CN115338847A - A redundant drive robot of suspension type for getting wine unstrained spirits - Google Patents

Abstract

The invention belongs to the technical field of liquor brewing equipment, and specifically relates to a suspension-type redundant drive robot for taking wine grains, including a base, which is rotatably installed on a plane driving mechanism through a fixed base, and is used to realize The base is composed of a top plate, a rear plate and two hinged ears installed on the lower surface of the top plate. A boom is hinged between the two hinged ears. The driving end of the boom is hinged with the No. 1 connecting rod and No. 2 link. Connecting rods, the other end of the No. 1 connecting rod is hinged with the slider in the No. 1 linear drive mechanism, the end of the boom is hinged with the middle of the forearm, and the other end of the No. 2 connecting rod is hinged with the slider in the No. 2 linear drive mechanism. Hinged, the No. 1 linear drive mechanism is installed on the top plate of the base, and the No. 2 linear drive mechanism is installed on the back plate of the base. At least 3×3 wine vats in the adjacent area can be used to extract the unstrained spirits, greatly improving In order to improve the work efficiency, the conveyors are arranged according to the actual needs, which can realize the adjacent picking and discharging.

Description

A Suspension Redundant Drive Robot for Grabbing Wine Grains

technical field

The invention belongs to the technical field of liquor brewing equipment, and in particular relates to a suspension-type redundant drive robot for taking fermented grains.

Background technique

The flavor of liquor comes from its unique solid-state fermentation and solid-state distillation process. Among them, Fen-flavor liquor is famous for its unique "steaming and second clearing" and earth tank fermentation. Fermentation raw material, that is, "wine grains" is stored in ceramic vats for fermentation. After the fermentation cycle is over, it needs to be taken out and transferred to the distillation process. The traditional way of retrieving materials is often that workers hold shovels to shovel out. This method is very labor-intensive and the work efficiency is not high. The compact arrangement of wine tanks also brings a lot of inconvenience to the trolley. In order to increase production capacity, it has become the mainstream trend to gradually replace manpower with machines for picking, unloading, and loading.

For the design of the device for extracting wine grains, CN201811255861.9 discloses a plan for combining the universal wheel vehicle on the ground with the lifting and translation device of the bucket. After the universal wheel vehicle is positioned, it takes two cylinders at a time, and it needs to move when taking other cylinders. It goes back and forth several times, and it needs to be transported and unloaded with a cart. At the same time, it takes up a lot of space as a whole and creates a load on the underground ceramic vat. CN202123128310.6 discloses a scheme for combining an AGV vehicle with a six-degree-of-freedom robot, but it occupies a large space, the driving space is limited, and the requirements for the working space are high. In consideration of saving ground space, the wine enterprise workshop also uses the crane bucket to grab the fermented grains, which is highly efficient in fetching wine, but this method needs to re-designate the bucket position every time the material is picked, and there are too many round trips.

Contents of the invention

Aiming at the above problems, the present invention provides a suspension type redundant driving robot for fetching unstrained spirits.

To achieve the above object, the present invention adopts the following technical solutions:

