CN106917424A - A kind of single-degree-of-freedom numerical control is digged pit robot mechanism - Google Patents
A kind of single-degree-of-freedom numerical control is digged pit robot mechanism Download PDFInfo
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- CN106917424A CN106917424A CN201710175671.5A CN201710175671A CN106917424A CN 106917424 A CN106917424 A CN 106917424A CN 201710175671 A CN201710175671 A CN 201710175671A CN 106917424 A CN106917424 A CN 106917424A
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- pit
- numerical control
- robot mechanism
- cutter head
- connecting rod
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/06—Dredgers; Soil-shifting machines mechanically-driven with digging screws
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
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Abstract
A kind of single-degree-of-freedom numerical control is digged pit robot mechanism, including principal arm elevating mechanism, level maintain side chain, cutter head platform.This kind of numerical control robot mechanism of digging pit is driven control by rack-mounted servo electrical machinery system, and under computer numerical control programming Control, cutter head platform does the controllable high-precision motion of single-freedom and flexible, so as to realize that numerical control is digged pit the operation of digging pit of robot.This kind of numerical control digs pit each component of robot mechanism using the secondary connection of rotation, and instead of the conventional hydraulic system of existing pit-picker using link transmission, reliability not only greatly improved, reduce maintaining cost, and mechanical efficiency greatly improved, the problems such as avoiding hydraulic system high energy consumption, poor reliability.The numerical control developed using configuration design robot of digging pit has the advantages that low noise, emission-free discharge, low energy consumption, height are intelligent, is particularly well-suited to municipal works operation of the populated area based on embedded, greening construction of urban road lamp stand etc..
Description
Technical field
The present invention relates to pit-picker field, particularly a kind of single-degree-of-freedom numerical control is digged pit robot mechanism.
Background technology
Pit-picker be just occurred in recent years one kind using internal combustion engine as power source, be equipped with hydraulic system realize heatable adobe sleeping platform dig
The plant equipment of pick, typically by dynamical system（Tractor or excavator）, hydraulic system, the mechanical part of drilling system three composition,
Pit-picker makes people be freed from heavy manual labor, makes to be widely used in street lamp post, greening and digs pit, mountain region, Qiu Ling,
Gullied is planted trees, the quick special-purpose machinery digged pit of fertilising.
But, while pit-picker obtains extensive use, there is also problems.First, hydraulic valve and hydraulic pressure are returned
Road is the main cause for causing energy loss, and the energy loss of general hydraulic system is up to more than 30%, and existing pit-picker is due to adopting
Enter action edge with hydraulic system to transmit, not only high energy consumption, and be also easy to produce oil liquid leakage pollution environment, be added significantly to use and
Maintenance cost；Secondly, pit-picker generally using diesel engine as Hydraulic Power Transmission System driving source, also exist operating noise it is big,
The problems such as exhaust emissions is serious, as environmental problem is increasingly serious, existing pit-picker is increasingly difficult to adapt to the city of dense population areas
Political and ideological work journey；In addition, equipping the implementation of Innovation project with a numerical control generation, greenization, intellectuality, precision have turned into plant equipment
Important development trend, tradition digs pit mechanomotive force and hydraulic system has that response speed is slow, kinematic accuracy is low, it is difficult to
Meet the performance requirement of new-generation digital equipment.
With the development of the theory of mechanisms front subject with controllable mechanism as representative, and the present computer technology, modern control
The modern technologies such as technology processed, robot constantly improve, for the greenization of pit-picker, intellectuality, precise treatment provide technical foundation,
How to propose that a kind of single-degree-of-freedom numerical control is digged pit robot mechanism, before with high reliability, mechanical efficiency high, high-intelligentization
Put, the pit-picker controllable high-precision motion of cutter head single-freedom and flexible can be realized, while pit-picker has low noise, zero-emission
Put, low-maintenance cost of upkeep the advantages of, can preferably be applied to populated area with embedded, greening construction of urban road lamp stand etc.
Based on municipal works operation, it has also become one, the pit-picker field engineering problem of urgent need to resolve.
