CN206231988U - A kind of two-freedom modular belt formula conveying device in parallel - Google Patents
A kind of two-freedom modular belt formula conveying device in parallel Download PDFInfo
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- CN206231988U CN206231988U CN201621320603.0U CN201621320603U CN206231988U CN 206231988 U CN206231988 U CN 206231988U CN 201621320603 U CN201621320603 U CN 201621320603U CN 206231988 U CN206231988 U CN 206231988U
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Abstract
A kind of two-freedom modular belt formula conveying device in parallel, including restructural supporting mechanism, conveyer belt, drive roll, follower rollers, the restructural supporting mechanism employs the design of plane-parallel type two-freedom five-rod, not only there is the features such as rod member quantity is few, the rigidity of structure is high, bearing capacity is strong, can also be by adjusting the type of attachment of component in modularization kinematic chain contained by restructural supporting mechanism, change topological structure, and then change mechanical property, meet the different market demands.The two-freedom modular belt formula conveying device in parallel compares conventional belt formula conveyer, convenient by numerical control program, accurate can adjust the conveying elevation angle and adjustment delivery head, with advantages such as the high, strong adaptabilities of intelligence degree, there is huge application potential in fields such as modern production line, digital factories.
Description
Technical field
The utility model is related to belt type conveyer field, particularly a kind of two-freedom modular belt formula conveying in parallel
Device.
Background technology
Belt type conveyer has the advantages that conveying capacity is big, highly versatile, is widely used in the row such as mine, metallurgy, coal
Industry, for conveying bulk material or work piece.Belt type conveyer may be disposed to level or incline according to production line technological requirement
Oblique form, can separate unit conveying, also can many work compounds, or with other conveying equipments composition delivery system horizontally or diagonally
System, to meet the production line needs of different layout patterns.But, with the hair of the information technology with Computers and Communication as core
Exhibition, and thing followed industrialized production pattern transition and upgrade, conventional belt formula conveyer is increasingly difficult to because of self problem
Meet the market demand, on the one hand, conventional belt formula conveyer bracket is typically mounted on supporting construction frame, conveyer belt
Supporting mechanism lacks the free degree, once installation and debugging are finished on production line, the conventional belt formula conveyer conveying elevation angle, conveying speed
The parameters such as degree are difficult to adjust, or even can not adjust；On the other hand, the drive system intelligence powered by conventional energy of conventional belt formula conveyer
Change low degree, it is difficult to carry out remote digital precise control；Above-mentioned reason makes conventional belt formula conveyer be difficult to adapt to digital working
The need for factory's Flexible Production line.
Mechanical product innovation is the basic method for improving and overcoming known product problem and defect, generally comprises technological improvement
With configuration original innovation, wherein mechanism configuration innovation is most important, the most crucial content of Mechanical product innovation, because mechanism configuration
Different mechanical devices has entirely different kinematics model, kinetic model and Controlling model, its kinematics, dynamics
Greatest differences are there are etc. each side mechanical performance, therefore mechanism configuration innovation is also the most fundamental way of Mechanical product innovation.
In order to preferably distinguish and expressing different configurations, the double-colored topological diagram of kinematic chain is used for the process of mechanism configuration innovative design
In, in the double-colored topological diagram of kinematic chain, point represent component, circle represent kinematic pair, can be clear and intuitive give expression to every kind of configuration
Annexation and mechanism composition.
Multi-planar-degree-of-freedom linkage can realize input of doing more physical exercises, complicated controllable, adjustable flexibility track output, but machine
Structure output campaign is more flexible, and mechanism is more complicated, and will certainly increase the rod member quantity and control difficulty of mechanism, with controllable machine
The development of structure technology, robot technology, how based on topological synthesis method, proposes a kind of brand-new two-freedom parallel modular
Belt-type conveying device, first, can overcome problem known to conventional belt formula conveyer, it is ensured that brand-new modular belt formula conveying dress
Put can possess conveying inclination angle, delivery head two-freedom flexibility is adjustable, controllable, the procedure parameter such as transporting velocity accurately can may be used
Adjust；Secondly, and with the premise of constant two-freedom, by topological structure（That is, configuration）Change and have different
Mechanical performance, meets different customer demands；Again, the supporting mechanism of brand-new modular belt formula conveying device will also have bar
The advantage such as number of packages amount is few, the rigidity of structure is high, bearing capacity is strong, it has also become one, the belt type conveyer field engineering of urgent need to resolve
Problem.
