CN109664289A - It is a kind of to grab dress operational method using combination drive closing chain structure waste material - Google Patents
It is a kind of to grab dress operational method using combination drive closing chain structure waste material Download PDFInfo
- Publication number
- CN109664289A CN109664289A CN201710963308.XA CN201710963308A CN109664289A CN 109664289 A CN109664289 A CN 109664289A CN 201710963308 A CN201710963308 A CN 201710963308A CN 109664289 A CN109664289 A CN 109664289A
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- China
- Prior art keywords
- forearm
- drive rod
- drive
- connect
- 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.)
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Classifications
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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)
- Load-Engaging Elements For Cranes (AREA)
Abstract
It is a kind of to grab dress operational method using combination drive closing chain structure waste material, it is characterised in that the combination drive closed chain mechanism includes: large arm, big arm link, large arm drive rod, forearm, small arm link, forearm drive rod, electric pushrod, wrist connecting rod, 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, and small arm link is connect with forearm drive rod one end, and the forearm drive rod other end is connected on pedestal; electric pushrod one end is connected on forearm, and the electric pushrod other end is connected on wrist connecting rod.Two motors are mounted on workbench by the present invention, it is big to overcome open-chain structure joint type structure rotary inertia, dynamic performance is poor, the disadvantage that structure is complicated, the degree of modularity is low, the advantages of combining constant speed motor and servo motor has the advantages that be easy to control, be quick on the draw, to manufacture maintenance cost low.
Description
Technical field
The present invention relates to loading machine fields, pretend more particularly to a kind of grabbed using combination drive closing chain structure waste material
Industry 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.But exists and need to be equipped with and link mechanism freedom degree equivalent amount
Motor is controlled to carry out the big and at high cost problem of control structure complexity bring mechanism weight, movement inertia.Mixed design machine
Structure is driven using two kinds of motors (constant speed motor and servo motor) of different nature, is had in mechanical performance and cost a good
Good compromise is well positioned to meet the job requirement of timber grab to adapt to working flexibility feature.
Summary of the invention
Dress operational method is grabbed using combination drive closing chain structure waste material the purpose of the present invention is to provide a kind of, overcomes liquid
Pressure type industrial waste grabs the disadvantages of installation hydraulic system element required precision is high, structure is complicated, easy oil leakage, solves open-chain structure and drives
Dynamic 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, bearing capacity
Small, the problem of structure is complicated, while solving the problems, such as all at high cost using servo motor bring.The present invention provides one kind
Dress operational method is grabbed using combination drive closing chain structure waste material, it is characterised in that the combination drive closed chain mechanism includes:
Include large arm, big arm link, large arm drive rod, forearm, small arm link, forearm drive rod, electric pushrod, wrist connecting rod, pedestal, can
Revolving platform and servo drive；Forearm one end is connected on wrist connecting rod, and the forearm other end is connect with small arm link one end,
Small arm link is connect with forearm drive rod one end, and the forearm drive rod other end is connected on pedestal, and electric pushrod one end is connected to
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 can
On revolving platform, servo drive includes first servo motor and the second servo motor, and first servo motor and large arm drive
Bar connection, the second servo motor are connect with forearm drive rod.
Before industrial waste grabs loading operation, pedestal 2 is connected with rubber-tyred or crawler type walking mechanism, by wrist
Connecting rod 11 is connected with wrist 10, gripper 12；Grab pretend industry carry out when, pass through motor driven large arm drive rod 5, forearm driving
Bar 9 is rotated, and grabs link mechanism completion and pretends industry.
Dress operational method is grabbed using combination drive closing chain structure waste material the invention discloses a kind of, two motors are installed
On workbench, it is used to control the angular dimension of wrist pitching using an electric pushrod, two motors is mounted on work
Make on platform, overcome that open-chain structure articulated robot rotary inertia is big, and dynamic performance is poor, structure is complicated, modularization journey
The advantages of spending low disadvantage, combining constant speed motor and servo motor has and is easy to control, is quick on the draw, manufacturing maintenance cost
Low advantage.It overcomes fluid pressure type industrial waste and grabs that installation hydraulic system element required precision is high, structure is complicated, easy oil leakage etc. lacks
Point.