The content of the invention
Digged pit robot mechanism it is an object of the invention to provide a kind of single-degree-of-freedom numerical control, with high reliability, machine high
On the premise of tool efficiency, high-intelligentization, the pit-picker controllable high-precision motion of cutter head single-freedom and flexible can be realized, while digging pit
Machine has the advantages that low noise, zero-emission, low-maintenance cost of upkeep, can preferably meet populated area with urban road lamp stand
Municipal works job requirements based on embedded, greening construction etc..
The present invention reaches above-mentioned purpose by the following technical programs：
A kind of single-degree-of-freedom numerical control dig pit robot mechanism including principal arm elevating mechanism, level maintain side chain, cutter head platform.
The single-degree-of-freedom numerical control digs pit robot mechanism for kinematic pair uses the single-freedom planar connecting rod for rotating pair
Mechanism.
The principal arm elevating mechanism includes frame, principal arm, driving lever, first connecting rod, and the principal arm is by rotating secondary and machine
Frame is connected, and described driving lever one end is connected by rotating pair with frame, and the other end is connected by rotating pair with first connecting rod one end,
The first connecting rod other end is connected by rotating pair with principal arm.Compared with prior art, its advantage is：It is described single free
Degree digital control digs pit robot mechanism for kinematic pair uses the single-freedom planar linkage for rotating pair, compared to containing prismatic pair
Existing pit-picker equipment, not only increases reliability and mechanical efficiency, and is easy to process, manufacture and assemble, effectively drop
Low cost, further, since rotating pair has the advantages that joint accumulated error is small, significantly improves the motion of principal arm elevating mechanism
Precision, it is ensured that the construction quality of the robot mechanism of digging pit.
The cutter head platform is connected by rotating pair with principal arm, and level maintains side chain by second connecting rod, rocking arm, third connecting rod
Composition, described second connecting rod one end is connected by rotating pair with frame, and the other end is connected by rotating pair with rocking arm, the rocking arm
Secondary on principal arm by rotating, described third connecting rod one end is connected by rotating pair with rocking arm, and the other end is secondary by rotation
It is connected with cutter head platform.Compared with prior art, its advantage is：Side chain is maintained by introducing level, in robot of digging pit
During mechanism kinematic, with real-time ensuring cutter head platform and plane-parallel, and then can ensure that cutter head is perpendicular to the ground, compared to existing
There is pit-picker, the robot mechanism institute sap of digging pit has more preferable perpendicularity.
The driving lever is driven by rack-mounted servo electrical machinery system, and the cutter head is by cutter head platform
Servo driver drives control.Controlled by the numerical control programming to servo electrical machinery system and servo-driver, realize cutter head
The controllable high-precision motion of single-freedom and flexible, and then ensure this kind dig pit robot mechanism realize high accuracy, high-intelligentization dig
Hole operation.Compared with prior art, its advantage is：The connecting rod that robot mechanism is driven using servo electrical machinery system of digging pit
Mechanism driving instead of the hydraulic drive of existing pit-picker, on the one hand avoid the energy loss of hydraulic system, effectively increase
Dig pit the mechanical efficiency of robot mechanism, reduce energy consumption；On the other hand, it is to avoid fault ratio of hydraulic pressure system is high, processing and manufacturing
And the problems such as maintaining high cost, make this kind robot mechanism of digging pit that there is outstanding reliability and relatively low maintaining
Cost；Further, linkage transmission has a fast response time compared to hydraulic drive, the advantage such as kinematic accuracy is high makes this kind dig pit
Robot mechanism has more preferably dynamic property compared to existing pit-picker；In addition, this kind is digged pit, robot mechanism is compiled in computer
Under process control, you can realize that digitlization is digged pit operation, compared to the mechanial control device that existing pit-picker is generally used, not only intelligence
Change degree is high, manipulation low intensity, and the normalization and uniformity of institute's sap has been effectively ensured, and greatly improves quality of digging pit
With efficiency of digging pit；Finally, this kind digs pit robot mechanism due to being driven using servo electrical machinery system, not only low noise, Er Qiewu
Exhaust emissions, is particularly well-suited to municipal works of the populated area based on embedded, greening construction of urban road lamp stand etc. and makees
Industry.
Brief description of the drawings
Fig. 1 digs pit robot mechanism schematic diagram for single-degree-of-freedom numerical control of the present invention.