A suspension-type redundant drive robot for fetching unstrained spirits, comprising a base, the base is rotatably mounted on a plane driving mechanism through a fixed base, and is used to realize horizontal movement in a plane, and the base is composed of The top plate, the rear plate and two hinged ears installed on the lower surface of the top plate are composed. A boom is hinged between the two hinged ears. The driving end of the boom is hinged with a No. 1 connecting rod and a No. 2 connecting rod. The other end of the No. 1 connecting rod is hinged with the slider in the No. 1 linear drive mechanism, the end of the boom is hinged with the middle part of the small arm, and the other end of the No. 2 connecting rod is hinged with the slider in the No. 2 linear drive mechanism. The slider is hinged, the No. 1 linear drive mechanism is installed on the top plate of the base, the No. 2 linear drive mechanism is installed on the rear plate of the base, and a rocker is also hinged between the two hinged ears. The rocker is hinged coaxially with the boom, the driving end of the rocker is hinged with one end of the No. 4 connecting rod, the other end of the No. 4 connecting rod is hinged with the slider in the No. 3 linear drive mechanism, and the rocker The end of the No. 3 connecting rod is hinged with one end of the No. 3 connecting rod, and the other end of the No. 3 connecting rod is hinged with the driving end of the small arm. The connecting line is a parallelogram, the end of the small arm is hinged to the end connecting seat, and a No. 1 auxiliary connecting rod is also hinged on one of the hinged ears, and the other end of the No. 1 auxiliary connecting rod is connected to the No. 2 auxiliary connecting rod. One end of the No. 1 auxiliary link is hinged, and the connecting line between the hinge points at both ends of the No. 1 auxiliary link, the hinge point at the end of the boom, and the hinge point at the middle of the boom is a parallelogram. The middle part of the No. 2 auxiliary link is connected to the boom The end of the No. 2 auxiliary link is hinged coaxially with the middle part of the forearm. The end of the No. 2 auxiliary link is hinged with one end of the No. 3 auxiliary link. The No. 2 auxiliary link is V-shaped. The connecting line between the three hinge points is triangular, the other end of the No. 3 auxiliary link is hinged to the end connecting seat, and the hinge points at both ends of the No. The connecting line between the hinge points is a parallelogram, and a reclaimer jaw is installed on the terminal connection seat, and an industrial camera and a laser rangefinder are installed on the reclaimer jaw, which are respectively used for collecting Image of a wine tank and getting the distance between the reclaimer jaws and the ground.

Further, the No. 1 linear drive mechanism, the No. 2 linear drive mechanism and the No. 3 linear drive mechanism are all screw slider mechanisms.

Still further, the angle between the line between the two hinge points on the hinged ear and the horizontal line is α, and the angle between the line between the two hinge points on the end connecting seat and the horizontal line is α. β, the included angle of the No. 2 auxiliary connecting rod is γ, γ=α+β.

Furthermore, the upper end of the fixed base is fixedly connected with the planar driving mechanism, and the lower end of the fixed base is fixedly connected with a base flange, and both the fixed base and the base flange are rotatably connected with the base, and the base flange The lower surface of the RV reducer is fixedly connected to the output plate of the RV reducer, the body of the RV reducer is connected to the output shell, and the output shell is fixedly connected to the top plate of the base, and the input shaft of the RV reducer is passed through a belt The transmission mode is connected with the output shaft of the root drive motor, and the root drive motor is fixedly installed on the output shell.

Furthermore, the planar driving mechanism includes two support frames symmetrically arranged, and two moving beams are erected between the two support frames, and the moving beams can slide on the support frames driven by the driving device. A saddle is jointly arranged on the two moving crossbeams, and the saddle can slide on the moving crossbeam driven by the driving device.

Compared with the prior art, the present invention has the following advantages:

The base of the present invention can be rotated relative to the plane driving mechanism, and at the same time cooperate with the swing of the big arm and the forearm to at least take out the unstrained spirits from 3×3 wine vats in the adjacent area, which greatly improves the work efficiency and meets the actual situation. Conveyor needs to be arranged to realize adjacent picking and discharging;

The fixed base of the present invention is suspended and installed on the plane driving mechanism, which can drive the big arm and the small arm to move horizontally and vertically as a whole through the plane driving mechanism, which can meet the requirements of the working space of large-scale wine enterprises and adapt to larger-scale wine vats The material retrieving operation, combined with the large working range of the boom and forearm itself, reduces the number of round trips for retrieving and unloading materials by driving. Avoid direct loading on wine tanks under the ground;

The present invention is defined by the design of the parallelogram connecting rod and the cooperation between α, β and γ, which can ensure that the jaws of the reclaimer will not be tilted and the vertical state will not change.

