Dual servo motor driven variable-freedom-degree multi-connecting-rod timber grab

Abstract

A dual servo motor driven variable-freedom-degree multi-connecting-rod timber grab comprises a base 1, a big arm lifting mechanism, a wrist connecting rod pitching mechanism, a wrist 27, a gripper 28, a servo drive device, a first locking device 5 and a second locking device 12. The big arm lifting mechanism comprises a big arm 8, a fourth connecting rod 3 and a fifth connecting rod 6. The wrist connecting rod pitching mechanism comprises a driving rod 16, a first connecting rod 18, a second connecting rod 21 and a third connecting rod 11. The first locking device 5 and the second locking device 12 are mounted on an eleventh rotating pair 4 and an eighth rotating pair 7 correspondingly, and proper locking can be carried out according to different work conditions of a timber grabbing mechanism. The servo drive device comprises a first servo motor, and the first servo motor is connected with the driving rod 16 so as to drive the driving rod 16 to rotate. The first locking device 5 and the second locking device 12 achieve locking through an electromagnetic manner. The timber grab can achieve timber grabbing work of two freedom degrees through only one driving rod, the number of adopted motors is reduced, and the manufacturing cost of the timber grabbing mechanism is reduced.

Description

technical field [0001] The invention relates to the mechanical field, in particular to a multi-link log grab with variable degrees of freedom driven by double servo motors. 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 effici...

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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