Detailed description of the invention
Fig. 1 be it is of the present invention it is a kind of using combination drive closed chain mechanism carry out industrial waste grab pretend industry work illustrate
Figure.
Specific embodiment
It is a kind of to grab dress operational method using combination drive closing chain structure waste material, including large arm 6, big arm link 4, large arm are driven
It lever 5, forearm 7, small arm link 8, forearm drive rod 9, electric pushrod 3, wrist connecting rod 11, pedestal 2, rotatable platform 1 and watches
Driving device is taken, 7 one end of forearm is connected on wrist connecting rod 11, and 7 other end of forearm is connect with small 8 one end of arm link, and forearm connects
Bar 8 is connect with 9 one end of forearm drive rod, and 9 other end of forearm drive rod is connected on pedestal 2, and 3 one end of electric pushrod is connected to small
On arm 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, the large arm
4 one end of connecting rod is connected in large arm 6, and big 4 other end of arm link is connect with 5 one end of large arm drive rod, 5 other end of large arm drive rod
Be connected on rotatable platform 1, servo drive includes first servo motor and the second servo motor, first servo motor with
Large arm drive rod 5 connects, and the second servo motor is connect with forearm drive rod 9.
Before industrial waste grabs loading operation, pedestal 2 is connected with rubber-tyred or crawler type walking mechanism, by wrist
Connecting rod 11 is connected with wrist 10, gripper 12；Grab pretend industry carry out when, pass through motor driven large arm drive rod 5, forearm driving
Bar 9 is rotated, and grabs link mechanism completion and pretends industry.
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 track abundant movement of claw flexible and diverse is realized in the control of the telescopic displacement of angle control and electric pushrod.
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, the present invention, 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 combination drive closing chain structure waste material, it is characterised in that the combination drive closed chain machine
Structure includes: to connect including large arm, big arm link, large arm drive rod, forearm, small arm link, forearm drive rod, electric pushrod, wrist
Bar, pedestal, rotatable platform and servo drive；Forearm one end is connected on wrist connecting rod, and the forearm other end and forearm connect
The connection of bar one end, small arm link are connect with forearm drive rod one end, and the forearm drive rod other end is connected on pedestal, electric pushrod
One end is connected on forearm, and the electric pushrod other end is connected on wrist connecting rod, and wrist connecting rod one end is connected on forearm, described
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 large arm drive rod is another
End is connected on rotatable platform, and servo drive includes first servo motor and the second servo motor, first servo motor
It is connect with large arm drive rod, the second servo motor is connect with forearm drive rod, before industrial waste grabs loading operation, by pedestal 2
It is connected with rubber-tyred or crawler type walking mechanism, wrist connecting rod 11 and wrist 10, gripper 12 is connected；It grabs and pretends industry
It when progress, is rotated by motor driven large arm drive rod 5, forearm drive rod 9, grabs link mechanism completion and pretend
Industry.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710963308.XA CN109664289A (en) | 2017-10-16 | 2017-10-16 | It is a kind of to grab dress operational method using combination drive closing chain structure waste material |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710963308.XA CN109664289A (en) | 2017-10-16 | 2017-10-16 | It is a kind of to grab dress operational method using combination drive closing chain structure waste material |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109664289A true CN109664289A (en) | 2019-04-23 |
Family
ID=66140429
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710963308.XA Withdrawn CN109664289A (en) | 2017-10-16 | 2017-10-16 | It is a kind of to grab dress operational method using combination drive closing chain structure waste material |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109664289A (en) |
-
2017
- 2017-10-16 CN CN201710963308.XA patent/CN109664289A/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 |