Description of drawings

Fig. 1 is the front view of the non-plane driving mechanism of the present invention;

Fig. 2 is the axonometric view of the non-plane driving mechanism of the present invention;

Fig. 3 is the left view of the non-plane driving mechanism of the present invention;

Fig. 4 is the partially enlarged view of circle A in Fig. 3 of the present invention;

Fig. 5 is the installation diagram of fixed base, base flange, RV speed reducer and root drive motor of the present invention;

Fig. 6 is a schematic structural view of the jaws of the reclaimer of the present invention;

Fig. 7 is a structural schematic diagram of the present invention;

Fig. 8 is a partially enlarged view of circle C in Fig. 7 of the present invention;

Fig. 9 is a top view of the claw of the reclaimer of the present invention;

Fig. 10 is a sectional view of the A-A section in Fig. 9 of the present invention;

Fig. 11 is a partially enlarged view of frame A in Fig. 10 of the present invention;

Fig. 12 is a partially enlarged view of circle B in Fig. 10 of the present invention;

Figure 13 is a sectional view of the B-B section in Figure 9 of the present invention;

Fig. 14 is a schematic diagram of the connection between the rotary disc and the screw nut in the claw of the reclaimer of the present invention;

Fig. 15 is a schematic diagram of the installation between the inner barrel, the movable shovel and the plate slide rail in the claw of the reclaimer of the present invention;

Fig. 16 is a schematic structural view of the movable shovel in the claw of the reclaimer of the present invention;

Fig. 17 is a schematic diagram of the connection between the limit guide rail and the guide rail mounting plate in the claw of the reclaimer of the present invention;

Fig. 18 is a schematic structural view of the star planetary gear set in the claw of the reclaimer of the present invention;

Fig. 19 is a schematic structural view of the pushing mechanism in the claw of the reclaimer of the present invention;

Fig. 20 is a schematic structural view of the stop ring in the jaw of the reclaimer of the present invention;

Fig. 21 is a schematic structural view of the inner bucket in the claw of the reclaimer of the present invention;

Fig. 22 is a schematic structural view of the lower part of the rotary housing in the claw of the reclaimer of the present invention;

Fig. 23 is a structural schematic diagram of the shell three in the jaw of the reclaimer of the present invention;

In the figure, base—001, fixed base—002, planar driving mechanism—003, boom—004, No. 1 connecting rod—005, No. 2 connecting rod—006, No. 1 linear drive mechanism—007, and No. 2 linear drive Mechanism—008, rocker—009, No. 3 linear drive mechanism—010, arm—011, No. 3 connecting rod—012, end connecting seat—013, No. 1 auxiliary connecting rod—014, No. 2 auxiliary connecting rod—015 , No. 3 auxiliary connecting rod—016, reclaimer jaw—017, industrial camera—018, laser range finder—019, base flange—020, RV reducer—021, output shell—022, root drive motor— 024, No. 4 connecting rod—025, top plate—0011, rear plate—0012, hinged ear—0013, support frame—0031, moving beam—0032, saddle—0033, traveling gear—0034, traveling rack—0035, walking Motor—0036, guide rail—0037, travel reducer—0038, positioning block—0039, output plate—0211, body—0212, input shaft—0213, fixed shell—1, rotating shell—2, hollow screw mechanism —3. Follow-up mechanism—4. Inner barrel—5. Planetary gear set—6. Bearing retaining ring—7. Pushing mechanism—8. Sliding seat—9. Mounting plate—10. Sliding groove—11. Sliding guide rail—12 , Roller installation block - 13, support roller - 14, shell one - 101, shell two - 102, shell three - 103, gap - 104, lead screw nut - 301, No. 1 motor - 302, No. 1 driving gear —303, No. 1 driven gear—304, lead screw flange—305, hollow lead screw—306, nut stopper—307, chute—308, limit guide rail—309, guide rail mounting plate—310, rotating disc— 401, Rotating disc stopper—402, Plate slide rail—403, Movable shovel—404, Movable piece—414, Torsion spring—424, Limit protrusion—434, Pin shaft—444, No. 2 motor—601, No. 2 Driving gear—602, planet carrier—603, No. 2 driven gear—604, planetary gear—606, inner ring gear—607, push plate—801, push rod—802, limit retaining ring—803, extension barrel—804 , Push nut—805, push screw—806, No. 3 driven gear—807, No. 3 driving gear—808, No. 3 motor—809, limit slot—810, limit block—811.

