CN117378519A - Working method of double-shaft parallel mechanism for remote distribution type feeding system - Google Patents
Working method of double-shaft parallel mechanism for remote distribution type feeding system Download PDFInfo
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- CN117378519A CN117378519A CN202311613418.5A CN202311613418A CN117378519A CN 117378519 A CN117378519 A CN 117378519A CN 202311613418 A CN202311613418 A CN 202311613418A CN 117378519 A CN117378519 A CN 117378519A
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- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000007789 sealing Methods 0.000 claims abstract description 27
- 230000009977 dual effect Effects 0.000 claims description 13
- 238000005303 weighing Methods 0.000 description 18
- 239000000463 material Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000009395 breeding Methods 0.000 description 3
- 230000001488 breeding effect Effects 0.000 description 3
- 210000001503 joint Anatomy 0.000 description 3
- 239000007787 solid Substances 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K5/00—Feeding devices for stock or game ; Feeding wagons; Feeding stacks
- A01K5/02—Automatic devices
- A01K5/0275—Automatic devices with mechanisms for delivery of measured doses
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K39/00—Feeding or drinking appliances for poultry or other birds
- A01K39/01—Feeding devices, e.g. chainfeeders
- A01K39/012—Feeding devices, e.g. chainfeeders filling automatically, e.g. by gravity from a reserve
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Abstract
The invention provides a working method of a double-shaft parallel mechanism for a remote distribution type feeding system, which comprises the following steps: s1, determining coordinates of a through hole, storing the coordinates in a controller, S2, determining coordinates of the center of a current clamping tube, S3, obtaining the coordinates of the through hole for conveying feed through the controller, corresponding the coordinates to the coordinates of the clamping tube for moving in place, calculating the angle of the first rotating arm and the second rotating arm for swinging, S4, controlling the first rotating arm and the second rotating arm to swing through double motors, and then enabling the clamping tube to be in sealing fit with a distribution plate through a translation mechanism. By the method, the feed can be conveyed by one clamping pipe corresponding to a plurality of through holes at different time, and meanwhile, the joint of the clamping pipe and the through holes in the double-shaft parallel mechanism cannot be blocked, so that the clamping pipe in the double-shaft parallel mechanism moves more accurately.
Description
Technical Field
The invention relates to the technical field of feeding, in particular to a working method of a double-shaft parallel mechanism for a remote distribution type feeding system.
Background
Along with the increase of the demands of people on the breeding industry, industrial breeding becomes a common breeding mode. However, large-scale cultivation also faces the problem of difficulty in manual feeding, the conventional manual feeding cannot meet the feeding requirement, and a sliding plate distributor type conveying mode is generally adopted in the pneumatic conveying system at present, so that the function that a plurality of distributing branches correspond to one distributor is realized. However, the distributor is too few in corresponding branching and is easy to interfere due to the fact that the distributor is distributed along a straight line. In addition, the traditional sealing device adopts a mode of rubber sealing connection at a contact part, has poor connection effect, short service life, easy abrasion and great influence on wind power. The pneumatic conveying system has higher requirements on the wind loss of the pipeline, and no solution is provided for solving the problem of the wind loss in the existing pipeline system; when the distribution branches are increased, the pipelines at the front end of the distribution plate are increased, which tends to increase wind loss and the pipelines are disordered. In addition, the industrialized cultivation is raised, new requirements are put forward on feeding accuracy, a weighing device is needed to be added into the system, weighing of quantitative feed is realized, but the feed is directly from a weighing hopper
The feed can only be fed into the conveying pipeline once, the accurate blanking amount cannot be controlled, the multi-step blanking is carried out, the weighing hopper is occupied until the feeding is finished, more time is needed if a plurality of pipelines are required to be conveyed, and the efficiency is relatively low. Accordingly, there is a need for an improvement over the prior art to solve the above-described technical problems.