Fig. 2 is that single-degree-of-freedom numerical control of the present invention is digged pit the principal arm elevating mechanism schematic diagram of robot mechanism.
Fig. 3 is that single-degree-of-freedom numerical control of the present invention is digged pit the principal arm schematic diagram of robot mechanism.
Fig. 4 be single-degree-of-freedom numerical control of the present invention dig pit robot mechanism level maintain side chain schematic diagram.
Fig. 5 digs pit robot mechanism schematic three dimensional views for single-degree-of-freedom numerical control of the present invention.
Fig. 6 digs pit robot mechanism operation schematic diagram for single-degree-of-freedom numerical control of the present invention.
Specific embodiment
Technical scheme is described further below by way of drawings and Examples.
A kind of compares figure 1, Fig. 2, Fig. 4, Fig. 5, single-degree-of-freedom numerical control digs pit robot mechanism including principal arm elevating mechanism, water
It is flat to maintain side chain, cutter head platform 18.The single-degree-of-freedom numerical control digs pit robot mechanism for kinematic pair uses the list for rotating pair
Freedom degree plane linkage.
Compares figure 1, Fig. 2, Fig. 3, Fig. 5, the principal arm elevating mechanism includes frame 1, principal arm 7, driving lever 3, first connecting rod
5, the principal arm 7 is connected by rotating secondary 8 with frame 1, and the one end of the driving lever 3 is connected by rotating secondary 2 with frame 1, another
End is connected by rotating secondary 4 with the one end of first connecting rod 5, and the other end of the first connecting rod 5 is connected by rotating secondary 6 with principal arm 7.Institute
It is kinematic pair using rotating secondary single-freedom planar linkage to state single-degree-of-freedom numerical control robot mechanism of digging pit, compared to containing
The existing pit-picker equipment of prismatic pair, not only increases reliability and mechanical efficiency, and is easy to process, manufacture and fill
Match somebody with somebody, effectively reduce cost, further, since rotating pair has the advantages that joint accumulated error is small, significantly improve principal arm lifting
The kinematic accuracy of mechanism, it is ensured that the construction quality of the robot mechanism of digging pit.
Compares figure 1, Fig. 4, Fig. 5, the cutter head platform 18 is connected by rotating secondary 10 with principal arm 7, level maintenance side chain by
Second connecting rod 12, rocking arm 14, third connecting rod 16 are constituted, and the one end of the second connecting rod 12 is connected by rotating secondary 11 with frame 1, separately
One end is connected by rotating secondary 13 with rocking arm 14, and the rocking arm 14 is arranged on principal arm 7 by rotating secondary 9, the third connecting rod
16 one end are connected by rotating secondary 15 with rocking arm 14, and the other end is connected by rotating secondary 17 with cutter head platform 18.By introducing water
It is flat to maintain side chain, in robot mechanism motion process of digging pit, can be with real-time ensuring cutter head platform and plane-parallel, Jin Erbao
Card cutter head 20 is perpendicular to the ground, and compared to existing pit-picker, the robot mechanism institute sap of digging pit has more preferable perpendicularity.
Compares figure 1, Fig. 5, Fig. 6, the driving lever 3 is driven by the servo electrical machinery system in frame 1, the cutter head
20 by the drive control of servo-driver 19 on cutter head platform 18.By to servo electrical machinery system and servo-driver
19 numerical control programming control, realizes the controllable high-precision motion of single-freedom and flexible of cutter head 20, and then ensures that this kind is digged pit machine
Robot mechanism realizes that high accuracy, high-intelligentization are digged pit operation.