Detailed ways

In order to further illustrate the technical solution of the present invention, the present invention will be further described below through examples.

As shown in Figures 1 to 7, a suspended redundant drive robot for fetching wine grains includes a base 001, and the base 001 is rotatably mounted on a plane driving mechanism 003 through a fixed base 002 for use in To achieve horizontal movement in the plane, the upper end of the fixed base 002 is fixedly connected with the saddle 0033 in the plane driving mechanism 003, and the lower end of the fixed base 002 is fixedly connected with a base flange 020, and the fixed base 002 and The base flange 020 is rotatably connected with the base 001, the lower surface of the base flange 020 is fixedly connected with the output disc 0211 of the RV reducer 021, and the body 0212 of the RV reducer 021 is connected with the output shell 022, so The output casing 022 is fixedly connected to the top plate 0011 of the base 001, and the input shaft 0213 of the RV reducer 021 is connected to the output shaft of the root drive motor 024 through a belt drive, and the root drive motor 024 is fixedly installed on The base 001 on the output housing 022 is composed of a top plate 0011, a rear plate 0012 and two hinged ears 0013 installed on the lower surface of the top plate 0011, and a boom 004 is hinged between the two hinged ears 0013. The driving end of the arm 004 is hinged with a No. 1 connecting rod 005 and a No. 2 connecting rod 006. The other end of the No. 1 connecting rod 005 is hinged with the slider in the No. 1 linear drive mechanism 007. The end of the big arm 004 is connected to the small The middle part of the arm 011 is hinged, the other end of the No. 2 connecting rod 006 is hinged with the slider in the No. 2 linear drive mechanism 008, and the No. 1 linear drive mechanism 007 is installed on the top plate 0011 of the base 001. No. linear drive mechanism 008 is installed on the rear plate 0012 of the base 001, and a rocker 009 is also hinged between the two hinged ears 0013. The rocker 009 is coaxially hinged with the boom 004, and the rocker 009 The drive end is hinged to one end of the No. 4 connecting rod 025, the other end of the No. 4 connecting rod 025 is hinged to the slider in the No. 3 linear drive mechanism 010, and the end of the rocker 009 is connected to one end of the No. 3 connecting rod 012. Hinged, the other end of the No. 3 connecting rod 012 is hinged with the driving end of the small arm 011, and the connecting line between the hinge points at both ends of the No. 3 connecting rod 012 and the hinge points at the middle and end of the boom 004 is a parallelogram , the end of the small arm 011 is hinged to the end connecting seat 013, and a No. 1 auxiliary link 014 is also hinged on one of the hinge ears 0013, and the connecting line between the two hinge points on the hinge ear 0013 and the horizontal line The included angle between them is α, the other end of the No. 1 auxiliary link 014 is hinged to one end of the No. 2 auxiliary link 015, and the hinge point at both ends of the No. 1 auxiliary link 014 is connected to the hinge point at the end of the boom 004. And the connecting line between the hinge points in the middle of the boom 004 is a parallelogram, the middle of the No. 2 auxiliary link 015 is coaxially hinged with the end of the boom 004 and the middle of the forearm 011, and the No. 2 auxiliary link The end of 015 is hinged with one end of No. 3 auxiliary link 016 , the No. 2 auxiliary connecting rod 015 is V-shaped, the included angle of the No. 2 auxiliary connecting rod 015 is γ, and the connecting line between the three hinge points on the No. 2 auxiliary connecting rod 015 is triangular, so The other end of the No. 3 auxiliary connecting rod 016 is hinged to the end connecting seat 013, and the angle between the line between the two hinge points on the end connecting seat 013 and the horizontal line is β, which satisfies γ=α+β, The connecting line between the hinge points at both ends of the No. 3 auxiliary connecting rod 016, the hinge point at the end of the forearm 011 and the hinge point in the middle of the forearm 011 is a parallelogram, and a reclaimer is installed on the connecting seat 013 at the end Gripper 017, an industrial camera 018 and a laser rangefinder 019 are installed on the reclaimer jaw 017, which are respectively used to collect images of the wine vat and obtain the distance between the reclaimer jaw 017 and the ground. After the claw 017 of the reclaimer moves to the vicinity of the cylinder mouth, the industrial camera 018 takes multiple images, extracts the contour features of the cylinder, and sends them back to the computer through the image acquisition card to calculate the position of the center of the cylinder mouth and the jaw 017 of the reclaimer. deviation, and then control the swing of the big arm 004 and the small arm 011 to correct the deviation. After locking the position of the cylinder mouth, control the lowering of the claw 017 of the reclaimer, and the laser rangefinder 19 obtains the distance between the claw 017 of the reclaimer and the ground to determine Digging depth, when the distance is less than the preset threshold, stop the action of digging the wine grains, and execute the follow-up process.