The utility model provides a be 202021946535.5 just discloses a accurate intelligent feeding system of pneumatic drier in the patent literature of publication day 2021.03.26, including by control system and control system, control system includes the PLC controller, by control system including the mixing bowl, feed cylinder and electromagnetic shunt valve, electromagnetic shunt valve includes first electromagnetic shunt valve and second electromagnetic shunt valve, be equipped with first weighing sensor on the mixing bowl, be equipped with the second weighing sensor on the feed cylinder, mixing bowl and feed cylinder intercommunication feed cylinder bottom are connected with the star tripper that prevents feed cylinder mouth and block up, the star tripper has electromagnetic shunt valve through the pipe connection, wherein first weighing sensor, the second weighing sensor, star tripper, electromagnetic shunt valve respectively with the PLC controller electric signal connection, be different from prior art, this system adopts mixing bowl and feed cylinder cooperation weighing sensor to realize accurate unloading, electromagnetic shunt valve control fodder is accurate to the target point, and mixing bowl and feed cylinder do not interfere, can stir each other simultaneously during feed cylinder feed distribution, reasonable distribution time efficiency has been improved to a certain extent.
Although the pneumatic dry material accurate intelligent feeding system realizes the conveying of each path of feed through the first electromagnetic shunt valve and the second electromagnetic shunt valve, the phenomenon that the first electromagnetic shunt valve and the second electromagnetic shunt valve are blocked easily is avoided.
Disclosure of Invention
The invention provides a working method of a double-shaft parallel mechanism for a remote distribution type feeding system, by the method, feed can be conveyed by one clamping pipe corresponding to a plurality of through holes at different time, meanwhile, the joint of the clamping pipe and the through holes in the double-shaft parallel mechanism cannot be blocked, and the clamping pipe in the double-shaft parallel mechanism moves more accurately.
In order to achieve the above purpose, the working method of the double-shaft parallel mechanism for the remote distribution type feeding system comprises the following steps:
s1, determining the coordinate (X) of the center of a through hole on a distribution plate by taking one output shaft of a double motor in a double-shaft parallel mechanism as a coordinate origin i ，Y j ) And coordinates (X i ，Y j ) The device is stored in the controller, and more than two through holes are formed in the distribution plate; where i is an integer of 2 or more and j is an integer of 2 or more.
S2, according to the swinging angle phi of a first rotating arm with one end hinged on one output shaft of the double motors 1 The swing angle phi of a fourth rotating arm with one end hinged on the other output shaft of the double motor 4 Distance L between two output shafts of double motor 1 Length L of first rotating arm 2 A second rotating arm length L with two ends respectively hinged with the other end of the first rotating arm and the clamping pipe 3 Both ends are respectively hingedA third rotating arm L at the other end of the clamping tube and the fourth rotating arm 4 A fourth rotating arm L with one end hinged on the output shaft of the double motor 5 Determining the coordinates (X) of the center of the currently clamped tube C ，Y C ）。
S3, determining a through hole for conveying feed, and acquiring coordinates (X in ，Y jn ) According to the through-hole coordinates (X in ，Y jn ) Determining the coordinates (X) at which the clamp tube needs to be moved into position Cn ，Y Cn ) The coordinates of the through hole (X in ，Y jn ) With the coordinates (X) at which the clamp tube needs to be moved into position Cn ，Y Cn ) Is the same coordinate point; according to the coordinates (X C ，Y C ) And the coordinates (X) at which the clamp tube needs to be moved into place Cn ，Y Cn ) The output shaft of the double motors is controlled by the controller to drive the first rotating arm to swing phi 1n And a fourth swing arm swing phi 4n 。
S4, driving the double motors, the first rotating arms, the second rotating arms, the third rotating arms, the fourth rotating arms and the clamping pipes to move towards the direction of the distribution plate through a translation mechanism for installing the double motors, enabling one ends of the clamping pipes to be sealed and opposite to a through hole for conveying feed, and enabling the clamping pipes to be communicated with the through hole.
According to the working method of the double-shaft parallel mechanism for the remote distribution type feeding system, firstly, the coordinates of the through holes are stored in the controller, then, the rotation of the output shafts of the double motors is controlled by the controller according to the coordinates of the through holes for conveying feed and the current positions of the clamping pipes, so that the clamping pipes move to the positions of the through holes for conveying the feed, and then, the clamping pipes are attached to the distribution plate by utilizing the translation mechanism, so that the feed is conveyed.
Further, after S4, when the feed is delivered, the dual motor, the first rotating arm, the second rotating arm, the third rotating arm, the fourth rotating arm and the holding tube are retracted by the translation mechanism, so that the holding tube is separated from the distribution plate.
