Timber grab with freedom-degree-variable linkage mechanism

Abstract

The invention provides a timber grab with a freedom-degree-variable linkage mechanism. The timber grab comprises a base (1), a large arm lifting mechanism, a wrist linkage pitch mechanism, a wrist (27), a paw (28), a servo driving device, a first locking device (5) and a second locking device (12); the large arm lifting mechanism comprises a large arm (8), a fourth connecting rod (3) and a fifth connecting rod (6); the wrist linkage pitch 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 installed on an eleventh rotating pair (4) and an eighth rotating pair (7) correspondingly and can timely lock according to different work conditions of a timber grabbing mechanism; and the servo driving device comprises a first servo motor which is connected with the driving rod (16) to drive the driving rod (16) to rotate, and the first locking device (5) and the second locking device (12) lock in an electromagnetic mode. According to the timber grab with the freedom degree variable linkage mechanism, timber grabbing operation of two freedom degrees can be achieved through one driving rod (16), so that the usage quantity of the motors is reduced, and construction cost of the timber grabbing mechanism is lowered.

Description

technical field [0001] The invention relates to the mechanical field, in particular to a log grab with a variable-degree-of-freedom link mechanism. 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, and sometime...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a variable degree of freedom link mechanism log grab, which overcomes the shortcomings of high precision requirements, complex structure, easy oil leakage and other shortcomings of the hydraulic system components of the hydraulic log grab, and overcomes the need for drive motors with open chain structures. The disadvantage of being installed at the joint position, and making the number of controllable drive motors less than the degree of freedom of the linkage mechanism of the wood grabber, to overcome the existing mechanical electric wood grabbing mechanism needs to be equipped with the same number of control motors as the degree of freedom of the linkage mechanism. Control the shortcomings, simplify the complexity of the structure, reduce the weight, motion inertia, volume and cost of the mechanism

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