The planar driving mechanism 003 includes two support frames 0031 arranged symmetrically, and two moving beams 0032 are erected between the two support frames 0031, and the moving beams 0032 can be driven on the support frames 0031 by a driving device. Sliding, a saddle 0033 is jointly arranged on the two moving beams 0032, and the saddle 0033 can slide on the moving beam 0032 through the drive of the driving device, specifically: a walking frame is fixed on the moving beam 0032. Rack 0035 and guide rail 0037, travel motor 0036 and travel reducer 0038 are installed on described saddle 0033, the output shaft of described travel motor 0036 is connected with the input shaft of travel reducer 0038, and the travel reducer 0038 The travel gear 0034 meshed with the travel rack 0035 is installed on the two outputs, and the positioning block 0039 corresponding to the guide rail 0037 is also installed on the saddle 0033 for realizing the guidance of the saddle 0033 movement.

The No. 1 linear drive mechanism 007 , the No. 2 linear drive mechanism 008 and the No. 3 linear drive mechanism 010 are screw slider mechanisms.

The reclaimer jaw 017 includes a fixed housing 1, a rotating housing 2 and a pushing mechanism 8, the rotating housing 2 is rotationally connected with the fixed housing 1 through a bearing, and the rotating housing 2 is connected through a planetary gear set 6 drives it to rotate, and the pushing mechanism 8 is used to push out the grains of wine grains in the inner barrel 5 after the lifting is completed;

The fixed housing 1 includes a housing one 101, a second housing 102 and a third housing 103, the second housing 102 is fixedly connected to the first housing 101, and the third housing 103 is fixedly connected to the second housing 102 , the upper part of the rotating housing 2 is sheathed on the first housing 101 and the second housing 102, between the rotating housing 2 and the first housing 101 and between the rotating housing 2 and the second housing 102 Bearings are provided, and the bearing between the rotating housing 2 and the housing one 101 is limited by the shaft shoulder structure of the rotating housing 2 and the housing one 101 itself, and the rotating housing 2 and the housing two 102 The bearings between them are limited by the bearing retaining ring 7 and the shaft shoulder inside the rotating housing 2. The bearing retaining ring 7 is fixed and installed on the lower end surface of the housing two 102 by screws, and on the housing three 103 A hollow lead screw mechanism 3 is installed, and a follower mechanism 4 is rotatably connected to the lead screw nut 301 of the hollow lead screw mechanism 3 to drive the follower mechanism 4 up and down. An inner barrel 5 is fixedly connected, and the inner barrel 5 is a regular polygon structure, and the lower part of the follow-up mechanism 4 is slidably arranged between the inner barrel 5 and the interlayer of the rotating housing 2;

