CN106608526A - Novel variable-freedom-degree-linkage-mechanism log grasper provided with rotation pair locking devices - Google Patents
Novel variable-freedom-degree-linkage-mechanism log grasper provided with rotation pair locking devices Download PDFInfo
- Publication number
- CN106608526A CN106608526A CN201611063087.2A CN201611063087A CN106608526A CN 106608526 A CN106608526 A CN 106608526A CN 201611063087 A CN201611063087 A CN 201611063087A CN 106608526 A CN106608526 A CN 106608526A
- Authority
- CN
- China
- Prior art keywords
- rod
- locking
- arm
- wrist
- driving lever
- Prior art date
Links
- 210000000707 Wrist Anatomy 0.000 claims abstract description 20
- 210000002683 Foot Anatomy 0.000 claims description 5
- 210000004247 Hand Anatomy 0.000 claims 1
- 230000005540 biological transmission Effects 0.000 abstract description 4
- 230000001174 ascending Effects 0.000 abstract 1
- 239000012530 fluid Substances 0.000 description 3
- 239000010720 hydraulic oil Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 239000003921 oil Substances 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000001186 cumulative Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
Abstract
A novel variable-freedom-degree-linkage-mechanism log grasper provided with rotation pair locking devices is characterized by comprising a base 19, a second driving rod 21, a second connection rod 2, an upper arm 4, a wrist connection rod 7, a first driving rod 17, a big arm 9, a fourth connection rod 14, a first connection rod 12, a wrist 27, a gripper 28, a servo drive device and a third connection rod 10, wherein a first electromagnetic locking device 23 is installed on a second rotation pair 15, and a second electromagnetic locking device 24 is installed on a tenth rotation pair 3; the servo drive device comprises a first servo motor and a second servo motor, the first servo motor is connected with the first driving rod 17 so as to drive the first driving rod 17 to rotate, and the second servo motor is connected with the second driving rod 21 so as to drive the second driving rod 21 to rotate; and the first locking device 23 and the second locking device 24 conduct locking in an electromagnetic manner, the first locking device 23 and the second locking device 24 jointly complete the motions such as ascending and descending of the big arm and pitching of the wrist connection rod and the wrist, and then log grasping operation can be achieved by the gripper 28. According to the novel variable-freedom-degree-linkage-mechanism log grasper provided with the rotation pair locking devices, a variable-freedom-degree linkage transmission mechanism is adopted to replace traditional hydraulic transmission, and the defects that a hydraulic system of a hydraulic log grasper is complicated and prone to leaking oil are overcome.
Description
Technical field
The present invention relates to mechanical field, particularly a kind of new containing the variable freedom linkage for rotating secondary locking device
Timber grab.
Background technology
Over the years, as the personnel of labour market are in short supply, human cost is risen year by year, promotes timber grab in timber
Fell the extensive application in processing transport operation.Timber grab has mechanical type and fluid pressure type two types, the machinery of current timber grab
Arm great majority are hydraulic-drivens, there is problems with as the medium of transmission power using hydraulic oil due to hydraulic drive：Which rises
Dynamic property is poor, and easily because leakage is produced after inner member abrasion, and the hydraulic oil for leaking pollutes the environment, and affects timber former
The quality of material；Hydraulic oil temperature influence is larger, and aggregate efficiency is relatively low, has sometimes noise and vibration.It sometimes appear that overheated, work
The phenomenon such as powerless；Hydraulic Elements requirement on machining accuracy is high, and matching requirements are strict, and manufacture is more difficult, and maintenance in use will
Ask technology higher, difficulty is larger.With the increase of timber grab function, its hydraulic system becomes increasingly complex, and breaks down and has more
It is sudden, disguised.Mechanical type timber grab be using mechanical transmissioning piece realize grab wooden action, have the advantages that it is sturdy and durable, but
It is that traditional single-degree-of-freedom mechanical type timber grab can not complete complicated action, range of application is extremely limited, the controllable machine of mechanical type
The electronic timber grab of structure, instead of hydraulic drive with linkage, when driving lever is driven by servomotor, easily realize automatic
Change, NC postprocessing control, solve some shortcomings of hydraulic system presence, but existing needs outfit equal with linkage degree of freedom
Mechanism's weight, movement inertia that complex structure is brought is big and the problem of high cost to be controlled for the controlled motor of quantity.
Variable Freedom Mechanism adapts to the functional requirement of different phase by being combined into new topological structure.Can apply at present
It is also little in actual Variable Freedom Mechanism, had not seen the Variable Freedom Mechanism for being applied to timber grab.