Further, in S2, the coordinates (X C ，Y C ) The method of (1) is as follows:
s21, acquiring an included angle phi between the first rotating arm and the positive direction of the X axis through a controller 1 And an included angle phi between the fourth rotating arm and the positive direction of the X axis 4 。
S22, calculating the coordinate (X) of the hinge point B between the first rotating arm and the second rotating arm by taking the center of one output shaft of the double motors as the origin (0, 0) of the coordinate B ，Y B ) Wherein
S23, calculating the coordinates (X) of the center of one output shaft of the double motors by taking the center of the other output shaft of the double motors as the origin (0, 0) of the coordinates E ，Y E ) Wherein X is E =L 1 ，Y E =0。
S24 calculating the coordinate (X) of the hinge point D between the third and fourth rotating arms D ，Y D ) Wherein
S25, calculating an included angle phi 2 between the second rotating arm and the positive direction of the X axis,
wherein,
s26, calculating the coordinates (X) C ，Y C ) Wherein, the method comprises the steps of, wherein,
。
by the method, the included angle phi between the first rotating arm and the positive direction of the X axis is obtained by the controller 1 And an included angle phi between the fourth rotating arm and the positive direction of the X axis 4 The method can accurately determine the coordinate (X) of the center of the current clamping tube C ，Y C ）。
Further, determining φ in S3 1n And phi 4n The method of (1) is as follows:
s31 is according to the formulaCalculate phi 1m And phi 2m ；φ 1m The coordinates (X) that need to be moved into position to clamp the tube Cn ，Y Cn ) The angle between the first rotating arm and the positive direction of the X axis is +.>The coordinates (X) that need to be moved into position to clamp the tube Cn ，Y Cn ) The included angle between the second rotating arm and the positive direction of the X axis;
s32, calculating the coordinates (X Cn ，Y Cn ) The coordinates (X) of the hinge point B between the first and second rotating arms Bn ，Y Bn ) Wherein X is Bn =L 2 cosφ 1m ，
S33 is according toAndcalculate the coordinates (X) Cn ，Y Cn ) The third rotating arm and the fourth rotating armThe coordinates of the hinge point D between (X Dm ，Y Dm ) And an included angle phi between the fourth rotating arm and the positive direction of the X axis 4m Wherein;
s34 calculating phi 1n And phi 4n Wherein
The method can accurately determine phi 1n And phi 4n Therefore, the two output shafts of the double motors are accurately controlled by the controller, and the clamping tube is accurately moved to a required position.
Further, a sealing device is arranged at one end of the clamping tube close to the distributing plate, and the sealing device is used for sealing the clamping tube and the distributing plate when the feed is conveyed. So as to improve the sealing performance of the clamping pipe and the distributing plate, thereby reducing the pneumatic loss and realizing the reliable conveying of the feed.
Further, the sealing device is a sealing ring, the outer diameter of the sealing ring is larger than the diameter of the through hole, and the inner diameter of the sealing device is smaller than the diameter of the through hole. Therefore, as long as the moving position of the clamping tube is accurate, the inner hole of the clamping tube can be ensured to correspond to the through hole, and the sealing performance is improved.
Further, the double-shaft parallel mechanism further comprises a driving box, a containing cavity is formed in one side, close to the distribution plate, of the driving box, and the translation mechanism is arranged in the containing cavity. This structure, not only easy to assemble translation mechanism, the translation mechanism protrusion of avoiding that moreover can be better reduces the occupation in space.
Further, the translation mechanism comprises a translation seat and a translation drive, the translation seat is arranged in the accommodating cavity in a sliding manner, and the translation drive is arranged between the translation seat and the drive box and drives the translation seat to translate through the translation drive; the translation drive is a cylinder, an oil cylinder or a linear motor. Thus, the translation seat is conveniently driven to move through translation driving, and the butt joint and separation of the clamping pipe and the through hole are realized.
Further, a fixing plate is arranged in front of the distributing plate, a space is reserved between the distributing plate and the fixing plate, through holes with the same number as that of the through holes are formed in the fixing plate, distributing pipes are arranged on the distributing plate at positions of the through holes, and the through holes penetrate through tail end output pipelines connected to the distributing pipes. According to the structure, the number of the through holes is consistent with that of the through holes, and when the tail end output pipeline passes through the through holes, the tail end output pipeline can be in butt joint with the corresponding through holes, so that the problems of pneumatic loss and pipeline confusion are solved.
Further, a bellows is connected to the clamp tube. The corrugated pipe is used for being connected with the transportation pipeline, and interference of the transportation pipeline received by the clamping pipe in the moving process is avoided.
