CN206243924U - A kind of weak coupling type two-freedom belt-type conveying device easy to control - Google Patents
A kind of weak coupling type two-freedom belt-type conveying device easy to control Download PDFInfo
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- CN206243924U CN206243924U CN201621331504.2U CN201621331504U CN206243924U CN 206243924 U CN206243924 U CN 206243924U CN 201621331504 U CN201621331504 U CN 201621331504U CN 206243924 U CN206243924 U CN 206243924U
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Abstract
A kind of weak coupling type two-freedom belt-type conveying device easy to control, including controllable supporting mechanism, conveyer belt, drive roll, follower rollers, the controllable supporting mechanism employs planar two-DOF seven-bar linkage design, on the premise of conveying inclination angle, delivery head that the belt-type conveying device can adjust conveyer belt is ensured, designed by using parallelogram, effectively reduce the degree of coupling of controllable supporting mechanism, not only contribute to the forward and inverse solution of kinematics, and programming Control difficulty is effectively reduced, reduce control system R＆D costs；In addition, not only each component is connected the controllable supporting mechanism by rotating pair, and driving pair is respectively positioned in frame, so that this kind of weak coupling type two-freedom belt-type conveying device easy to control has the advantages that high reliability, transmission efficiency high, centre of gravity, easy to control, it is particularly well-suited to modern production line, digital factory etc. and uses.
Description
Technical field
The utility model is related to belt type conveyer field, particularly a kind of weak coupling type two-freedom belt easy to control
Formula conveying 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.But with the development of the information technology with Computers and Communication as core, with
And the transition and upgrade of thing followed industrialized production pattern, conventional belt formula conveyer is because intelligence degree is low, conveyer belt branch
The problems such as support mechanism lacks the free degree, it is difficult to adapt to the Flexible Production line needs such as digital plant.Multi-planar-degree-of-freedom connecting rod machine
Structure can realize input of doing more physical exercises, and complicated controllable, adjustable flexibility track output introduces controllable mechanism technology and robot technology
To in the design of conveyer, flexibility and the intelligence degree of existing conveyer can be effectively improved.
The configuration of mechanism not only determines the mechanical performance and the scope of application of mechanical device, and directly determines that mechanism is controlled
The complexity of system.Realize that the flexibility of attitude can due to relying on numerical control programming using the belt type conveyer of controllable supporting mechanism
Control, adjustable, as a rule, controllable supporting mechanism is more complicated, easier to realize complicated movement output, but the coupling of mechanism simultaneously
Degree is also higher, is more difficult to carry out the forward and inverse solution calculating of kinematics, is also just more difficult to carry out numerical control programming control.Although using plane two certainly
By spend mechanism design novel conveying device can realize the tape transport elevation angle, delivery head two-freedom flexibility it is adjustable,
It is controllable, meet the use requirement of Flexible Production line, but, because mechanism's degree of coupling is high, there is non-thread in motion input with output
Sexual intercourse, kinematics model is complicated, while there is larger error during iterative numerical is solved, not only increases control
Difficulty and control system cost, and the delivery precision of conveying device is have impact on, it is particularly disadvantageous for the spy high to required precision
Plant production line.
Mechanical product innovation is the basic method for improving and overcoming known product problem and defect, and mechanism configuration innovation was both
It is the most fundamental way of Mechanical product innovation, is also most important, most crucial content.How topological synthesis method is based on, proposed
A kind of two-freedom belt-type conveying device, with intelligence degree it is high, flexibility is good the features such as, it is possible to achieve controllable support
On the premise of mechanism's two-freedom flexibility is controllable, adjustable motion output etc. requires, with mechanism's degree of coupling is low, kinematics model is simple
It is single, the advantage such as be easily controlled, it has also become one, the belt type conveyer field engineering problem of urgent need to resolve.
The content of the invention
The purpose of this utility model is to provide a kind of weak coupling type two-freedom belt-type conveying device easy to control, gram
Take problem known to conventional belt formula conveyer, with intelligence degree it is high, adaptability is good the features such as, it is possible to achieve controllable support machine
On the premise of structure two-freedom flexibility is controllable, adjustable motion output etc. requires, with mechanism's degree of coupling is low, kinematics model is simple
It is single, the advantage such as be easily controlled.
