Multi-rod type feed automatic stacking mechanical device adopting form of closed chain mechanism

Abstract

The invention discloses a multi-rod type feed automatic stacking mechanical device adopting a form of a closed chain mechanism. The multi-rod type feed automatic stacking mechanical device is characterized by comprising a rotating platform, a wrist link, a big arm, a big arm driving rod, a large arm link, a small arm driving rod, a small arm, a small arm link, a big arm and small arm link, a wrist, a gripper, a driving device and a base, wherein one end of the small arm driving rod is connected to the rotating platform, the other end of the small arm driving rod is connected with one end of the small arm, the other end of the small arm is connected with one end of the small arm link, the other end of the small arm link is connected to the wrist link, one end of the big arm and small arm link is connected to the small arm, the other end of the big arm and small arm link is connected to the big arm, the driving device comprises a first servo motor and a second servo motor, and the firstservo motor and the second servo motor are connected with the big arm driving rod and the small arm driving rod correspondingly, and are used for driving the big arm driving rod and the small arm driving rod correspondingly. According to the multi-rod type feed automatic stacking mechanical device, a multi-rod parallel mechanism is adopted, all the driving motors are installed on the rotating platform to drive the driving rods, the rigidity is high, the inertia is low, the dynamic performance is good, the response is rapid, and the production efficiency of stacking can be improved.

Description

technical field [0001] The invention relates to the field of feed machinery, in particular to a multi-bar feed automatic palletizing mechanical device in the form of a closed chain 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 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 ...

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Problems solved by technology

[0003] The purpose of the present invention is to provide a multi-rod parallel mechanism feed palletizing manipulator, which overcomes the problems of large motion inertia, large cumulative error, small bearing capacity and low dynamic performance of the arm caused by the drive motors of the series manipulator being installed on each joint of the manipulator. Problem, in order to achieve the above object, the present invention adopts the following technical solutions: a multi-bar automatic feed palletizing mechanical device in the form of a closed chain mechanism, which is characterized in that it includes a rotating platform, a wrist connecting rod, a boom, and a boom driving rod , boom connecting rod, forearm driving rod, forearm, forearm connecting rod, big and small arm connecting rod, wrist, hand claw, driving device, base, one end of the boom is connected to the rotating platform, and the other end of the boom is connected to On the wrist link, one end of the boom driving rod is connected to the rotating platform, the other end of the boom driving rod is connected to one end of the boom connecting rod, the other end of the boom connecting rod is connected to the boom, and one end of the forearm driving rod Connected on the rotating platform, the other end of the forearm driving rod is connected to one end of the forearm, the other end of the forearm is connected to one end of the forearm connecting rod, the other end of the forearm connecting rod is connected to the wrist connecting rod, and the other end of the small arm connecting rod is connected to the on the small arm, and the other end is connected to the large arm; the driving device includes a first servo motor and a second servo motor, which are respectively connected with the large arm driving rod and the small arm driving rod, respectively, and the large arm driving rod and the small arm driving rod are respectively drive

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