Drawings
FIG. 1 is a flow chart of the operation of the dual axis parallel mechanism for a remote dispensing feeding system of the present invention.
FIG. 2 is a schematic diagram of the remote dispensing feeding system of the present invention.
Figure 3 is a schematic front view of a remote dispensing feeding system of the present invention.
Fig. 4 is a schematic diagram of a portion of a dual-axis parallel mechanism according to the present invention.
Fig. 5 is a schematic structural diagram of a dual-axis parallel distributor of the present invention.
Fig. 6 is a schematic structural view of a distribution pipe according to the present invention.
Fig. 7 is a schematic diagram of a dual-axis parallel mechanism of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and the detailed description.
As shown in fig. 2-6, the remote dispensing feeding system includes a dual-axis parallel dispenser 1, a star unloader 2, a centrifugal fan 3, a housing 4, and a transport conduit 5.
The dual-axis parallel distributor 1 comprises a dual-axis parallel mechanism 11, a fixed plate 14 and a terminal output pipe 15.
The biaxial parallel mechanism 11 includes a driving device 13, a distribution plate 12, four rotating arms, a clamp pipe 115, and a bellows 6.
The drive means 13 comprises a double motor 131, a translation mechanism 132 and a drive housing 133. The dual motor 131 has two output shafts. The driving box 133 is arranged on the frame 4, a containing cavity is arranged on one side of the driving box 133 close to the distribution plate, and the translation mechanism 132 is arranged in the containing cavity, so that the translation mechanism 132 is convenient to install, and meanwhile, the translation mechanism 132 can be prevented from protruding out of the driving box, and space is saved; the translation mechanism 132 comprises a translation seat and a translation drive, the translation seat is slidably arranged in the accommodating cavity, the translation drive is arranged between the translation seat and the drive box, and the translation seat is driven to translate through the translation drive; the translation driving is a cylinder, an oil cylinder or a linear motor, and the translation driving can drive the translation seat to transversely move, so that the clamping pipe 115 is attached to and detached from the distribution plate 12.
The distribution plate 12 is located in front of the clamping tube 115, and more than two through holes 121 are disposed on the distribution plate 12, and in this embodiment, the through holes 121 are arranged in a matrix. As shown in fig. 4, the coordinates (X) of the through hole 121 are determined with the center of the output shaft on the left side of the dual motor as the origin of coordinates i ，Y j ) And coordinates (X i ，Y j ) And storing the data into a controller, wherein i is an integer greater than or equal to 2, and j is an integer greater than or equal to 2.
The four rotating arms are respectively a first rotating arm 111, a second rotating arm 112, a third rotating arm 113 and a fourth rotating arm 114, one ends of the first rotating arm 111 and the fourth rotating arm 114 are respectively fixedly connected with output shafts of the double motors 131, the other end of the first rotating arm 111 is hinged with one end of the second rotating arm 112, the other end of the fourth rotating arm 114 is hinged with one end of the third rotating arm 113, the other end of the second rotating arm 112 is rotatably connected with the other end of the third rotating arm 113 to a clamping tube 115, the clamping tube 115 is in fit connection with different through holes 121 of the distribution plate 12 through a translation mechanism 132, one end of the clamping tube 115 is provided with a sealing device 1151, one end of the clamping tube 115 is tightly fit with the distribution plate 12 through the sealing device 1151 and is communicated with the corresponding through hole 121, the sealing device is a sealing ring, the outer diameter of the sealing ring is larger than the diameter of the through hole 121, and the inner diameter of the sealing device is smaller than the diameter of the through hole, so long as the moving position of the clamping tube is accurate, the inner hole of the clamping tube corresponds to the through hole is ensured, and the sealing performance is improved.
The front of the distributing plate 12 is provided with a fixed plate 14, a space 100 is arranged between the distributing plate 12 and the fixed plate 14, the distributing plate 12 is parallel to the fixed plate 14, the fixed plate 14 is provided with through holes 141 with the same number as the through holes 121, in this embodiment, the through holes 141 correspond to the through holes 121 in front and back positions, the distributing pipe 122 is arranged on the distributing plate 12 at the position of the through holes 121, the distributing pipe 122 is fixedly connected to the distributing plate 12 through a chuck 1221, the distributing pipe 122 is communicated with the through holes 121, a tail end output pipeline 15 passes through the through holes 141 and is connected with a falling-off preventing device 1222 of the distributing pipe 122, and the falling-off preventing device 1222 is a groove with threads, so that the tail end output pipeline 15 can be better prevented from falling off the distributing pipe 122. Since the number and positions of the through holes 141 are corresponding to those of the through holes 121, the end output pipeline 15 can be abutted with the distribution pipe 122 of the corresponding through hole after passing through the through holes 141, and the distribution pipe is provided with an anti-falling device, the problems of pneumatic loss and pipeline confusion are solved.
