Variable freedom degree connecting rod type timber grab driven by servo motor

Abstract

A variable freedom degree connecting rod type timber grab driven by a servo motor comprises a base 1, a big arm lifting mechanism, a wrist connecting rod pitching mechanism, a wrist 27, a paw 28, a servo drive device, a first locking device 5 and a second locking device 22. The big arm lifting mechanism comprises a big arm 20, a first connecting rod 3 and a second connecting rod 6. The wrist connecting rod pitching mechanism comprises a drive rod 17, a third connecting rod 15, a connecting piece 13 and a fourth connecting rod 11. The first locking device 5 and the second locking device 22 are arranged on a second rotation pair 4 and a fifth rotation pair 7 correspondingly. The servo drive device comprises a first servo motor connected with the drive rod 17 so as to drive the drive rod 17 to rotate. The first locking device 5 and the second locking device 22 conduct locking in an electromagnetic manner. The two-freedom-degree timber grabbing operation can be achieved by utilizing one drive rod, the number of adopted motors is reduced, and the construction cost of the timber grabbing mechanism is reduced.

Description

technical field [0001] The invention relates to the mechanical field, in particular to a connecting rod log grab driven by a servo motor with variable degrees of freedom. Background technique [0002] In the past few years, due to the shortage of personnel in the labor market, labor costs have increased year by year, which has promoted the wide application of log grabbers in timber harvesting, processing and handling operations. There are two types of log grabbers: mechanical and hydraulic. At present, most of the mechanical arms of log grabbers are driven by hydraulic pressure. Since hydraulic transmission uses hydraulic oil as the medium for power transmission, there are the following problems: its starting performance is poor, and it is easy to cause Leakage occurs after internal components are worn, and the leaked hydraulic oil will pollute the environment and affect the quality of wood raw materials; hydraulic oil is greatly affected by temperature, the overall efficien...

AI Technical Summary

Problems solved by technology

There are two types of log grabbers: mechanical and hydraulic. At present, most of the mechanical arms of log grabbers are driven by hydraulic pressure. Since hydraulic transmission uses hydraulic oil as the medium for power transmission, there are the following problems: its starting performance is poor, and it is easy to cause Leakage occurs after internal components are worn, and the leaked hydraulic oil will pollute the environment and affect the quality of wood raw materials; hydraulic oil is greatly affected by temperature, the overall efficiency is low, and sometimes there is noise and vibration

At present, there are few variable-degree-of-freedom mechanisms that can be applied to the actual situation, and no variable-degree-of-freedom mechanisms that have been applied to log grabs have been seen.

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