Servo motor driven connecting-rod degree-of-freedom-variable simple timber grab

Abstract

A servo motor driven connecting-rod degree-of-freedom-variable simple timber grab comprises a base 1, a big arm 17, a wrist connecting rod pitching mechanism, a wrist 21, a paw 22, a servo driving device, a first locking device 8 and a second locking device 16. The wrist connecting rod pitching mechanism is composed of a wrist connecting rod and a pitching mechanism, the wrist connecting rod is connected onto the big arm 17 through a ninth rotating pair 19 and a tenth rotating pair 20 which are coaxial, and the pitching mechanism is composed of a driving member 3, a first connecting rod 5, a second connecting rod 10 and a third connecting rod 9; the first locking device 8 and the second locking device 16 are respectively mounted on a fourth rotating pair 7 and a seventh rotating pair 15, perform timely locking according to different working conditions of the mechanism and perform locking in an electromagnetic manner. By the timber grab, the defect that a driving motor of an open chain structure needs to be mounted at a joint position is overcome; number of used controllable driving motors is smaller than degree of freedom of the connecting rod mechanism of the timber grab.

Description

technical field [0001] The invention relates to the field of machinery, in particular to a simple wood grabber with variable degrees of freedom driven by a servo motor. Background technique [0002] In recent years, due to the shortage of personnel in the labor market, labor costs have been rising year by year, which has promoted the widespread application of wood grabbers in wood harvesting, processing and handling operations. There are two types of wood grabbers: mechanical and hydraulic. At present, most of the mechanical arms of wood grabbers are hydraulically driven. Since the hydraulic transmission uses hydraulic oil as the medium for transmitting power, there are the following problems: its startability is poor, and it is easy to 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 so...

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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