CN109667301A - It is a kind of using sealed joint can variable freedom link mechanism waste material grab dress operational method - Google Patents
It is a kind of using sealed joint can variable freedom link mechanism waste material grab dress operational method Download PDFInfo
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- CN109667301A CN109667301A CN201710959602.3A CN201710959602A CN109667301A CN 109667301 A CN109667301 A CN 109667301A CN 201710959602 A CN201710959602 A CN 201710959602A CN 109667301 A CN109667301 A CN 109667301A
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- China
- Prior art keywords
- connecting rod
- connect
- lock hinge
- drive rod
- rod
- 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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Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 44
- 239000002699 waste material Substances 0.000 title claims abstract description 10
- 238000000034 method Methods 0.000 title claims abstract description 9
- 238000009434 installation Methods 0.000 claims abstract description 22
- 210000000707 wrist Anatomy 0.000 claims abstract description 20
- 210000000245 forearm Anatomy 0.000 claims abstract description 10
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 7
- 239000002440 industrial waste Substances 0.000 claims description 18
- 230000005611 electricity Effects 0.000 claims 2
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 239000010720 hydraulic oil Substances 0.000 description 3
- 239000012530 fluid Substances 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 230000010181 polygamy Effects 0.000 description 1
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
- E02F3/36—Component parts
- E02F3/40—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets
- E02F3/413—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets with grabbing device
- E02F3/4136—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets with grabbing device with grabs mounted on a slidable or telescopic boom or arm
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)
- Load-Engaging Elements For Cranes (AREA)
Abstract
It is a kind of using sealed joint can variable freedom link mechanism waste material grab dress operational method, it is characterised in that: it is described can variable freedom closed chain link mechanism pedestal 15, revolving platform 1, large arm 8, first connecting rod 2, second connecting rod 4, third connecting rod 7, forearm 13, the 5th connecting rod 10, six-bar linkage 12 and the first drive rod 9, the second drive rod 3, fourth link 5, large arm 8, wrist connecting rod 11, driving device and first can lock hinge 6 and second and can lock hinge 14；First drive rod, 9 other end is connect by that can lock hinge 14 with forearm 13, and fourth link 5 can lock hinge 6 by first and connect with large arm 8, and the other end of the large arm 8 is connect with wrist connecting rod 11；It is described to be made of driving device first servo motor, the second servo motor, it is each responsible for driving the first drive rod 9, the second drive rod 3.The invention reduces the cost for grabbing installation, and reduces the complexity of transmission system, the weight of reducing mechanism, movement inertia, volume, can be improved and grabs dress production efficiency.
Description
Technical field
The present invention relates to loading machine field, it is especially a kind of using sealed joint can variable freedom link mechanism waste material 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, solve 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.
Variable Freedom Mechanism belongs to metamorphic mechanisms, and metamorphic mechanisms are one kind of educational circles, international body the 1990s discovery
Novel mechanism.Such mechanism has multi-functional phase change feature, multiple topology variation characteristic, multiple degrees of freedom variation characteristic.
Such mechanism can in the state of difference the effective rod piece of changing mechanism number, to be combined into new topological structure automatically to fit
Answer the functional requirement of different phase.It is also seldom to can apply to the actual Variable Freedom Mechanism of engineering at present, is applied not seen in crossing
The metamorphic mechanisms of installation are grabbed in industrial waste.
Summary of the invention
The purpose of the present invention is to provide it is a kind of using sealed joint can variable freedom link mechanism waste material grab dress operational method,
Fluid pressure type industrial waste is overcome to grab the disadvantages of installation hydraulic system element required precision is high, structure is complicated, easy oil leakage, and making can
The quantity of control driving motor is less than the freedom degree that industrial waste grabs installation link mechanism, overcomes existing machinery formula electric industry waste material
Mounting mechanism is grabbed to need to be equipped with the control motor of link mechanism freedom degree equivalent amount to simplify structure the shortcomings that control
Complexity, weight, movement inertia, volume and the cost of reducing mechanism.To achieve the above object, the present invention provides one kind to adopt
With sealed joint can variable freedom link mechanism waste material grab dress operational method, it is characterised in that: it is described can variable freedom closed chain connecting rod
Mechanism includes pedestal 15, revolving platform 1, large arm 8, first connecting rod 2, second connecting rod 4, third connecting rod 7, forearm 13, the 5th connecting rod
10, six-bar linkage 12 and the first drive rod 9, the second drive rod 3, fourth link 5, large arm 8, wrist connecting rod 11, driving device, hand
Wrist 16, gripper 17 and first, which can lock hinge 6 and second, can lock hinge 14；The first connecting rod 2 connects with revolving platform 1
Connect, second connecting rod 4 is connect with revolving platform 1, and 2 other end of first connecting rod is connect with third connecting rod 7,4 other end of second connecting rod with
Third connecting rod 7 connects, and third connecting rod 7 is connect with large arm 8；First drive rod 9 is connect with third connecting rod 7, the first drive rod 9
The other end is connect by can lock hinge 14 with forearm 13, and 13 other end of forearm is connect with the 5th connecting rod 10, the 5th connecting rod 10 and
Six-bar linkage 12 connects, and 10 other end of the 5th connecting rod is connect with wrist connecting rod 11, and 12 other end of six-bar linkage is connect with large arm 8,
Installation can lock hinge 14 at the 9th revolute pair 14；Second drive rod 3 is connect with first connecting rod 2, and the second drive rod 3 is another
One end is connect with fourth link 5, and fourth link 5 can lock hinge 6 by first and connect with large arm 8, the other end of the large arm 8
It is connect with wrist connecting rod 11；It is described to be made of driving device first servo motor, the second servo motor, it is each responsible for driving
One drive rod 9, the second drive rod 3.
