Connecting rod type variable freedom degree fodder stacking mechanical arm driven by servo motor

Abstract

A connecting rod type variable freedom degree fodder stacking mechanical arm driven by a servo motor is characterized by comprising a base 1, a big arm lifting mechanism, a wrist connecting rod pitching mechanism, a wrist 31, a paw 32, a servo drive device, a first locking device 9 and a second locking device 19; the big arm lifting mechanism is composed of a big arm 14 and a lifting mechanism, and the big arm 14 is connected to the base 1 through a seventh rotation pair 13; the servo drive device comprises a first servo motor which is connected with a drive rod 3 so as to drive the drive rod 3 to rotate; and the first locking device 9 and the second locking device 19 conduct locking in an electromagnetic manner. A novel connecting rod transmission mechanism is adopted in the connecting rod type variable freedom degree fodder stacking mechanical arm for replacing traditional hydraulic transmission, and the defects that a hydraulic fodder stacking mechanical arm hydraulic system is complex, oil leakage is likely to happen, and the machining precision requirement is high are overcome; the locking devices are adopted in rotation pairs so that the two-freedom-degree fodder stacking operation can be achieved by utilizing one drive rod, and the number of adopted motors is reduced.

Description

technical field [0001] The invention relates to the mechanical field, in particular to a link-type variable-degree-of-freedom feed stacking manipulator driven by a servo motor. 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 palletizing manipulators in feed palletizing operations. There are two types of feed palletizing manipulators: mechanical and hydraulic. At present, most of the mechanical arms of feed palletizing manipulators are driven by hydraulic pressure. Since hydraulic transmission uses hydraulic oil as the medium for power transmission, there are the following problems: its starting performance is 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 efficie...

AI Technical Summary

Problems solved by technology

There are two types of feed palletizing manipulators: mechanical and hydraulic. At present, most of the mechanical arms of feed palletizing manipulators are driven by hydraulic pressure. Since hydraulic transmission uses hydraulic oil as the medium for power transmission, there are the following problems: its starting performance is 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 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 palletizing manipulators have been seen.

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