As shown in fig. 2 and 3, the star-shaped discharger 2 comprises a hopper 21, a star-shaped discharger 22, a supporting frame 23, a weighing device 24 and a venturi tube 25, wherein the hopper 21 is slidably installed on the star-shaped discharger 22 by penetrating through the frame 4 in a connecting way, the star-shaped discharger 22 is arranged on the supporting frame 23, the supporting frame 23 is arranged on the weighing device 24, the weighing device 24 is arranged between the frame 4 and the supporting frame 23, a discharge opening is arranged at the lower end of the star-shaped discharger 22, the discharge opening is connected with the venturi tube 25, one end of the venturi tube 25 is connected with a conveying pipeline 5 of the centrifugal fan through a converter, and the other end of the venturi tube 25 is connected with the corrugated tube 6. The lower part of the hopper 21 is connected with the star discharger 22 through a flange, the star discharger 22 is connected with the lower Fang Wuliao collector through a flange, and the material collector is hard-connected with the lower venturi tube 25 through a pipeline. The weighing device 24 is composed of at least 3 cantilever weighing sensors, and the cantilever weighing sensors are fixed on the frame 4 and transmit signals to the controller, so that the star discharger 22 is more stable in structure.
The discharging is carried out through the hopper 21, the star discharger 22 and the weighing device 24 are matched, so that the star discharger 22 receives the feedback signal of the weighing device 24 and then conveys the materials, the problem of quantitative feeding is solved, and in the mixing stage, the venturi tube 25 principle is combined, and the functions of gas-solid mixing and backflow prevention are realized.
A pulley is arranged at the bottom of the frame 4 to facilitate the movement of the remote dispensing feeding system.
As shown in FIG. 1, the working method of the double-shaft parallel mechanism for the remote-distribution feeding system comprises the following steps:
s1 determines the coordinates (X) of the center of the through hole 121 on the distribution plate 12 i ，Y j ) And coordinates (X) of the center of the through hole 121 i ，Y j ) Stored in the controller.
S2, setting the distance between the centers of two output shafts of the double motor 131 as L 1 The length of the first rotating arm is L 2 The second rotating arm has a length L 3 The length of the third rotating arm is L 4 The length of the fourth rotating arm is L 5 . According to the swinging angle phi of a first rotating arm with one end hinged on one output shaft of the double motors 1 The swing angle phi of a fourth rotating arm with one end hinged on the other output shaft of the double motor 4 、L 1 、L 2 、L 3 、L 4 And L 5 Determining the coordinates (X) of the center of the currently clamped tube C ，Y C ) The method comprises the steps of carrying out a first treatment on the surface of the The method comprises the following specific steps:
s21, acquiring an included angle phi between the first rotating arm and the positive direction of the X axis through a controller 1 And an included angle phi between the fourth rotating arm and the positive direction of the X axis 4 。
S22, calculating the coordinate (X) of the hinge point B between the first rotating arm and the second rotating arm by taking the center of one output shaft of the double motors as the origin (0, 0) of the coordinate B ，Y B ) Wherein
S23, calculating the coordinates (X) of the center of one output shaft of the double motors by taking the center of the other output shaft of the double motors as the origin (0, 0) of the coordinates E ，Y E ) Wherein, the method comprises the steps of, wherein,
s24 calculating the coordinate (X) of the hinge point D between the third and fourth rotating arms D ，Y D ) Wherein
S25, calculating an included angle phi 2 between the second rotating arm and the positive direction of the X axis,
wherein,
s26, calculating the coordinates (X) C ，Y C ) Wherein, the method comprises the steps of, wherein,
the method is calculated through the following steps:
as shown in fig. 7, the center point of the left output shaft of the double motor 131 is a, the hinge point of the first rotating arm 111 and the second rotating arm 112 is B, the center of the clamp pipe 115 is C, the hinge point between the third rotating arm 113 and the fourth rotating arm 114 is D, and the center point of the right output shaft of the double motor 131 is E. Phi (phi) 1 And phi 4 And the rotation angle of the double motors is obtained by the controller.