Described follow-up mechanism 4 comprises rotating disk 401, and described rotating disk 401 is connected with screw nut 301 in rotation, and is fixedly connected with rotating disk stopper 402 on described rotating disk 401, is used for rotating disk 401 and leading screw nut. The bearings between 301 are used to limit the position, and a plurality of plate slide rails 403 are evenly distributed on the side surface of the rotating disk 401, and there are one-to-one correspondence with the plate slide rails 403 on the inner surface of the rotating housing 2. The sliding seat 9 is provided with a sliding groove 11 corresponding to the plate slide rail 403 on the mounting plate 10 of the fixed inner barrel 5 in the rotating housing 2, and a movable shovel 404 is fixedly connected to the lower end of the plate slide rail 403 , the movable shovel 404 is composed of a plurality of movable pieces 414, and the adjacent movable pieces 414 are hinged by a pin shaft 444, and a torsion spring 424 is arranged on the pin shaft 444, so as to realize For automatic relative rotation, limit protrusions 434 are provided on the upper part of the movable pieces 414 except the top, to limit the maximum rotation angle between adjacent movable pieces 414, on the left and right sides of each movable shovel 404 Both are provided with sliding guide rails 12, and the sliding guide rails 12 are fixedly installed on the outer surface of the inner bucket 5, and the uppermost movable plate of the movable shovel 404 is slidingly connected with the sliding guide rails 12, and a plurality of The roller mounting blocks 13 corresponding to the limit guide rails 309 one-to-one, and the supporting rollers 14 are rotatably installed between adjacent roller mounting blocks 13 for assisting the sliding of the movable shovel 404 .

The hollow screw mechanism 3 includes a No. 1 motor 302, and the No. 1 motor 302 is fixedly installed on the upper surface of the housing 101. The output shaft of the No. 1 motor 302 passes through the housing 101 downward and is installed with a No. Driving gear 303, the No. 1 driving gear 303 is meshed with a No. 1 driven gear 304, and the No. 1 driven gear 304 is fixedly installed on the screw flange 305, and the screw flange 305 is installed on the screw flange 305 by bearing rotation. Inside the housing three 103, the housing three 103 is provided with a gap 104 for meshing connection between the first driving gear 303 and the first driven gear 304, and the lower end surface of the screw flange 305 is connected to the hollow screw. 306 is fixedly connected, a lead screw nut 301 is threadedly connected to the hollow lead screw 306, and a nut retainer 307 is fixedly arranged on the lead screw nut 301, which is used to adjust the distance between the rotating disc 401 and the lead screw nut 301. The bearings are used to limit the position, and two slide grooves 308 are symmetrically arranged on the screw nut 301, and a limit guide rail 309 is arranged in the slide groove 308, and both ends of the two limit guide rails 309 are connected together There are guide rail mounting plates 310 , one of which is fixedly connected to the housing three 103 .

The planetary gear set 6 includes No. 2 motor 601, No. 2 driving gear 602, planet carrier 603, No. 2 driven gear 604, planetary gear 606 and ring gear 607. The No. 2 motor 601 is fixedly mounted on the housing one 101, the No. 2 driving gear 602 is installed on the output shaft of No. 2 motor 601, and is located inside the housing one 101, and the planet carrier 603 is fixedly installed in the middle part of the inner cavity of the housing one 101, so The No. 2 driven gear 604 is installed on the planet carrier 603, the No. 2 driven gear 604 is a double-row gear, and the upper part of the No. 2 driven gear 604 is meshed with the No. 2 driving gear 602. The planetary gear There are three 606, which are evenly distributed and installed between the second driven gear 604 and the ring gear 607. The planetary gear 606 is meshed with the lower part of the second driven gear 604 and the ring gear 607. The ring gear 607 It is fixedly installed on the inner peripheral surface of the rotating housing 2 .

