs most of mechanical arm of installation, at present, due to hydraulic drive
Medium using hydraulic oil as transmitting power, have the following problems: its startability is poor, is easy because after internal element abrasion
Leakage is generated, and the hydraulic oil leaked pollutes the environment；Hydraulic oil is affected by temperature larger, and gross efficiency is lower, makes an uproar sometimes
Sound and vibration.It sometimes appear that overheat, phenomena such as powerless in work；Hydraulic Elements requirement on machining accuracy is high, and matching requirements are stringent, system
More difficulty is made, maintenance requires technology higher in use, and difficulty is larger.As industrial waste grabs the increase of installation function,
Its hydraulic system becomes increasingly complex, and breaks down with more sudden, concealment.It is to utilize machine that mechanical industrial waste, which grabs installation,
Tool driving member realizes industrial waste crawl loading movement, has many advantages, such as sturdy and durable, but traditional single-degree-of-freedom is mechanical
Industrial waste, which grabs installation, cannot complete complicated movement, and application range is extremely limited, mechanical controllable mechanism electric industry waste material
Installation is grabbed, with link mechanism instead of hydraulic drive, when driving lever is driven by servo motor, automation easy to accomplish, numerical control
Change control, solves some shortcomings existing for hydraulic system.
Summary of the invention
Dress operational method is grabbed using nine link mechanism waste material of sealed joint the purpose of the present invention is to provide a kind of, is overcome hydraulic
Formula industrial waste grabs the disadvantages of installation hydraulic system element required precision is high, structure is complicated, easy oil leakage, while solving open-chain structure
Driving motor is all mounted on the position in joint, and the inertia that causes to roll over is big, dynamic property decline, and accumulated error is big, carries energy
The problem of power is small, structure is complicated.Dress operational method is grabbed using nine link mechanism waste material of sealed joint the present invention provides a kind of, it is special
Sign is that the closed chain multi-connecting-rod mechanism includes: pedestal, rotatable platform, telescoping mechanism, luffing mechanism, elevating mechanism and
Driving device；Telescoping mechanism includes: the first driving lever, the second driving lever, large arm, first connecting rod and second connecting rod, and first is main
One end of lever is articulated in rotatable platform, and one end of the second driving lever is articulated in rotatable platform, one end of large arm with
The other end of first driving lever is hinged, and one end of first connecting rod and the other end of large arm are hinged, second connecting rod be in bending, second
One end of connecting rod and the other end of the second driving lever are hinged, and the other end of second connecting rod is articulated with the middle part of first connecting rod；Pitching
Mechanism includes pitch lever and wrist connecting rod, and one end of pitch lever and the other end of first connecting rod are hinged, the top of wrist connecting rod
It is hinged with the other end of pitch lever；Elevating mechanism includes third driving lever and elevating lever, and one end of third driving lever is articulated with
In rotatable platform, one end of elevating lever is articulated on the lever arm of second connecting rod, elevating lever be in bending, third driving lever it is another
One end is articulated in the middle part of the lever arm of elevating lever, the other end of elevating lever and the lower hinge of wrist connecting rod；Driving device is three
Servo motor, servo motor are mounted on rotatable platform, respectively with the first driving lever, the second driving lever and third driving lever
Connection is each responsible for the swing of driving the first driving lever, the second driving lever and third driving lever to drive corresponding rotation.
Before industrial waste grabs loading operation, pedestal 12 is connected with rubber-tyred or crawler type walking mechanism, by wrist
Portion's connecting rod 11 grabs the wrist 13 of installation with industrial waste, gripper 10 connects；It grabs when pretending industry and carrying out, passes through motor driven the
One driving lever 2, the second driving lever 3 and third driving lever 7 are rotated, and grab link mechanism completion and pretend industry.
The present invention is a kind of to grab dress operational method using nine link mechanism waste material of sealed joint, compared with open-chain structure, improves
The stationarity and reliability of arm operation, no accumulated error, precision are higher；Compact-sized, rigidity is high, large carrying capacity, inertia
It is low, dynamic property is good, arm motion track flexible and diverse.Overcome fluid pressure type cane catching machine hydraulic system element required precision
High, the disadvantages of structure is complicated, easy oil leakage.
Detailed description of the invention
Fig. 1 is that the present invention grabs the operation schematic diagram for pretending industry using closed chain nine-bar mechanism progress industrial waste.
