Three-degree-of-freedom automatic fodder palletizing mechanism device with closed chain structure

Abstract

The invention discloses a three-degree-of-freedom automatic fodder palletizing mechanism device with a closed chain structure. The mechanism comprises a base, a movable platform, an extensible mechanism, a lifting mechanism, a pitching mechanism, a rotatable wrist, a paw and a driving device. The extensible mechanism is provided with a first driving rod, a second connecting rod and a first boom; the lifting mechanism is provided with a second driving rod, a third connecting rod and a second boom; the pitching mechanism is provided with a third driving rod and a pitching rod; the upper portionof the rotatable wrist is hinged with the other end of the first boom and the lower portion of the rotatable wrist is hinged with the other end of the second boom. The driving device is provided withthree servo motors respectively connecting to the first driving rod, the second driving rod and the third driving rod; and the three servo motors respectively drive the first driving rod, and the second driving rod and the third driving rod. By installation of all the driving motors on the movable platform for driving the driving rods, the mechanism device has the advantages of high rigidity, large carrying capacity, low inertia, good dynamic performance, and flexible and diversified movement path of a manipulator.

Description

technical field [0001] The invention relates to the field of feed machinery, in particular to a feed automatic palletizing mechanical device with three degrees of freedom and a closed-chain structure. 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 manipulator palletizing in feed processing enterprises. At present, most of the general-purpose palletizing manipulators in the feed processing industry are joint-type motor-driven manipulators with series structure in the form of an open chain. The rotation of the mechanical arm realizes various actions of the mechanical arm. This structure has the following problems: the arm of the mechanical arm needs to carry the weight of the motor and meet the rigidity requirements, and the cross-sectional size of the arm needs to be made larger, which will increase the load on the driving motor , in...

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a three-degree-of-freedom feed automatic palletizing mechanical device using a closed-chain structure, thereby overcoming the shortcomings of series manipulators with large cumulative errors, low precision, low rigidity, and small load-carrying capacity

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