Multi-connecting-rod variable-freedom-degree wood grasping machine provided with servo motors for driving

Abstract

The invention provides a multi-connecting-rod variable-freedom-degree wood grasping machine provided with servo motors for driving. The multi-connecting-rod variable-freedom-degree wood grasping machine provided with the servo motors for driving is composed of a base 1, a driving rod 13, a first connecting rod 15, a first connecting piece 5, a fourth connecting rod 4, a big arm 2, a wrist connecting rod 6, a second connecting rod 22, a third connecting rod 26, a wrist 27, a paw 28, a servo driving device, a first locking device 23 and a second locking device 24. The big arm 2 is connected to the base through a first revolute pair 10. The first locking device 23 and the second locking device 24 are mounted on a seventh revolute pair 16 and an eleventh revolute pair 19 correspondingly. The servo driving device comprises the first servo motor, and the first servo motor is connected with the driving rod 13 to drive the driving rod 13 to rotate. The first locking device 23 and the second locking device 24 are locked in an electromagnetic mode. According to the multi-connecting-rod variable-freedom-degree wood grasping machine provided with the servo motors for driving, a connecting-rod transmission mechanism is used for replacing a hydraulic mechanism, and the defects that the hydraulic mechanism is prone to oil leakage, complex and the like are overcome; and since the locking devices are arranged on the revolute pairs, the multi-connecting-rod variable-freedom-degree wood grasping machine can adapt to different working conditions, and the number of the adopted motors is smaller than the freedom degree of the mechanism.

Description

technical field [0001] The invention relates to the mechanical field, in particular to a multi-link variable-degree-of-freedom log grab driven by a servo motor. 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 efficiency is low,...

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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