Feed automatic stacking mechanical device adopting multi-link parallel-serial connection structure

Abstract

The invention discloses a feed automatic stacking mechanical device adopting a multi-link parallel-serial connection structure. The feed automatic stacking mechanical device is characterized by comprising a base, a rotating platform, a first driving rod, a second driving rod, a big arm, a big arm link, an intermediate arm link, an intermediate arm, a small arm, a wrist, a gripper, an inclination angle detector and a driving device, wherein one end of the first driving rod is connected with the rotating platform, the other end of the first driving rod is connected with one end of the big arm link, the small arm is connected with the wrist, the gripper is connected with the wrist, the inclination angle detector is installed on the small arm, and the driving device comprises a first servo motor, a second servo motor and a third servo motor. According to the feed automatic stacking mechanical device, the small arm is connected with the wrist, the gripper is connected with the wrist, the inclination angle detector is installed on the small arm, and the driving device comprises the first servo motor, the second servo motor and the third servo motor; and motors which are originally installed on the arms are installed on a machine frame, so that the weight of the arms is reduced.

Description

technical field [0001] The invention relates to the field of feed machinery, in particular to a feed automatic palletizing mechanical device adopting a multi-link parallel 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 , increasing the momen...

AI Technical Summary

Problems solved by technology

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 , increasing the moment of inertia of the arm, leading to a decline in the dynamic performance of the manipulator, and the drive motors are installed at the joint position, resulting in large cumulative errors, small load-bearing capacity, complex structure, and low degree of modularization of the manipulator.

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