The robot mechanism of digging pit instead of existing pit-picker using the linkage transmission that servo electrical machinery system drives
Hydraulic drive, on the one hand avoids the energy loss of hydraulic system, effectively increases the mechanical efficiency of robot mechanism of digging pit, drop
Low energy consumption；On the other hand, it is to avoid fault ratio of hydraulic pressure system is high, the problems such as processing and manufacturing and maintaining high cost, make
This kind robot mechanism of digging pit has outstanding reliability and relatively low maintaining cost；Further, linkage transmission is compared
Hydraulic drive has a fast response time, the advantage such as kinematic accuracy is high, this kind is digged pit robot mechanism compared to existing equipment of digging pit
There is more preferably dynamic property；In addition, this kind is digged pit, robot mechanism is under computer programming control, you can realize that digitlization is digged pit
Operation, compared to the mechanial control device that existing pit-picker is generally used, not only intelligence degree is high, manipulates low intensity, Er Qieyou
Effect ensure that the normalization and uniformity of institute's sap, greatly improve dig pit quality and efficiency of digging pit；Finally, this kind of pit-picker
Due to being driven using servo electrical machinery system, not only low noise, and emission-free discharge is particularly well-suited to densely populated device robot mechanism
Municipal works operation of the region based on embedded, greening construction of urban road lamp stand etc..
Claims (2)
1. a kind of single-degree-of-freedom numerical control dig pit robot mechanism including principal arm elevating mechanism, level maintain side chain, cutter head platform, its
It is characterised by：
The single-degree-of-freedom numerical control digs pit robot mechanism for kinematic pair uses the single-freedom planar linkage for rotating pair,
The principal arm elevating mechanism includes frame, principal arm, driving lever, first connecting rod, and the principal arm is connected by rotating secondary and frame
Connect, described driving lever one end is connected by rotating pair with frame, the other end is connected by rotating pair with first connecting rod one end, described
The first connecting rod other end is connected by rotating pair with principal arm,
The cutter head platform is connected by rotating pair with principal arm,
Level maintains side chain to be made up of second connecting rod, rocking arm, third connecting rod, and described second connecting rod one end is by rotating secondary and frame
Connection, the other end is connected by rotation pair with rocking arm, and the rocking arm is secondary on principal arm by rotating, the third connecting rod one
End is connected by rotating pair with rocking arm, and the other end is connected by rotating pair with cutter head platform.
2. a kind of single-degree-of-freedom numerical control is digged pit robot mechanism according to claim 1, it is characterised in that：
The driving lever is driven by rack-mounted servo electrical machinery system,
The cutter head is controlled by the servo driver drives on cutter head platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710175671.5A CN106917424A (en) | 2017-03-22 | 2017-03-22 | A kind of single-degree-of-freedom numerical control is digged pit robot mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710175671.5A CN106917424A (en) | 2017-03-22 | 2017-03-22 | A kind of single-degree-of-freedom numerical control is digged pit robot mechanism |
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| Publication Number | Publication Date |
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| CN106917424A true CN106917424A (en) | 2017-07-04 |
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| CN201710175671.5A Pending CN106917424A (en) | 2017-03-22 | 2017-03-22 | A kind of single-degree-of-freedom numerical control is digged pit robot mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109745802A (en) * | 2017-11-07 | 2019-05-14 | 山东交通学院 | A kind of two-freedom controllable Zhi Mai fog gun mechanism |
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| CN104552232A (en) * | 2014-12-17 | 2015-04-29 | 广西大学 | Multi-freedom degree controllable mechanism type mobile stacking robot |
| CN106044190A (en) * | 2016-06-24 | 2016-10-26 | 山东交通学院 | Sliding-type multi-unit linearly-driven electro-hydraulic controllable wood grasping machine |
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US6571902B2 (en) * | 2000-12-28 | 2003-06-03 | Case Corporation | Backhoe auxiliary hydraulics control system |
| US20100037490A1 (en) * | 2005-09-08 | 2010-02-18 | Scruggs Donald E | Easy inter equipment |
| CN103741733A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Multi-freedom-degree controllable mechanism type garbage loader |
| CN104047309A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Controllable multi-connecting-rod loading machine with active metamorphic function |
| CN104552232A (en) * | 2014-12-17 | 2015-04-29 | 广西大学 | Multi-freedom degree controllable mechanism type mobile stacking robot |
| CN106044190A (en) * | 2016-06-24 | 2016-10-26 | 山东交通学院 | Sliding-type multi-unit linearly-driven electro-hydraulic controllable wood grasping machine |
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| CN109745802A (en) * | 2017-11-07 | 2019-05-14 | 山东交通学院 | A kind of two-freedom controllable Zhi Mai fog gun mechanism |
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Application publication date: 20170704 |