The current position of the holding tube 115 is set in rectangular coordinates (X C ，Y C ) And polar coordinates (L, phi).
From the projection of B, D two points on the XY plane, the rectangular coordinate expression of C can be obtained as follows:
from formula (1), the elimination of φ 3 yields the following formula:
wherein:
the solution formula (2) can be obtained:
and (3) bringing phi 2 into the formula (1) to obtain rectangular coordinates of the point C, wherein phi 3 is as follows:
the polar coordinates of point C are then obtained as follows:
s3, acquiring a through hole 121 for feeding the feed through the controller, and acquiring the through hole coordinates (X in ，Y jn ) According to the through-hole coordinates (X in ，Y jn ) Determining the coordinates (X) at which the clamp tube needs to be moved into position Cn ，Y Cn ) The coordinates of the through hole (X in ，Y jn ) With the coordinates (X) at which the clamp tube needs to be moved into position Cn ，Y Cn ) Is the same asA coordinate point; according to the coordinates (X C ，Y C ) And the coordinates (X) at which the clamp tube needs to be moved into place Cn ，Y Cn ) The output shaft of the double motors is controlled by the controller to drive the first rotating arm to swing phi 1n And a fourth swing arm swing phi 4n The method comprises the steps of carrying out a first treatment on the surface of the The method comprises the following specific steps:
s31 is according to the formulaCalculate phi 1m And phi 2m ；φ 1m The coordinates (X) that need to be moved into position to clamp the tube Cn ，Y Cn ) When the first rotating arm and the X-axis are in positive direction, the included angle phi 1m =φ 1 +φ 1n ；φ 2m The coordinates (X) that need to be moved into position to clamp the tube Cn ，Y Cn ) The included angle between the second rotating arm and the positive direction of the X axis;
s32, calculating the coordinates (X Cn ，Y Cn ) The coordinates (X) of the hinge point B between the first and second rotating arms Bn ，Y Bn ) Wherein X is Bn =L 2 cosφ 1m ，Y Bn =L 2 sinφ 1m ；
S33 is according to、X Dm = X E +L 5 cosφ 4m And Y Dm =Y E +L 5 sinφ 4m Calculate the coordinates (X) Cn ，Y Cn ) The coordinates (X) of the hinge point D between the third and fourth rotating arms Dm ，Y Dm ) And an included angle phi between the fourth rotating arm and the positive direction of the X axis 4m Wherein; x is X E =L 1 ，Y E =0，/>,，/>，/>；
S34 calculatingAnd->Wherein->
S4, the translation mechanism for installing the double motors drives the double motors 131, the first rotating arm 111, the second rotating arm 112, the third rotating arm 113, the fourth rotating arm 114 and the clamping tube 115 to move towards the distribution plate 12, one end of the clamping tube 115 is sealed against a through hole for conveying feed, and the clamping tube is communicated with the through hole.
S5, after the feed is conveyed, the double motor 131, the first rotating arm 111, the second rotating arm 112, the third rotating arm 113, the fourth rotating arm 114 and the clamping tube 115 are retracted through the translation mechanism, so that the clamping tube is separated from the distributing plate.
The working principle of the invention is as follows: through throwing the material into star discharge apparatus 2, make gas-solid mix and prevent backward flow through star discharge apparatus 2, then through weighing device 24 control input material volume, improve gas pressure and discharge gas through centrifugal fan, set up biax parallel mechanism 11 and realize multichannel branch road switching and butt joint through bi-motor 131 and translation mechanism 132, the holding tube 115 at biax parallel mechanism 11 sets up sealing device 1151, in order to improve sealing performance, increase fixed plate 14 and prevent pneumatic loss and pipeline confusion guarantee output stability, wherein biax parallel mechanism 11 controls holding tube 115 through four rotating arms, control first rotating arm 111 and fourth rotating arm 114 through bi-motor 131, and set up translation mechanism 132 and control this biax parallel mechanism around making holding tube 115 and distribution plate 12 can closely laminate.