Specific embodiment
It is a kind of that dress operational method is grabbed using nine link mechanism waste material of sealed joint, comprising: pedestal 12, rotatable platform 1 are stretched
Contracting mechanism, luffing mechanism, elevating mechanism and driving device；Telescoping mechanism includes: the first driving lever 2, the second driving lever 3, big
One end of arm 4, first connecting rod 6 and second connecting rod 5, the first driving lever 2 is articulated in rotatable platform 1, the second driving lever 3
One end is articulated in rotatable platform 1, and one end of large arm 4 and the other end of the first driving lever 2 are hinged, one end of first connecting rod 6
Hinged with the other end of large arm 4, second connecting rod 5 is cut with scissors in the other end of bending and one end of second connecting rod 5 and the second driving lever 3
It connects, the other end of the second connecting rod 5 is articulated in the middle part of the lever arm of first connecting rod 6；When the first driving lever 2 turns left, large arm 4
It moves downward, to drive first connecting rod 6 to move upwards, and when the second driving lever 3 turns right, second connecting rod 5 is transported upwards
It is dynamic, it is on the contrary then move downward first connecting rod 6 so that first connecting rod 6 obtains the bigger amplitude moved upwards.Luffing mechanism packet
Include pitch lever 9 and wrist connecting rod 11, one end of pitch lever 9 and the other end of first connecting rod 6 are hinged, wrist connecting rod 11 it is upper
Portion and the other end of pitch lever 9 are hinged；When first connecting rod 6 moves upwards, pitch lever 9 is also moved upwards, so that wrist
On the contrary connecting rod 11, which drives, can be rotated wrist and gripper and moves downward, then wrist connecting rod 11 is made to drive rotatable wrist and gripper upward
Movement.Elevating mechanism includes third driving lever 7 and elevating lever 8, and one end of third driving lever 7 is articulated in rotatable platform 1,
One end of elevating lever 8 is articulated on the lever arm of second connecting rod 5, which is in bending, and the other end of third driving lever 7 is cut with scissors
It is connected in the middle part of the lever arm of elevating lever 8, the other end of elevating lever 8 and the lower hinge of wrist connecting rod 11；When third driving lever 7 to the left
When movement, can drive elevating lever 8 decline so that wrist connecting rod 11 decline, on the contrary it is then make wrist connecting rod 11 rising.Driving
Device is three servo motors, is connect respectively with the first driving lever 2, the second driving lever 3 and third driving lever 7, with driving pair
The rotation answered is each responsible for the swing of driving the first driving lever 2, the second driving lever 3 and third driving lever 7.
Before industrial waste grabs loading operation, pedestal 12 is connected with rubber-tyred or crawler type walking mechanism, by wrist
Portion's connecting rod 11 grabs the wrist 13 of installation with industrial waste, gripper 10 connects；It grabs when pretending industry and carrying out, passes through motor driven the
One driving lever 2, the second driving lever 3 and third driving lever 7 are rotated, and grab link mechanism completion and pretend industry.
In use, being acted accordingly by the mutual cooperation of telescoping mechanism, luffing mechanism and elevating mechanism, as the first master
When lever 2, the second driving lever 3 and third driving lever 7 move downward, wrist connecting rod 11 can be realized bends down movement, this
When, if third driving lever 7 continues to move right the ascending motion, it can be achieved that wrist connecting rod 11, when the first driving lever 2, second is main
When lever 3 and third driving lever 7 move right, then wrist connecting rod 11 realizes movement of steeving.
Controllable drive motor is mounted on revolving platform by the present invention, simplifies the complexity of structure, reducing mechanism
Weight, volume and cost, each connecting rod rod piece of the invention are made into lighter bar, so that entire mechanism kinematic inertia is small, dynamics
Performance is good, easily controllable.
Claims (1)
1. a kind of grab dress operational method using nine link mechanism waste material of sealed joint, it is characterised in that the closed chain multi-connecting-rod mechanism packet
It includes: pedestal, rotatable platform, telescoping mechanism, luffing mechanism, elevating mechanism and driving device；Telescoping mechanism includes: first
Driving lever, the second driving lever, large arm, first connecting rod and second connecting rod, one end of the first driving lever are articulated with rotatable platform
On, one end of the second driving lever is articulated in rotatable platform, and one end of large arm and the other end of the first driving lever are hinged, and first
One end of connecting rod and the other end of large arm are hinged, and second connecting rod is in bending, and one end of second connecting rod is another with the second driving lever
One end is hinged, and the other end of second connecting rod is articulated with the middle part of first connecting rod；Luffing mechanism includes pitch lever and wrist connecting rod,
One end of pitch lever and the other end of first connecting rod are hinged, and the top of wrist connecting rod and the other end of pitch lever are hinged；Elevator
Structure includes third driving lever and elevating lever, and one end of third driving lever is articulated in rotatable platform, one end hinge of elevating lever
It being connected on the lever arm of second connecting rod, elevating lever is in bending, and the other end of third driving lever is articulated in the middle part of the lever arm of elevating lever,
The other end of elevating lever and the lower hinge of wrist connecting rod；Driving device is three servo motors, and servo motor, which is mounted on, to return
Turn on platform, connect respectively with the first driving lever, the second driving lever and third driving lever, to drive corresponding rotation, respectively
It is responsible for the swing of driving the first driving lever, the second driving lever and third driving lever, before industrial waste grabs loading operation, the bottom of by
Seat 12 is connected with rubber-tyred or crawler type walking mechanism, and wrist connecting rod 11 and industrial waste are grabbed the wrist 13 of installation, hand
Pawl 10 connects；Grab pretend industry carry out when, pass through motor driven the first driving lever 2, the second driving lever 3 and third driving lever
7 are rotated, and grab link mechanism completion and pretend industry.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710961663.3A CN109664286A (en) | 2017-10-16 | 2017-10-16 | It is a kind of that dress operational method is grabbed using nine link mechanism waste material of sealed joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710961663.3A CN109664286A (en) | 2017-10-16 | 2017-10-16 | It is a kind of that dress operational method is grabbed using nine link mechanism waste material of sealed joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109664286A true CN109664286A (en) | 2019-04-23 |
Family
ID=66140275
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710961663.3A Withdrawn CN109664286A (en) | 2017-10-16 | 2017-10-16 | It is a kind of that dress operational method is grabbed using nine link mechanism waste material of sealed joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109664286A (en) |
-
2017
- 2017-10-16 CN CN201710961663.3A patent/CN109664286A/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 |
Application publication date: 20190423 |
|
| WW01 | Invention patent application withdrawn after publication |