The content of the invention
The purpose of this utility model is to provide a kind of two-freedom modular belt formula conveying device in parallel, on the one hand can be with
The problems such as overcoming low conventional conveyor intelligence degree, bad adaptability, it is ensured that the supporting mechanism of the conveying device can possess defeated
Send inclination angle, delivery head two-freedom flexibility is adjustable, controllable, the procedure parameter such as transporting velocity can be accurately adjustable；On the other hand
The topological structure of two-freedom supporting mechanism can be reconstructed, and significantly change mechanical performance, meet different customer demands；Finally,
Also there is the features such as rod member quantity is few, the rigidity of structure is high, bearing capacity is strong, modernization industrial and mining enterprises, digital factory etc. is met
Flexible Production needs.
The utility model reaches above-mentioned purpose by the following technical programs：
A kind of two-freedom modular belt formula conveying device in parallel, including restructural supporting mechanism, conveyer belt, master
Dynamic roller, follower rollers.
The restructural supporting mechanism is plane-parallel type two-freedom five-rod, including frame, driving lever, bracket, mould
Block kinematic chain, described driving lever one end rotates pair and is connected with frame by first, and the other end rotates secondary and bracket by second
Connection, the modularization kinematic chain is made up of first component, second component, described first component one end by the 3rd rotate it is secondary with
Frame is connected, and the other end is connected by kinematic pair with second component one end, and the second component other end rotates secondary and support by the 4th
Frame is connected.
The drive roll rotates pair and is connected with bracket by the 5th, and the follower rollers rotate secondary and bracket by the 6th
Connection, the conveyer belt is arranged on drive roll and follower rollers, and the drive roll is driven by controllable motor, by watching
Taking motor carries out numerical control programming, it is possible to achieve the stepless speed regulation of conveyer belt and transporting velocity precise control.
The two-freedom modular belt formula conveying device in parallel has stronger reconfigurable ability, can be by changing
In modularization kinematic chain between first component and second component kinematic pair type, change restructural supporting mechanism topology knot
Structure, and then this kind parallel connection two-freedom modular belt formula conveying device is showed different mechanical properties, meet different
Customer demand.The kinematic pair of first component and second component is connected in the modularization kinematic chain for prismatic pair or to rotate
It is secondary.
When the kinematic pair that first component and second component are connected in modularization kinematic chain uses prismatic pair, this topological structure
Under, the prismatic pair and first rotates the driving pair that pair is restructural supporting mechanism, and the prismatic pair is driven using servo electric jar
Dynamic, described first rotates secondary using servomotor driving, under the first coordinated for rotating secondary and prismatic pair, realizes restructural
The two-freedom flexibility of supporting mechanism is controllable, adjustable motion, and then makes this kind parallel connection two-freedom modular belt formula conveying dress
Put realize conveying the elevation angle, delivery head it is controllable, adjustable, now because prismatic pair using servo electric jar drive, the restructural
Supporting mechanism has bearing capacity high, the advantages of simple and compact for structure, is particularly well-suited to the heavy load production lines such as harbour, industrial and mineral.
When the kinematic pair of first component and second component is connected in modularization kinematic chain using rotating secondary, this topological structure
Under, for the first rotation is secondary and the 3rd rotation is secondary, the first rotation is secondary and the 3rd rotation is secondary for the driving pair of the restructural supporting mechanism
Driven using servomotor, under the coordinated of driving lever and first component, realize that the two of restructural supporting mechanism are free
The flexible controllable, adjustable motion of degree, and then this kind parallel connection two-freedom modular belt formula conveying device is realized the conveying elevation angle, defeated
The controllable, adjustable of height is sent, and because being connected using rotation is secondary between each component of restructural supporting mechanism, and have highly reliable
The advantages of property, mechanical efficiency high, pinpoint accuracy, it is particularly well-suited to the flexible production lines such as digital factory.
Restructural supporting mechanism described in the utility model employs the design of plane-parallel type two-freedom five-rod, not only bar
Number of packages mesh is few, simple structure, low cost, facilitate demolition and maintenance, and under the control of numerical control program, in that context it may be convenient to adjust defeated
Send the elevation angle, delivery head it is controllable, adjustable, with advantages such as the high, strong adaptabilities of intelligence degree；In addition, by changing module
Change the type of the kinematic pair of connection first component and second component in kinematic chain, thus it is possible to vary the topology knot of restructural supporting mechanism
Structure, and then this kind parallel connection two-freedom modular belt formula conveying device is showed different mechanical properties, meet different
Customer demand.In sum, this kind parallel connection two-freedom modular belt formula conveying device is in modern production line, digital chemical industry
The fields such as factory have huge application potential.
It is of the present utility model to have the prominent advantages that：
1. restructural supporting mechanism described in the utility model employs the design of plane-parallel type two-freedom five-rod, no
Only rod member number is few, simple structure, low cost, facilitate demolition and maintenance, and because employing parallel institution design, makes this kind simultaneously
Connection two-freedom modular belt formula conveying device has the characteristics such as the rigidity of structure is high, bearing capacity is strong, can meet harbour, ore deposit
The heavy duty occasion such as mountain is used.