The utility model reaches above-mentioned purpose by the following technical programs：
A kind of weak coupling type two-freedom belt-type conveying device easy to control includes controllable supporting mechanism, conveyer belt, master
Dynamic roller, follower rollers.
The controllable supporting mechanism is planar two-DOF seven-bar linkage, including frame, first component, second component, the
Three components, the 4th component, the 5th component, the 6th component, support bar, bracket, described first component one end rotate secondary by first
It is connected with frame, the other end rotates pair and is connected with second component one end by second, and the second component other end passes through the 3rd
Rotate pair to be connected with support bar, the support bar is connected by compound hinges with frame, described component one end passes through compound hinges
It is connected with frame, the other end rotates pair and is connected with the 4th component one end by the 4th, and the 4th component other end passes through the 5th
Rotate pair to be connected with the 5th component, the 5th component rotates pair and is connected with support bar by the 6th, described 6th component one end
Pair is rotated by the 7th to be connected with the 5th component, the other end is connected by the dynamic pair of eighth-turn with bracket, and the bracket passes through the 9th
Rotate secondary on support bar, the first component and the 3rd component are driving lever, by rack-mounted servomotor
Drive.
The kinematic chain loop that the first component, second component, support bar, frame are constituted is parallelogram loop, from
And ensure that first component has identical Angle Position, angular speed and angular acceleration with support bar.
The kinematic chain loop that 3rd component, the 4th component, the 5th component, support bar are constituted is returned for parallelogram
Road, so as to ensure that the 3rd component and the 5th component by identical Angle Position, angular speed, angular acceleration.
The kinematic chain loop that the support bar, the 5th component, the 6th component, bracket are constituted is parallelogram loop, from
And ensure that bracket and the 5th component has identical Angle Position, angular speed, angular acceleration.
Due in the controllable supporting mechanism because each kinematic chain loop using parallelogram design, first component with
Support bar, the 3rd component is respectively provided with identical Angle Position, angular speed, angular acceleration with bracket, due to first component and the 3rd structure
Part is driving lever, thus, the motion |input paramete of controllable supporting mechanism is linear with output parameter, thus effectively reduces
The degree of coupling of mechanism, it is simple to simplify kinematics model, that is, be not required to iterative numerical and can obtain the forward and inverse accurate solution of kinematics,
Control difficulty and control system cost are not only reduced, and ensure that this kind of weak coupling type two-freedom belt-type easy to control
The delivery precision of conveying device, is particularly well-suited to the extraordinary production line high to required precision.
The drive roll is connected by the tenth rotation pair with bracket, and the follower rollers rotate secondary and support by the 11st
Frame is connected, and the conveyer belt is arranged on drive roll and follower rollers, and the drive roll is driven by servomotor, by right
Servomotor carries out numerical control programming, it is possible to achieve the stepless speed regulation of conveyer belt and transporting velocity precise control.
By numerical control programming, controllable supporting mechanism can be made to realize that two-freedom flexibility is controllable, adjustable motion is exported, and then
Meet this kind of weak coupling type two-freedom belt-type conveying device easy to control and realize the tape transport elevation angle, the two of delivery head
Free degree flexibility is controllable, adjustable, overcome conventional conveyor intelligence degree it is low, it is poor for applicability the problems such as.
It is of the present utility model to have the prominent advantages that：
1. controllable supporting mechanism described in the utility model employs planar two-DOF seven-bar linkage design, by servo electricity
Machine system drive is controlled, it is possible to achieve two-freedom flexibility is adjustable, controlled motion output, it is ensured that this kind of weak coupling is easy to control
Type two-freedom belt-type conveying device can realize the tape transport elevation angle, delivery head under the control of numerical control program
Two-freedom flexibility is controllable, adjustable, overcome conventional conveyor intelligence degree it is low, it is poor for applicability the problems such as.
2. controllable supporting mechanism described in the utility model employs parallelogram design, effectively reduces the coupling of mechanism
It is right, it is input into motion and linear relationship is presented with output, kinematics model is simple, is not required to iterative numerical and can obtain kinematics
Forward and inverse accurate solution, not only reduces control difficulty and control system cost, and ensure that this kind of weak coupling type two easy to control
The delivery precision of free degree belt-type conveying device, is particularly well-suited to the extraordinary production line high to required precision.