Before industrial waste grabs loading operation, pedestal 15 is connected with rubber-tyred or crawler type walking mechanism, by hand
Wrist connecting rod 11 is connected with wrist 16, gripper 17；Grab pretend industry carry out when, pass through the first drive rod of motor driven 9, second drive
Lever 3 is rotated, and grabs link mechanism completion and pretends industry.
When grabbing loading operation progress, can lock hinge is two, and first, which can lock hinge 6 and second, can lock hinge 14
It is locked or is opened in due course according to different operating conditions, common to complete industrial waste and grab to pretend industry, first can lock hinge 6 and the
Two can lock hinge 14 is locked using electromagnetic mode.
The present invention can variable freedom closed chain link mechanism use on link mechanism install additional can lock hinge realization grab installation
Active variable freedom function makes this grab installation and locks certain hinge revolute pairs according to different operating conditions, reduce in due course grab installation from
By spending, to reduce the usage quantity of controllable motor.Installation is grabbed compared to other multiple degrees of freedoms, which utilizes two controllable electrics
Three Degree Of Freedom, which can be completed, in machine grabs and pretends industry, not only greatly reduces the cost for grabbing installation, but also reduce answering for transmission system
Polygamy, the weight of reducing mechanism, movement inertia, volume, can be improved and grab dress production efficiency.
Detailed description of the invention
Fig. 1 be it is of the present invention it is a kind of using can variable freedom closed chain link mechanism progress industrial waste grab and pretend industry
Operation schematic diagram.
Specific embodiment
It is a kind of using sealed joint can variable freedom link mechanism waste material grab dress operational method, it is characterised in that: it is described variable
Freedom degree closed chain link mechanism includes pedestal 15, revolving platform 1, large arm 8, first connecting rod 2, second connecting rod 4, third connecting rod 7, small
Arm 13, the 5th connecting rod 10, six-bar linkage 12 and the first drive rod 9, the second drive rod 3, fourth link 5, large arm 8, wrist connecting rod
11, driving device, wrist 16, gripper 17 and first, which can lock hinge 6 and second, can lock hinge 14；The first connecting rod 2
It being connect with revolving platform 1, second connecting rod 4 is connect with revolving platform 1, and 2 other end of first connecting rod is connect with third connecting rod 7, and second
4 other end of connecting rod is connect with third connecting rod 7, and third connecting rod 7 is connect with large arm 8；First drive rod 9 connects with third connecting rod 7
It connects, 9 other end of the first drive rod is connect by that can lock hinge 14 with forearm 13, and 13 other end of forearm and the 5th connecting rod 10 connect
It connects, the 5th connecting rod 10 is connect with six-bar linkage 12, and 10 other end of the 5th connecting rod is connect with wrist connecting rod 11, and six-bar linkage 12 is another
End is connect with large arm 8, and installation can lock hinge 14 at the 9th revolute pair 14；Second drive rod 3 connects with first connecting rod 2
It connecing, 3 other end of the second drive rod is connect with fourth link 5, and fourth link 5 can lock hinge 6 by first and connect with large arm 8,
The other end of the large arm 8 is connect with wrist connecting rod 11；It is described by driving device by first servo motor, the second servo motor group
At, be each responsible for driving the first drive rod 9, the second drive rod 3.