2. restructural supporting mechanism described in the utility model can realize that two-freedom is adjustable, the output of controllable compliant motion,
Ensure that this kind parallel connection two-freedom modular belt formula conveying device under the control of numerical control program, not only can be adjusted easily
The whole conveying elevation angle, is also equipped with adjusting the function of delivery head, with advantages such as the high, strong adaptabilities of intelligence degree, in modernization
The fields such as production line, digital factory have huge application potential.
3. two-freedom modular belt formula conveying device in parallel described in the utility model has stronger restructural energy
Power, can change topological structure by changing the component type of attachment of modularization kinematic chain contained by restructural supporting mechanism, and then
This kind parallel connection two-freedom modular belt formula conveying device is showed different mechanical properties, and then meet different clients
Demand.
Brief description of the drawings
Fig. 1 is restructural supporting mechanism schematic diagram described in the utility model.
Fig. 2 is the double-colored topological diagram of restructural supporting mechanism kinematic chain described in the utility model.
Fig. 3 is the bracket schematic diagram of two-freedom modular belt formula conveying device in parallel described in the utility model.
Fig. 4 illustrates for two-freedom modular belt formula conveying device bracket portion assembling in parallel described in the utility model
Figure.
Fig. 5 is the modularization kinematic chain schematic diagram of use prismatic pair connection described in the utility model.
Fig. 6 is described in the utility model using the modularization kinematic chain schematic diagram for rotating secondary connection.
Fig. 7 is one of two-freedom modular belt formula conveying device schematic diagram in parallel described in the utility model.
Fig. 8 is the two of two-freedom modular belt formula conveying device schematic diagram in parallel described in the utility model.
Fig. 9 is that the two-freedom flexibility of two-freedom modular belt formula conveying device in parallel described in the utility model can
One of control, adjustable working schematic diagram.
Figure 10 is that the two-freedom flexibility of two-freedom modular belt formula conveying device in parallel described in the utility model can
Control, the two of adjustable working schematic diagram.
Specific embodiment
The technical solution of the utility model is described further below by way of drawings and Examples.
Compares figure 1, Fig. 2, Fig. 5, Fig. 6, Fig. 7, Fig. 8, a kind of two-freedom modular belt formula conveying device in parallel,
Including restructural supporting mechanism, conveyer belt 15, drive roll 13, follower rollers 14.
Compares figure 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, the restructural supporting mechanism is the bar of plane-parallel type two-freedom five
Mechanism, including frame 1, driving lever 3, bracket 6, modularization kinematic chain, one end of the driving lever 3 rotate secondary 2 and machine by first
Frame 1 is connected, and the other end rotates secondary 4 and is connected with bracket 6 by second, and the modularization kinematic chain is by first component 10, the second structure
Part 9 is constituted, and the one end of the first component 10 rotates secondary 11 and is connected with frame 1 by the 3rd, and the other end passes through kinematic pair 12 and the
The one end of two component 9 connects, and the other end of second component 9 rotates secondary 8 and is connected with bracket 6 by the 4th.
Compares figure 1, Fig. 2, Fig. 3, Fig. 4, Fig. 7, Fig. 8, the drive roll 13 rotates secondary 5 and is connected with bracket 6 by the 5th,
The follower rollers 14 rotate secondary 7 and are connected with bracket 6 by the 6th, and the conveyer belt 15 is arranged on drive roll 13 and driven rolling
On cylinder 14, the drive roll 13 is driven by controllable motor, carries out numerical control programming by servomotor, it is possible to achieve conveyer belt
15 stepless speed regulation and transporting velocity precise control.
Compares figure 1, Fig. 2, Fig. 5, Fig. 6, the two-freedom modular belt formula conveying device in parallel can with stronger
Re-configurability, can be changed by changing the type of kinematic pair 12 between first component 10 and second component 9 in modularization kinematic chain
Become the topological structure of restructural supporting mechanism, and then this kind parallel connection two-freedom modular belt formula conveying device is showed not
Same mechanical property, meets different customer demands.First component 10 and second component 9 are connected in the modularization kinematic chain
Kinematic pair 12 is prismatic pair or secondary to rotate.
Compares figure 1, Fig. 2, Fig. 5, Fig. 7, Fig. 9, when the fortune that first component 10 and second component 9 are connected in modularization kinematic chain
When dynamic pair 12 is using prismatic pair, under this topological structure, it is the master of restructural supporting mechanism that the prismatic pair 12 and first rotates secondary 2
Dynamic pair, the prismatic pair 12 is driven using servo electric jar, and described first rotates secondary 2 is driven using servomotor, at first turn
Under the coordinated of dynamic pair 2 and prismatic pair 12, realize that the two-freedom flexibility of restructural supporting mechanism is controllable, adjustable motion, enter
And make this kind parallel connection two-freedom modular belt formula conveying device realize the conveying elevation angle, delivery head it is controllable, adjustable, now
Because prismatic pair 12 is driven using servo electric jar, the restructural supporting mechanism has bearing capacity high, simple and compact for structure etc.