According to the working method of the double-shaft parallel mechanism for the remote distribution type feeding system, firstly, the coordinates of the through holes are stored in the controller, then, the rotation of the output shafts of the double motors is controlled by the controller according to the coordinates of the through holes for conveying feed and the current positions of the clamping pipes, so that the clamping pipes move to the positions of the through holes for conveying the feed, and then, the clamping pipes are attached to the distribution plate by utilizing the translation mechanism, so that the feed is conveyed.
Claims (10)
1. The working method of the double-shaft parallel mechanism for the remote distribution type feeding system is characterized by comprising the following steps of:
s1, determining coordinates of a center of a through hole on a distribution plate by taking one output shaft of a double motor in a double-shaft parallel mechanism as an origin of coordinatesAnd the coordinates of the center of the through hole are +.>The device is stored in the controller, and more than two through holes are formed in the distribution plate; wherein i is an integer greater than or equal to 2, j is an integer greater than or equal to 2;
s2, according to the swing angle of a first rotating arm with one end hinged on one output shaft of the double motorsThe swing angle of a fourth rotating arm with one end hinged on the other output shaft of the double motor>Distance L between two output shafts of double motor 1 Length L of first rotating arm 2 A second rotating arm length L with two ends respectively hinged with the other end of the first rotating arm and the clamping pipe 3 A third rotating arm L with two ends respectively hinged with the other ends of the clamping tube and the fourth rotating arm 4 A fourth rotating arm L with one end hinged on the output shaft of the double motor 5 Determining the coordinates (X) of the center of the currently clamped tube C ，Y C ）；
S3, determining a through hole for conveying feed, and acquiring coordinates (X in ，Y jn ) According to the through-hole coordinates (X in ，Y jn ) Determining the coordinates (X) at which the clamp tube needs to be moved into position Cn ，Y Cn ) The coordinates of the through hole (X in ，Y jn ) With the coordinates (X) at which the clamp tube needs to be moved into position Cn ，Y Cn ) Is the same coordinate point; according to the coordinates (X C ，Y C ) And the coordinates (X) at which the clamp tube needs to be moved into place Cn ，Y Cn ) The output shaft of the double motors is controlled by the controller to drive the first rotating arm to swing phi 1n And a fourth swing arm swing phi 4n ；
S4, driving the double motors, the first rotating arms, the second rotating arms, the third rotating arms, the fourth rotating arms and the clamping pipes to move towards the direction of the distribution plate through a translation mechanism for installing the double motors, enabling one ends of the clamping pipes to be sealed and opposite to a through hole for conveying feed, and enabling the clamping pipes to be communicated with the through hole.
2. A method of operating a dual axis parallel mechanism for a remote dispensing feeding system as set forth in claim 1, wherein: after S4, after the feed is conveyed, the double motor, the first rotating arm, the second rotating arm, the third rotating arm, the fourth rotating arm and the clamping tube are retracted through the translation mechanism, so that the clamping tube is separated from the distribution plate.
3. A dual shaft for a remote dispensing feeding system as defined in claim 1The working method of the parallel mechanism is characterized in that: in S2, the coordinates (X C ，Y C ) The method of (1) is as follows:
s21, acquiring an included angle phi between the first rotating arm and the positive direction of the X axis through a controller 1 And an included angle phi between the fourth rotating arm and the positive direction of the X axis 4 ；
S22, calculating the coordinate (X) of the hinge point B between the first rotating arm and the second rotating arm by taking the center of one output shaft of the double motors as the origin (0, 0) of the coordinate B ，Y B ) Wherein
S23, calculating the coordinates (X) of the center of one output shaft of the double motors by taking the center of the other output shaft of the double motors as the origin (0, 0) of the coordinates E ，Y E ) Wherein, the method comprises the steps of, wherein,
s24 calculating the coordinate (X) of the hinge point D between the third and fourth rotating arms D ，Y D ) Wherein
S25, calculating an included angle phi 2 between the second rotating arm and the positive direction of the X axis,
wherein,
s26, calculating the coordinates (X) C ，Y C ) Wherein, the method comprises the steps of, wherein,
。
4. a method of operating a dual axis parallel mechanism for a remote dispensing feeding system as set forth in claim 1, wherein: s3 determining phi 1n And phi 4n The method of (1) is as follows:
s31 is according to the formulaCalculate phi 1m And phi 2m ；φ 1m The coordinates (X) that need to be moved into position to clamp the tube Cn ，Y Cn ) The angle between the first rotating arm and the positive direction of the X axis is +.>The coordinates (X) that need to be moved into position to clamp the tube Cn ，Y Cn ) The included angle between the second rotating arm and the positive direction of the X axis;
s32, calculating the coordinates (X Cn ，Y Cn ) The coordinates (X) of the hinge point B between the first and second rotating arms Bn ，Y Bn ) Wherein X is Bn =L 2 cosφ 1m ，Y Bn =L 2 sinφ 1m ；
S33 is according to、X Dm = X E +L 5 cosφ 4m And Y Dm =Y E +L 5 sinφ 4m Calculate the coordinates (X) Cn ，Y Cn ) The coordinates (X) of the hinge point D between the third and fourth rotating arms Dm ，Y Dm ) And an included angle phi between the fourth rotating arm and the positive direction of the X axis 4m Wherein; />
S34 calculating phi 1n And phi 4n Wherein
5. A method of operating a dual axis parallel mechanism for a remote dispensing feeding system as set forth in claim 1, wherein: the clamping tube has a sealing device at one end thereof adjacent to the distributor plate for sealing the clamping tube against the distributor plate during feed delivery.
