Novel variable-freedom-degree-linkage-mechanism feed stacking mechanical arm provided with rotation pair locking devices

Abstract

A novel variable-freedom-degree-linkage-mechanism feed stacking mechanical arm provided with rotation pair locking devices is characterized by comprising a base 19, a second driving rod 21, a second connection rod 2, an upper arm body 4, a wrist connection rod 7, a first driving rod 17, a big arm body 9, a fourth connection rod 14, a first connection rod 12, a wrist 27, a gripper 28, a servo drive device and a third connection rod 10, wherein a first electromagnetic locking device 23 is installed on a second rotation pair 15, and a second electromagnetic locking device 24 is installed on a tenth rotation pair 3; the servo drive device comprises a first servo motor and a second servo motor, the first servo motor is connected with the first driving rod 17 so as to drive the first driving rod 17 to rotate, and the second servo motor is connected with the second driving rod 21 so as to drive the second driving rod 21 to rotate; and the first locking device 23 and the second locking device 24 conduct locking in an electromagnetic manner, the first locking device 23 and the second locking device 24 jointly complete the motions such as ascending and descending of the big arm and pitching of the wrist connection rod and the wrist, and then feed stacking operation can be achieved by the gripper 28. According to the novel variable-freedom-degree-linkage-mechanism feed stacking mechanical arm provided with the rotation pair locking devices, a variable-freedom-degree linkage transmission mechanism is adopted to replace traditional hydraulic transmission, and the defects that a hydraulic system of a hydraulic feed stacking mechanical arm is complicated and prone to leaking oil are overcome.

Description

technical field [0001] The invention relates to the field of machinery, in particular to a novel feed stacking mechanical arm with a variable-degree-of-freedom link mechanism including a rotary pair locking device. 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...

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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