The pushing mechanism 8 includes a push plate 801, a push rod 802, a limit retaining ring 803, an extension barrel 804, a pushing nut 805, a pushing screw 806, No. 3 driven gear 807, No. 3 driving gear 808 and three No. motor 809, the push plate 801 is arranged inside the inner barrel 5, the lower end of the push rod 802 is fixedly connected with the center of the upper surface of the push plate 801, the push rod 802 is a hollow structure, and the push rod 802 A limiting groove 810 is arranged on the outer circumference surface, and a limiting block 811 corresponding to the limiting groove 810 is arranged on the limiting retaining ring 803, and the limiting retaining ring 803 is fixedly installed on the lower end of the inner cavity of the extension barrel 804 , the upper end of the extension barrel 804 is fixedly connected with the housing three 103, the push nut 805 is fixed on the upper end of the push rod 802, and is threaded with the push screw 806, and the push screw 806 rotates Installed on the housing three 103, the upper end of the push screw 806 passes through the housing three 103 and is fixedly connected with the third driven gear 807, and the third driving gear 808 is installed on the output shaft of the third motor 809 It is meshed with the No. 3 driven gear 807 , and the No. 3 motor 809 is fixedly installed on the upper surface of the case 1 101 .

When extracting the material reclaimer jaw 017, extend the material reclaimer jaw 017 into a certain position in the ceramic vat, and then drive the rotating housing 2 to rotate through the No. Under the action of the arm 011, it continues to descend to a certain height to complete the retrieving of the inner barrel 5, and then the No. 1 motor 302 works to drive the plate slide rail 403 to stretch out, and the movable shovel 404 is automatically curled under the action of the torsion spring 424 to complete the wine. After wrapping the grains of unstrained spirits, the big arm 004 and the small arm 011 drive the jaws 017 of the reclaimer to move from the cylinder to the designated position, and then the No. 3 motor 809 drives the push plate 801 to stretch out to push out the grains of unstrained spirits in the inner barrel 5, Realize the taking out of wine grains.

The main features and advantages of the present invention have been shown and described above. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-mentioned exemplary embodiments, and that without departing from the spirit or basic characteristics of the present invention, it can The invention can be embodied in other specific forms. Accordingly, the embodiments should be regarded in all points of view as exemplary and not restrictive, the scope of the invention being defined by the appended claims rather than the foregoing description, and it is therefore intended that the scope of the invention be defined by the appended claims rather than by the foregoing description. All changes within the meaning and range of equivalents of the elements are embraced in the present invention.

In addition, it should be understood that although this specification is described according to implementation modes, not each implementation mode only includes an independent technical solution, and this description in the specification is only for clarity, and those skilled in the art should take the specification as a whole , the technical solutions in the various embodiments can also be properly combined to form other implementations that can be understood by those skilled in the art.

Claims (5)

