Variable-freedom-degree connecting rod type fodder stacking mechanical arm driven by servo motor

Abstract

The invention discloses a variable-freedom-degree connecting rod type fodder stacking mechanical arm driven by a servo motor. The variable-freedom-degree connecting rod type fodder stacking mechanical arm comprises a base 1, a large arm lifting mechanism, a wrist connecting rod pitching mechanism, a wrist 27, a gripper 28, a servo drive device, a first locking device 5 and a second locking device 22. The large arm lifting mechanism comprises a large arm 20, a first connecting rod 3 and a second connecting rod 6. The wrist connecting rod mechanism comprises a drive rod 17, a third connecting rod 15, a connecting piece 13 and a fourth connecting rod 11. The first locking device 5 and the second locking device 22 are installed on a second rotation pair 4 and a fifth rotation pair 7 correspondingly. The servo drive device comprises the first servo motor which is connected with a drive rod 17 to drive the drive rod 17 to rotate. The first locking device 5 and the second locking device 22 conduct locking in an electromagnetic manner. According to the variable-freedom-degree connecting rod type fodder stacking mechanical arm driven by the servo motor, fodder stacking work of two freedom degrees can be achieved through one drive rod, the use number of motors is reduced, and the manufacturing cost of the fodder stacking mechanical arm is reduced.

Description

technical field [0001] The invention relates to the mechanical field, in particular to a feed stacking mechanical arm driven by a variable-degree-of-freedom link type with 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 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 ef...

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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