Multi-degree-of-freedom connecting rod mechanism wood grasping machine driven by servo motors

Abstract

The invention provides a multi-degree-of-freedom connecting rod mechanism wood grasping machine driven by servo motors. The multi-degree-of-freedom connecting rod mechanism wood grasping machine comprises a base, a large arm hoisting mechanism, a wrist connecting rod pitching mechanism, a wrist, a gripper and a servo driving device, wherein the large arm hoisting mechanism is composed of a second driving rod 19, a third connecting rod 3 and a large arm 5; one end of the second driving rod 19 is connected with the base 1 through a second rotary pair 17 and the other end of the second driving rod 19 is connected with the large arm 5 through a third rotary pair 18; one end of the third connecting rod 3 is connected with the base 1 through a tenth rotary pair 2 and the other end of the third connecting rod 3 is connected with the large arm 5 through a first rotary pair 4; the servo driving device comprises a first servo motor and a second servo motor which are connected with a first driving rod 15 and a second driving rod 19 respectively to drive the first driving rod and the second driving rod to rotate, so that large arm hoisting, pitching of a wrist connecting rod 7 and the wrist 27 and other movements are jointly finished and wood grasping work of the gripper 28 is realized. According to the multi-degree-of-freedom connecting rod mechanism wood grasping machine provided by the invention, the disadvantage that a driving motor of an open-chain structure needs to be mounted at a joint position is overcome, and the stability and reliability of movement of the arm are improved.

Description

technical field [0001] The invention relates to the mechanical field, in particular to a wood grabber driven by a servo motor with a multi-degree-of-freedom linkage 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 eff...

AI Technical Summary

Problems solved by technology

[0004] A servo motor-driven connecting rod type variable-degree-of-freedom wood grabber of the present invention adopts a controllable multi-rod closed-chain mechanism, which overcomes the disadvantage that the driving motors of the open-chain structure need to be installed at joint positions, and improves the stability of the arm operation and reliability, no cumulative error, high precision; compact structure, high rigidity, large load-carrying capacity, low inertia, good dynamic performance, flexible and diverse arm movement trajectory, overcomes the high precision requirements of hydraulic system components of hydraulic log grabbers, Disadvantages such as complex structure, easy oil leakage, poor reliability, and low transmission efficiency

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