1. A suspension-type redundant drive robot for fetching wine grains, characterized in that: it includes a base (001), and the base (001) is installed on the plane driving mechanism (003) by rotating the fixed base (002). ), used to realize horizontal movement in the plane, the base (001) consists of a top plate (0011), a rear plate (0012) and two hinged ears (0013) installed on the lower surface of the top plate (0011), A boom (004) is hinged between the two hinge ears (0013), and a No. 1 connecting rod (005) and a No. 2 connecting rod (006) are hinged to the driving end of the boom (004). The other end of the No. connecting rod (005) is hinged with the slide block in the No. 1 linear drive mechanism (007), the end of the boom (004) is hinged with the middle part of the small arm (011), and the No. 2 connecting rod ( 006) is hinged with the slider in the No. 2 linear drive mechanism (008), the No. 1 linear drive mechanism (007) is installed on the top plate (0011) of the base (001), and the No. 2 linear drive mechanism The mechanism (008) is installed on the rear plate (0012) of the base (001), and a rocking bar (009) is also hinged between the two hinged ears (0013), and the rocking bar (009) is connected with the big arm (004 ) is coaxially hinged, the driving end of the rocker (009) is hinged to one end of the fourth connecting rod (025), and the other end of the fourth connecting rod (025) is connected to the third linear drive mechanism (010) The slide block is hinged, the end of the rocker (009) is hinged with one end of the No. 3 connecting rod (012), and the other end of the No. 3 connecting rod (012) is hinged with the driving end of the small arm (011). The connecting line between the hinge points at the two ends of the No. 3 connecting rod (012) and the hinge points at the middle and end of the big arm (004) is a parallelogram, and the end of the small arm (011) is hinged with the end connecting seat (013), A No. 1 auxiliary link (014) is also hinged on one of the hinge ears (0013), and the other end of the No. 1 auxiliary link (014) is hinged to one end of the No. 2 auxiliary link (015). The connecting line between the hinge points at both ends of the No. 1 auxiliary link (014), the hinge point at the end of the boom (004) and the hinge point in the middle of the boom (004) is a parallelogram, and the No. 2 auxiliary link (015 ) is coaxially hinged with the end of the boom (004) and the middle of the small arm (011), the end of the No. 2 auxiliary link (015) is hinged with one end of the No. 3 auxiliary link (016), and the The No. 2 auxiliary connecting rod (015) is V-shaped, and the connecting line between the three hinge points on the No. 2 auxiliary connecting rod (015) is triangular. The other end of the No. 3 auxiliary connecting rod (016) is connected to The terminal connecting seat (013) is hinged, and the connecting line between the hinge points at both ends of the No. 3 auxiliary connecting rod (016), the hinge point at the end of the forearm (011) and the hinge point in the middle of the forearm (011) is a parallelogram , a reclaimer jaw (017) is installed on the end connecting seat (013), and the reclaimer clamp An industrial camera (018) and a laser rangefinder (019) are installed on the claw (017), which are used to collect images of wine vats and obtain the distance between the claw (017) and the ground of the reclaimer, respectively. 2. A suspension-type redundant drive robot for fetching wine grains according to claim 1, characterized in that: the No. 1 linear drive mechanism (007), the No. 2 linear drive mechanism (008) and the No. 3 linear drive mechanism No. linear drive mechanism (010) is a screw slider mechanism. 3. A suspension-type redundant drive robot for fetching wine grains according to claim 1, characterized in that: the line between the two hinge points on the hinged ear (0013) and the horizontal line The included angle is α, the included angle between the line between the two hinge points on the terminal connecting seat (013) and the horizontal line is β, and the included angle of the No. 2 auxiliary connecting rod (015) is γ, γ=α+β. 4. A suspension-type redundant drive robot for fetching wine grains according to claim 1, characterized in that: the upper end of the fixed base (002) is fixedly connected to the planar driving mechanism (003), and The lower end of the fixed base (002) is fixedly connected with a base flange (020), and both the fixed base (002) and the base flange (020) are rotatably connected with the base (001), and the base flange (020) The lower surface of the RV reducer (021) is fixedly connected to the output disc (0211), the body (0212) of the RV reducer (021) is connected to the output shell (022), and the output shell (022) is fixedly connected On the top plate (0011) of the base (001), the input shaft (0213) of the RV reducer (021) is connected to the output shaft of the root driving motor (024) through a belt drive, and the root driving motor (024) is fixedly installed on the output shell (022). 5. A suspension-type redundant drive robot for fetching wine grains according to claim 1, characterized in that: said planar driving mechanism (003) comprises two support frames (0031) arranged symmetrically, Two moving beams (0032) are erected between the two supporting frames (0031), and the moving beams (0032) can slide on the supporting frames (0031) through the drive of the driving device, and the moving beams (0032) (0032) is jointly provided with a saddle (0033), and the saddle (0033) can slide on the moving crossbeam (0032) through the driving of the driving device.

Images