Multi-connecting-rod variable-freedom-degree feed stacking manipulator driven by servo motors

Abstract

The invention discloses a multi-connecting-rod variable-freedom-degree feed stacking manipulator driven by servo motors. The multi-connecting-rod variable-freedom-degree feed stacking manipulator is composed of a base 1, a driving rod 13, a first connecting rod 15, a first connecting piece 5, a fourth connecting rod 4, a big arm 2, a wrist connecting rod 6, a second connecting rod 22, a third connecting rod 26, a wrist 27, a gripper 28, a servo driving device, a first locking device 23 and a second locking device 24; The big arm 2 is connected to the base through a first revolute pair 10; the first locking device 23 is mounted on a seventh revolute pair 16, and the second locking device 24 is mounted on an eleventh revolute pair 19; the servo driving device comprises a first servo motor connected with the driving rod 13 to drive the driving rod 13 to rotate; and the first locking device 23 and the second locking device 24 are used for locking in an electromagnetic way. According to the multi-connecting-rod variable-freedom-degree feed stacking manipulator, a hydraulic mechanism is replaced with a connecting rod driving mechanism, so that the defects that the hydraulic mechanism is prone to oil leakage, complex in mechanism and the like are overcome; the locking devices are adopted by the revolute pairs for adapting to different working conditions; and the amount of the used motors is smaller than the freedom degree of the mechanism.

Description

technical field [0001] The invention relates to the mechanical field, in particular to a multi-link 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 effici...

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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