Feed stacking mechanism arm with variable degree-of-freedom link mechanism

Abstract

The invention discloses a feed stacking mechanism arm with a variable degree-of-freedom link mechanism. The feed stacking mechanism arm comprises a base 1, a big arm lifting mechanism, a wrist link pitch mechanism, a wrist 27, claws 28, a servo driving device, a first locking device 5 and a second locking device 12, wherein the big arm lifting mechanism comprises a big arm 8, a fourth link 3 and a fifth link 6; the wrist link pitch mechanism comprises a driving rod 16, a first link 18, a second link 21 and a third link 11; the first locking device 5 and the second locking device 12 are separately arranged on an eleventh revolute pair 4 and an eighth revolute pair 7, and can be locked in due time according to different working conditions of a feed stacking mechanical arm structure; the servo driving device comprises a first servo motor which is connected with the driving rod 16, so that the servo motor is driven to rotate; and the first locking device 5 and the second locking device 12 are locked by adopting an electromagnetic mode. According to the feed stacking mechanism arm disclosed by the invention, the two-degree-of-freedom feed stacking operation can be realized by only using one driving rod, so that the use amount of motors is reduced and the construction cost of the feed stacking mechanical arm structure is reduced.

Description

technical field [0001] The invention relates to the mechanical field, in particular to a feed stacking mechanical arm of a variable-degree-of-freedom link mechanism. Background technique [0002] In the past few years, due to the shortage of personnel in the labor market, labor costs have increased year by year, which has promoted the wide application of feed stacking robotic arms in feed stacking operations. There are two types of feed stacking manipulators: mechanical and hydraulic. At present, most of the manipulators of feed stacking manipulators are driven by hydraulic pressure. Since the hydraulic transmission uses hydraulic oil as the medium for power transmission, there are the following problems: its starting performance is poor. Poor, it is easy to leak due to the wear of internal components, and the leaked hydraulic oil will pollute the environment and affect the quality of feed; hydraulic oil is greatly affected by temperature, the overall efficiency is low, and ...

AI Technical Summary

Problems solved by technology

There are two types of feed stacking manipulators: mechanical and hydraulic. At present, most of the manipulators of feed stacking manipulators are driven by hydraulic pressure. Since the hydraulic transmission uses hydraulic oil as the medium for power transmission, there are the following problems: its starting performance is poor. Poor, it is easy to leak due to the wear of internal components, and the leaked hydraulic oil will pollute the environment and affect the quality of feed; hydraulic oil is greatly affected by temperature, the overall efficiency is low, and sometimes there is noise and vibration

At present, there are very few variable-degree-of-freedom mechanisms that can be applied to practical applications, and no variable-degree-of-freedom mechanisms that have been applied to feed stacking manipulators have been seen.

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