6. A method of operating a dual axis parallel mechanism for a remote dispensing feeding system as set forth in claim 5, wherein: the sealing device is a sealing ring, the outer diameter of the sealing ring is larger than the diameter of the through hole, and the inner diameter of the sealing device is smaller than the diameter of the through hole.
7. A method of operating a dual axis parallel mechanism for a remote dispensing feeding system as set forth in claim 1, wherein: the double-shaft parallel mechanism further comprises a driving box, a containing cavity is formed in one side, close to the distribution plate, of the driving box, and the translation mechanism is arranged in the containing cavity.
8. A method of operating a dual axis parallel mechanism for a remote dispensing feeding system as set forth in claim 7 wherein: the translation mechanism comprises a translation seat and a translation drive, the translation seat is arranged in the accommodating cavity in a sliding manner, the translation drive is arranged between the translation seat and the drive box, and the translation seat is driven to translate through the translation drive; the translation drive is a cylinder, an oil cylinder or a linear motor.
9. A method of operating a dual axis parallel mechanism for a remote dispensing feeding system as set forth in claim 1, wherein: a fixed plate is arranged in front of the distribution plate, a space is reserved between the distribution plate and the fixed plate, through holes with the same number as that of the through holes are arranged on the fixed plate, distribution pipes are arranged on the distribution plate at positions of the through holes, and the through holes penetrate through terminal output pipelines connected to the distribution pipes.
10. A method of operating a dual axis parallel mechanism for a remote dispensing feeding system as set forth in claim 1, wherein: the clamping tube is connected with a corrugated tube.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311613418.5A CN117378519A (en) | 2023-11-29 | 2023-11-29 | Working method of double-shaft parallel mechanism for remote distribution type feeding system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311613418.5A CN117378519A (en) | 2023-11-29 | 2023-11-29 | Working method of double-shaft parallel mechanism for remote distribution type feeding system |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AT317601B (en) * | 1971-09-13 | 1974-09-10 | Jakob Wagner | Round barn for pigs with sector-shaped pens |
| CH664063A5 (en) * | 1983-11-04 | 1988-02-15 | Christian Bertl | WILD FEEDING DEVICE. |
| US20020152964A1 (en) * | 2001-04-20 | 2002-10-24 | Lely Enterprises A.G., A Swiss Limited Liability Company | Device for supplying feed to animals |
| US20220000068A1 (en) * | 2018-11-13 | 2022-01-06 | Christian Dussau | Monitoring and intervening assembly for rearing premises |
-
2023
- 2023-11-29 CN CN202311613418.5A patent/CN117378519A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AT317601B (en) * | 1971-09-13 | 1974-09-10 | Jakob Wagner | Round barn for pigs with sector-shaped pens |
| CH664063A5 (en) * | 1983-11-04 | 1988-02-15 | Christian Bertl | WILD FEEDING DEVICE. |
| US20020152964A1 (en) * | 2001-04-20 | 2002-10-24 | Lely Enterprises A.G., A Swiss Limited Liability Company | Device for supplying feed to animals |
| US20220000068A1 (en) * | 2018-11-13 | 2022-01-06 | Christian Dussau | Monitoring and intervening assembly for rearing premises |
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