Before industrial waste grabs loading operation, pedestal 15 is connected with rubber-tyred or crawler type walking mechanism, by hand
Wrist connecting rod 11 is connected with wrist 16, gripper 17；Grab pretend industry carry out when, pass through the first drive rod of motor driven 9, second drive
Lever 3 is rotated, and grabs link mechanism completion and pretends industry.
When grabbing loading operation progress, can lock hinge is two, and first, which can lock hinge 6 and second, can lock hinge 14
It is locked or is opened in due course according to different operating conditions, common to complete industrial waste and grab to pretend industry, first can lock hinge 6 and the
Two can lock hinge 14 is locked using electromagnetic mode.
It is less than the freedom degree for grabbing installation link mechanism the invention enables the quantity of controllable drive motor, overcomes and existing grab installation
It needs to be equipped with and the shortcomings that control, simplifies the complicated journey of structure with the control motor of link mechanism freedom degree equivalent amount
Each connecting rod rod piece is made into lighter bar by degree, weight, movement inertia, volume and the cost of reducing mechanism, installation of grabbing of the invention, thus
So that entire mechanism kinematic inertia is small, dynamic performance is good, easily controllable.
Claims (1)
1. it is a kind of using sealed joint can variable freedom link mechanism waste material grab dress operational method, it is characterised in that: it is described it is variable from
It include pedestal 15, revolving platform 1, large arm 8, first connecting rod 2, second connecting rod 4, third connecting rod 7, forearm by degree closed chain link mechanism
13, the 5th connecting rod 10, six-bar linkage 12 and the first drive rod 9, the second drive rod 3, fourth link 5, large arm 8, wrist connecting rod 11,
Driving device, wrist 16, gripper 17 and first, which can lock hinge 6 and second, can lock hinge 14；The first connecting rod 2 with return
Turn the connection of platform 1, second connecting rod 4 is connect with revolving platform 1, and 2 other end of first connecting rod is connect with third connecting rod 7, second connecting rod 4
The other end is connect with third connecting rod 7, and third connecting rod 7 is connect with large arm 8；First drive rod 9 is connect with third connecting rod 7, the
One drive rod, 9 other end is connect by that can lock hinge 14 with forearm 13, and 13 other end of forearm is connect with the 5th connecting rod 10, and the 5th
Connecting rod 10 is connect with six-bar linkage 12, and 10 other end of the 5th connecting rod is connect with wrist connecting rod 11,12 other end of six-bar linkage and big
Arm 8 connects, and installation can lock hinge 14 at the 9th revolute pair 14；Second drive rod 3 is connect with first connecting rod 2, and second
3 other end of drive rod is connect with fourth link 5, and fourth link 5 can lock hinge 6 by first and connect with large arm 8, the large arm
8 other end is connect with wrist connecting rod 11；It is described to be made of driving device first servo motor, the second servo motor, respectively
It is responsible for driving the first drive rod 9, the second drive rod 3, before industrial waste grabs loading operation, by pedestal 15 and rubber-tyred or crawler belt
Formula walking mechanism connects, and wrist connecting rod 11 and wrist 16, gripper 17 are connected；Grab pretend industry carry out when, pass through electricity
Machine drives the first drive rod 9, the second drive rod 3 to be rotated, and grabs link mechanism completion and pretends industry, grabs loading operation
When progress, can lock hinge is two, and first, which can lock hinge 6 and second, can lock hinge 14 and fitted according to different operating conditions
When lock or open, common to complete industrial waste and grab to pretend industry, first, which can lock hinge 6 and second, can lock hinge 14 using electricity
Magnetic mode is locked.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710959602.3A CN109667301A (en) | 2017-10-16 | 2017-10-16 | It is a kind of using sealed joint can variable freedom link mechanism waste material grab dress operational method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710959602.3A CN109667301A (en) | 2017-10-16 | 2017-10-16 | It is a kind of using sealed joint can variable freedom link mechanism waste material grab dress operational method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109667301A true CN109667301A (en) | 2019-04-23 |
Family
ID=66139651
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710959602.3A Withdrawn CN109667301A (en) | 2017-10-16 | 2017-10-16 | It is a kind of using sealed joint can variable freedom link mechanism waste material grab dress operational method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109667301A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111606067A (en) * | 2020-06-05 | 2020-09-01 | 周秀兰 | Collection operation vehicle |
-
2017
- 2017-10-16 CN CN201710959602.3A patent/CN109667301A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111606067A (en) * | 2020-06-05 | 2020-09-01 | 周秀兰 | Collection operation vehicle |
| CN111606067B (en) * | 2020-06-05 | 2022-11-01 | 周秀兰 | Collection operation vehicle |
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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 |