Novel fodder stacking mechanical arm adopting servo motors to drive multi-freedom-degree connecting rod mechanism

Abstract

A novel fodder stacking mechanical arm adopting servo motors to drive a multi-freedom-degree connecting rod mechanism comprises a base 9, a first driving rod 1, a second driving rod 2, a third driving rod 3, a third connecting rod 4, a fourth connecting rod 7, a first connecting rod 5, a big arm 6, a wrist 20, a pawl 8 and a servo drive device. One end of the big arm 6 is connected with the fourth connecting rod 7 through a ninth rotation pair 19, and the other end of the big arm 6 is connected with the pawl 8 through the wrist 20. The servo drive device comprises the first servo motor, the second servo motor and the third servo motor, all of which are connected with the first driving rod 1, the second driving rod 2 and the third driving rod 3 correspondingly so as to drive the first driving rod 1, the second driving rod 2 and the third driving rod 3 to rotate. The first driving rod 1, the second driving rod 2 and the third driving rod 3 jointly conduct driving to finish the big arm ascending and descending, pitching of the wrist 20 and other movements, and the fodder stacking work of the pawl 8 is achieved. According to the novel fodder stacking mechanical arm, the motors are arranged on the base, and the problems that an arm of an open chain mechanism is heavy, and the dynamic performance is poor are solved.

Description

technical field [0001] The invention relates to the mechanical field, in particular to a novel feed stacking mechanical arm driven by a servo motor with a multi-degree-of-freedom linkage 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...

AI Technical Summary

Problems solved by technology

[0004] The invention adopts a controllable multi-rod closed-chain mechanism, which overcomes the disadvantage that the driving motors of the open-chain structure need to be installed at joint positions, improves the stability and reliability of the arm operation, has no cumulative error, and has high precision; the structure is compact, High rigidity, large load-carrying capacity, low inertia, good dynamic performance, flexible and diversified arm movement trajectory, overcome the high precision requirements of the hydraulic system components of the hydraulic feed stacking manipulator, complex structure, easy oil leakage, poor reliability, and low transmission efficiency and other shortcomings

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