CN109667297A - It is a kind of that dress operational method is grabbed using double freedom hybrid-driven linkage mechanism waste material - Google Patents
It is a kind of that dress operational method is grabbed using double freedom hybrid-driven linkage mechanism waste material Download PDFInfo
- Publication number
- CN109667297A CN109667297A CN201710959605.7A CN201710959605A CN109667297A CN 109667297 A CN109667297 A CN 109667297A CN 201710959605 A CN201710959605 A CN 201710959605A CN 109667297 A CN109667297 A CN 109667297A
- Authority
- CN
- China
- Prior art keywords
- forearm
- drive rod
- large arm
- connecting rod
- connect
- 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- Withdrawn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
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/302—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom with an additional link
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/425—Drive systems for dipper-arms, backhoes or the like
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
It is a kind of that dress operational method is grabbed using double freedom hybrid-driven linkage mechanism waste material, it is characterised in that the two degrees of freedom hybrid-driven linkage mechanism includes: large arm, big arm link, large arm drive rod, forearm, small arm link, forearm drive rod, connecting rod, electric pushrod, wrist connecting rod, pedestal, rotatable platform and servo drive；Forearm one end is connected on wrist connecting rod, 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 joint type timber grab 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
The present invention relates to loading machine fields, use double freedom hybrid-driven linkage mechanism waste material more particularly to a kind of
Grab dress operational 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 double freedom hybrid-driven linkage mechanism waste material the purpose of the present invention is to provide a kind of,
Overcome fluid pressure type industrial waste to grab the disadvantages of installation hydraulic system element required precision is high, structure is complicated, easy oil leakage, solves 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, holds
The problem of loading capability is small, structure is complicated, while solving the problems, such as all at high cost using servo motor bring.The present invention provides
It is a kind of that dress operational method is grabbed using double freedom hybrid-driven linkage mechanism waste material, it is characterised in that the two degrees of freedom mixing
Drive link mechanism includes: large arm, big arm link, large arm drive rod, forearm, small arm link, forearm drive rod, connecting rod, electronic
Push rod, wrist connecting rod, pedestal, rotatable platform and servo drive；Forearm one end is connected on wrist connecting rod, and forearm is another
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 to pedestal
On, 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,
The electric pushrod other end is connected on wrist connecting rod, and wrist connecting rod one end is connected on forearm, big arm link one end connection
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 to rotatable flat
On platform, servo drive includes first servo motor and the second servo motor, and first servo motor is connect with large arm drive rod,
Second servo motor is 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 double freedom hybrid-driven linkage mechanism waste material the invention discloses a kind of, by two electricity
Machine is mounted on workbench, is used to control the angular dimension of wrist pitching using an electric pushrod, is overcome open chain knot
Structure articulated robot rotary inertia is big, and dynamic performance is poor, and the disadvantage that structure is complicated, the degree of modularity is low combines constant speed
The advantages of motor and servo motor, has the advantages that be easy to control, be quick on the draw, to manufacture maintenance cost low.Overcome fluid pressure type
Industrial waste grabs the disadvantages of installation hydraulic system element required precision is high, structure is complicated, easy oil leakage.
Detailed description of the invention
Fig. 1 is that a kind of grabbed using two degrees of freedom hybrid-driven linkage mechanism progress industrial waste of the present invention pretends industry
Operation schematic diagram
Specific embodiment
It is a kind of that dress operational method is grabbed using double freedom hybrid-driven linkage mechanism waste material, it is characterised in that described two freely
Degree hybrid-driven linkage mechanism includes: large arm, big arm link, large arm drive rod, forearm, small arm link, forearm drive rod, connects
Bar, 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 connects
It connects 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 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.
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 that industrial waste grabs the rail abundant of installation paw portion flexible and diverse
Mark 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, 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 double freedom hybrid-driven linkage mechanism waste material, it is characterised in that the two degrees of freedom
Hybrid-driven linkage mechanism include: large arm, big arm link, large arm drive rod, forearm, small arm link, forearm drive rod, connecting rod,
Electric pushrod, wrist connecting rod, pedestal, rotatable platform and servo drive；Forearm one end is connected on wrist connecting rod, forearm
The 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 to
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 to forearm
On, the electric pushrod other end is connected on wrist connecting rod, and wrist connecting rod one end is connected on forearm, and described big arm link one end connects
It connects 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 to rotatable
On platform, servo drive includes first servo motor and the second servo motor, and first servo motor and large arm drive rod connect
It connects, the second servo motor is connect with forearm drive rod, before industrial waste grabs loading operation, by pedestal 2 and rubber-tyred or crawler belt
Formula walking mechanism connects, and wrist connecting rod 11 and wrist 10, gripper 12 are connected；Grab pretend industry carry out when, pass through electricity
Machine driving large arm drive rod 5, forearm drive rod 9 are rotated, and grab link mechanism completion and pretend industry.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710959605.7A CN109667297A (en) | 2017-10-16 | 2017-10-16 | It is a kind of that dress operational method is grabbed using double freedom hybrid-driven linkage mechanism waste material |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710959605.7A CN109667297A (en) | 2017-10-16 | 2017-10-16 | It is a kind of that dress operational method is grabbed using double freedom hybrid-driven linkage mechanism waste material |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109667297A true CN109667297A (en) | 2019-04-23 |
Family
ID=66139150
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710959605.7A Withdrawn CN109667297A (en) | 2017-10-16 | 2017-10-16 | It is a kind of that dress operational method is grabbed using double freedom hybrid-driven linkage mechanism waste material |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109667297A (en) |
-
2017
- 2017-10-16 CN CN201710959605.7A patent/CN109667297A/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: 20190423 |