Advantage, is particularly well-suited to the heavy load production lines such as harbour, industrial and mineral.
Compares figure 1, Fig. 2, Fig. 6, Fig. 8, Figure 10, when connecting first component 10 and second component 9 in modularization kinematic chain
When kinematic pair 12 is using rotating secondary, under this topological structure, the driving pair of the restructural supporting mechanism rotates secondary 2 and for first
Three rotate secondary 11, and first rotates the rotation secondary 11 of pair 2 and the 3rd is driven using servomotor, in driving lever 3 and first component 10
Coordinated under, realize that the two-freedom flexibility of restructural supporting mechanism is controllable, adjustable motion, so make this kind of parallel connection two from
By degree modular belt formula conveying device realize the conveying elevation angle, delivery head it is controllable, adjustable, and because of restructural supporting mechanism
Using the secondary connection of rotation between each component, and there is high reliability, mechanical efficiency high, pinpoint accuracy, be particularly well-suited to
The flexible production lines such as digital factory.
Compares figure 1, Fig. 7, Fig. 8, Fig. 9, Figure 10, restructural supporting mechanism described in the utility model employs plane-parallel type two
Free degree five-rod is designed, and not only rod member number is few, simple structure, low cost, facilitate demolition and maintenance, and in numerical control program
Control under, in that context it may be convenient to the adjustment conveying elevation angle, delivery head it is controllable, adjustable, with intelligence degree is high, strong adaptability
Etc. advantage；In addition, the type of the kinematic pair 12 by changing connection first component 10 and second component 9 in modularization kinematic chain,
The topological structure of restructural supporting mechanism can be changed, so make this kind parallel connection two-freedom modular belt formula conveying device be in
Reveal different mechanical properties, meet different customer demands.In sum, this kind parallel connection two-freedom modular belt formula is defeated
Send device has huge application potential in fields such as modern production line, digital factories.
Claims (2)
1. a kind of two-freedom modular belt formula conveying device in parallel, including restructural supporting mechanism, actively conveyer belt, rolling
Cylinder, follower rollers, it is characterised in that：
The restructural supporting mechanism is plane-parallel type two-freedom five-rod, including frame, driving lever, bracket, modularization
Kinematic chain, described driving lever one end rotates pair and is connected with frame by first, and the other end rotates pair and is connected with bracket by second,
The modularization kinematic chain is made up of first component, second component, and described first component one end rotates secondary and frame by the 3rd
Connection, the other end is connected by kinematic pair with second component one end, and the second component other end rotates secondary and bracket and connects by the 4th
Connect, the kinematic pair of first component and second component is connected in the modularization kinematic chain to rotate secondary or prismatic pair, the master
Dynamic roller rotates pair and is connected with bracket by the 5th, and the follower rollers rotate pair and are connected with bracket by the 6th, the conveying
Band is arranged on drive roll and follower rollers.
2. a kind of two-freedom modular belt formula conveying device in parallel according to claim 1, it is characterised in that：Work as module
When changing the kinematic pair of connection first component and second component in kinematic chain to rotate secondary, the driving pair of the restructural supporting mechanism
For the first rotation is secondary and the 3rd rotates secondary, when the kinematic pair of connection first component and second component in modularization kinematic chain is movement
When secondary, the prismatic pair and first rotates the driving pair that pair is restructural supporting mechanism, the drive roll and restructural branch
Driving pair in support mechanism drives by servo electrical machinery system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621320603.0U CN206231988U (en) | 2016-12-05 | 2016-12-05 | A kind of two-freedom modular belt formula conveying device in parallel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621320603.0U CN206231988U (en) | 2016-12-05 | 2016-12-05 | A kind of two-freedom modular belt formula conveying device in parallel |
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| CN206231988U true CN206231988U (en) | 2017-06-09 |
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| CN201621320603.0U Expired - Fee Related CN206231988U (en) | 2016-12-05 | 2016-12-05 | A kind of two-freedom modular belt formula conveying device in parallel |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106516576A (en) * | 2016-12-05 | 2017-03-22 | 山东交通学院 | Parallel-connection two-freedom-degree modular belt type conveying device |
-
2016
- 2016-12-05 CN CN201621320603.0U patent/CN206231988U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106516576A (en) * | 2016-12-05 | 2017-03-22 | 山东交通学院 | Parallel-connection two-freedom-degree modular belt type conveying device |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170609 Termination date: 20171205 |
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| CF01 | Termination of patent right due to non-payment of annual fee |