Brief description of the drawings
Fig. 1 is weak coupling described in the utility model type two-freedom belt-type conveying device schematic diagram easy to control.
Fig. 2 is controllable supporting mechanism schematic diagram described in the utility model.
Fig. 3 is controllable supporting mechanism kinematic chain topological diagram described in the utility model.
Fig. 4 is that the bracket of weak coupling described in the utility model type two-freedom belt-type conveying device easy to control is illustrated
Figure.
Fig. 5 is weak coupling described in the utility model type two-freedom belt-type conveying device bracket portion assembling easy to control
Schematic diagram.
Fig. 6 be weak coupling described in the utility model type two-freedom belt-type conveying device schematic three dimensional views easy to control it
One.
Fig. 7 be weak coupling described in the utility model type two-freedom belt-type conveying device schematic three dimensional views easy to control it
Two.
Fig. 8 be weak coupling described in the utility model type two-freedom belt-type conveying device easy to control conveyer belt two from
By flexible controllable, the adjustable schematic diagram of degree.
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. 3, Fig. 4, Fig. 5, Fig. 6, a kind of weak coupling type two-freedom belt-type conveying dress easy to control
Put including controllable supporting mechanism, conveyer belt 17, drive roll 16, follower rollers 13.
Compares figure 1, Fig. 2, Fig. 3, Fig. 4, the controllable supporting mechanism be planar two-DOF seven-bar linkage, including frame 1,
First component 3, second component 5, the 3rd component 23, the 4th component 21, the 5th component 8, the 6th component 10, support bar 7, bracket
12, the one end of the first component 3 rotates secondary 2 and is connected with frame 1 by first, and the other end is by the second rotation secondary 4 and the second structure
The one end of part 5 connects, and the other end of the second component 5 rotates secondary 6 and is connected with support bar 7 by the 3rd, and the support bar 7 is by multiple
Close hinge 24 to be connected with frame 1, the one end of the component 23 is connected by compound hinges 24 with frame, the other end is rotated by the 4th
Secondary 22 are connected with the one end of the 4th component 21, and the other end of the 4th component 21 rotates secondary 20 and is connected with the 5th component 5 by the 5th,
5th component 8 rotates secondary 19 and is connected with support bar 7 by the 6th, and described one end of 6th component 10 rotates secondary 9 by the 7th
It is connected with the 5th component 8, the other end is connected by eighth-turn dynamic secondary 11 with bracket 12, and the bracket 12 rotates secondary 18 by the 9th
On support bar 7, the component 23 of the first component 3 and the 3rd is driving lever, is driven by rack-mounted servomotor
It is dynamic.
The kinematic chain loop that the first component 3, second component 5, support bar 7, frame 1 are constituted is returned for parallelogram
Road, so as to ensure that first component 3 has identical Angle Position, angular speed and angular acceleration with support bar 7.
The kinematic chain loop that 3rd component 23, the 4th component 21, the 5th component 8, support bar 7 are constituted is parallel four side
Shape loop, so as to ensure that the 3rd component 23 and the 5th component 8 by identical Angle Position, angular speed, angular acceleration.
The kinematic chain loop that the support bar 7, the 5th component 8, the 6th component 10, bracket 12 are constituted is returned for parallelogram
Road, so as to ensure that the component 8 of bracket 12 and the 5th has identical Angle Position, angular speed, angular acceleration.
Because in the controllable supporting mechanism because each kinematic chain loop is designed using parallelogram, first component 3
With support bar 7, the 3rd component 23 is respectively provided with identical Angle Position, angular speed, angular acceleration with bracket 12, due to first component 3
Driving lever is with the 3rd component 23, thus, the motion |input paramete of controllable supporting mechanism is linear with output parameter, because
And effectively reduce the degree of coupling of mechanism, it is simple to simplify kinematics model, that is, be not required to iterative numerical can obtain kinematics just,
Inverse accurate solution, not only reduces control difficulty and control system cost, and ensure that this kind of weak coupling type two easy to control certainly
By the delivery precision of degree belt-type conveying device, the extraordinary production line high to required precision is particularly well-suited to.
Compares figure 1, Fig. 2, Fig. 4, Fig. 5, Fig. 6, the drive roll 16 rotates secondary 15 and is connected with bracket 12 by the tenth, institute
State follower rollers 13 and rotate secondary 14 by the 11st and be connected with bracket 12, the conveyer belt 25 is installed in drive roll 16 and driven
On roller 13, the drive roll 16 is driven by servomotor, and numerical control programming is carried out by servomotor, it is possible to achieve conveying
With 25 stepless speed regulation and transporting velocity precise control.
Compares figure 1, Fig. 6, Fig. 7, Fig. 8, by numerical control programming, can make controllable supporting mechanism realize that two-freedom flexibility can
Control, adjustable motion is exported, and then meet this kind of weak coupling type two-freedom belt-type conveying device easy to control and realize conveyer belt
The conveying elevation angle, delivery head two-freedom flexibility it is controllable, adjustable, overcome that conventional conveyor intelligence degree is low, applicability
The problems such as difference.
Claims (3)
1. a kind of weak coupling type two-freedom belt-type conveying device easy to control, including controllable supporting mechanism, conveyer belt, active
Roller, follower rollers, it is characterised in that：
The controllable supporting mechanism is planar two-DOF seven-bar linkage, including frame, first component, second component, the 3rd structure
Part, the 4th component, the 5th component, the 6th component, support bar, bracket, described first component one end rotate secondary and machine by first
Frame is connected, and the other end rotates pair and is connected with second component one end by second, and the second component other end is rotated by the 3rd
Pair is connected with support bar, and the support bar is connected by compound hinges with frame, and described component one end passes through compound hinges and machine
Frame is connected, and the other end rotates pair and is connected with the 4th component one end by the 4th, and the 4th component other end is rotated by the 5th
Pair is connected with the 5th component, and the 5th component rotates pair and is connected with support bar by the 6th, and described 6th component one end passes through
7th rotates pair is connected with the 5th component, and the other end is connected by the dynamic pair of eighth-turn with bracket, and the bracket is rotated by the 9th
Pair is arranged on support bar, and the first component and the 3rd component are driving lever,
The drive roll rotates pair and is connected with bracket by the tenth, and the follower rollers connect by the way that the 11st rotation is secondary with bracket
Connect, the conveyer belt is arranged on drive roll and follower rollers.
2. a kind of weak coupling type two-freedom belt-type conveying device easy to control according to claim 1, it is characterised in that：
The kinematic chain loop that the first component, second component, support bar, frame are constituted is parallelogram loop,
The kinematic chain loop that 3rd component, the 4th component, the 5th component, support bar are constituted is parallelogram loop,
The kinematic chain loop that the support bar, the 5th component, the 6th component, bracket are constituted is parallelogram loop.
3. a kind of weak coupling type two-freedom belt-type conveying device easy to control according to claim 1, it is characterised in that：
Driving lever in the drive roll and controllable supporting mechanism drives by servo electrical machinery system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621331504.2U CN206243924U (en) | 2016-12-07 | 2016-12-07 | A kind of weak coupling type two-freedom belt-type conveying device easy to control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621331504.2U CN206243924U (en) | 2016-12-07 | 2016-12-07 | A kind of weak coupling type two-freedom belt-type conveying device easy to control |
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| Publication Number | Publication Date |
|---|---|
| CN206243924U true CN206243924U (en) | 2017-06-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621331504.2U Expired - Fee Related CN206243924U (en) | 2016-12-07 | 2016-12-07 | A kind of weak coupling type two-freedom belt-type conveying device easy to control |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106542268A (en) * | 2016-12-07 | 2017-03-29 | 山东交通学院 | A kind of weak coupling type two-freedom belt-type conveying device easy to control |
-
2016
- 2016-12-07 CN CN201621331504.2U patent/CN206243924U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106542268A (en) * | 2016-12-07 | 2017-03-29 | 山东交通学院 | A kind of weak coupling type two-freedom belt-type conveying device easy to control |
| CN106542268B (en) * | 2016-12-07 | 2023-01-17 | 山东交通学院 | Low-coupling-degree easily-controlled two-degree-of-freedom 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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170613 Termination date: 20171207 |