The content of the invention
It is an object of the invention to provide a kind of variable freedom linkage containing rotation secondary locking device is new to grab wood
Machine, overcomes the shortcomings of fluid pressure type timber grab hydraulic system element required precision height, complex structure, easy oil leakage, overcomes open-chain structure
Motor be required for the shortcoming installed in joint position, and cause the quantity of controllable drive motor to be less than timber grab connecting rod machine
The degree of freedom of structure, overcomes the electronic timber grab structure of existing machinery formula to need to be equipped with the control electricity with linkage degree of freedom equivalent amount
Machine simplifies the complexity of structure the shortcoming that is controlled, the weight of reducing mechanism, movement inertia, volume and cost.For reality
Existing above-mentioned purpose, the present invention provide a kind of new timber grab of variable freedom linkage containing rotation secondary locking device, including
Base 19, the second driving lever 21, second connecting rod 2, upper arm 4, wrist connecting rod 7, the first driving lever 17, large arm 9, fourth link 14,
First connecting rod 12, wrist 27, paw 28, servo drive and third connecting rod 10；The base 19 is arranged on and may move back
Turn on platform；Described second driving lever, 21 one end is connected on base 19 by eighth-turn dynamic secondary 20, and the second driving lever 21 is another
End is rotated secondary 1 by the 9th and is connected with 2 one end of second connecting rod, and 2 other end of second connecting rod rotates secondary 3 with upper arm 4 one by the tenth
End connection, 4 other end of upper arm rotate secondary 6 by the 11st and are connected on wrist connecting rod 7；Described first driving lever, 17 one end passes through
6th rotates secondary 16 is connected on base 19, and 17 other end of the first driving lever is rotated secondary 18 by the 7th and is connected with 9 one end of large arm,
9 other end of large arm rotates secondary 8 by the 5th and is connected on wrist connecting rod 7；14 one end of the fourth link rotates secondary by first
13 be connected on base 19,14 other end of fourth link is rotated secondary 15 by second and is connected with 12 one end of first connecting rod, first
12 other end of connecting rod is rotated secondary 11 by the 3rd and is connected with third connecting rod 10, and the other end of third connecting rod 10 rotates secondary by the 4th
5 are connected on upper arm 4；Rotate second and first electromagnetic locking device 23 is installed on secondary 15；Rotate the tenth and be provided with secondary 3
Second electromagnetic locking device 24；Servo drive includes the first servomotor, the second servomotor, with the first driving lever 17,
Second driving lever 21 connects to drive which to rotate；First locking device 23 and the second locking device 24 are locked using electromagnetic mode
Tightly, according to different working conditions, tight lock is selected respectively or is opened, complete jointly bowing for large arm lifting, wrist connecting rod and wrist
The motion such as face upward, that realizes paw 28 grabs carpentery workshop industry.
The present invention adopts controllable many bar closed chain mechanisms, the motor for overcoming open-chain structure to be required for installed in joint position
The shortcoming put, improves the stationarity and reliability of arm operation, and without cumulative error, precision is higher；Compact conformation, rigidity are high,
Large carrying capacity, inertia are low, dynamic property is good, arm motion track flexible and diverse.Install locking device on linkage additional,
And allow which that specific rotation pair is locked and loosened according to the different operating modes of mechanism, the degree of freedom of mechanism is reduced in good time, is realized
In the case where expected requirement is completed, the quantity of the controllable drive motor for using is less than the degree of freedom of timber grab linkage, profit
Two degrees of freedom is capable of achieving with a driving lever and grabs carpentery workshop industry, overcome existing timber grab to need outfit equal with linkage degree of freedom
The controlled motor of quantity simplifies the complexity of structure, the weight of reducing mechanism, movement inertia, body come the shortcoming being controlled
Product and cost, increased the controllability and stability of mechanism, improve work efficiency.Also overcome fluid pressure type timber grab liquid simultaneously
Pressure system element required precision height, complex structure, easy oil leakage, poor reliability, the low shortcoming of transmission efficiency.
Description of the drawings
Fig. 1 is a kind of signal containing the new timber grab of variable freedom linkage for rotating secondary locking device of the present invention
Figure.
Specific embodiment
It is a kind of to lead containing the new timber grab of variable freedom linkage for rotating secondary locking device, including base 19, second
Lever 21, second connecting rod 2, upper arm 4, wrist connecting rod 7, the first driving lever 17, large arm 9, fourth link 14, first connecting rod 12, handss
Wrist 27, paw 28, servo drive and third connecting rod 10；The base 19 is arranged on removable revolving dial；Institute
State 21 one end of the second driving lever to be connected on base 19 by eighth-turn dynamic secondary 20,21 other end of the second driving lever passes through the 9th turn
Dynamic secondary 1 is connected with 2 one end of second connecting rod, and 2 other end of second connecting rod is rotated secondary 3 by the tenth and is connected with 4 one end of upper arm, upper arm 4
The other end rotates secondary 6 by the 11st and is connected on wrist connecting rod 7；Described first driving lever, 17 one end rotates secondary 16 by the 6th
It is connected on base 19,17 other end of the first driving lever is rotated secondary 18 by the 7th and is connected with 9 one end of large arm, 9 other end of large arm
Secondary 8 are rotated by the 5th to be connected on wrist connecting rod 7；14 one end of the fourth link rotates pair 13 by first and is connected to bottom
On seat 19,14 other end of fourth link is rotated secondary 15 by second and is connected with 12 one end of first connecting rod, 12 other end of first connecting rod
Secondary 11 are rotated by the 3rd to be connected with third connecting rod 10, the other end of third connecting rod 10 rotates secondary 5 by the 4th and is connected to upper arm 4
On；Rotate second and first electromagnetic locking device 23 is installed on secondary 15；Rotate the tenth and second electromagnetic locking is installed on secondary 3
Device 24；Servo drive includes the first servomotor, the second servomotor, with the first driving lever 17, the second driving lever 21
Connect to drive which to rotate；First locking device 23 and the second locking device 24 are locked using electromagnetic mode, according to difference
Working condition, select tight lock respectively or open, complete jointly the motions such as large arm lifting, wrist connecting rod and pitching of wrist, in fact
Show paw 28 grabs carpentery workshop industry.
Claims (1)
1. it is a kind of containing the new timber grab of variable freedom linkage for rotating secondary locking device, it is characterised in that to include：Base
19th, the second driving lever 21, second connecting rod 2, upper arm 4, wrist connecting rod 7, the first driving lever 17, large arm 9, fourth link 14, first
Connecting rod 12, wrist 27, paw 28, servo drive, third connecting rod 10, the first electromagnetic locking device 23 and the second electromagnetic locking
Device 24；The base 19 is arranged on removable revolving dial；Described second driving lever, 21 one end is by the dynamic pair of eighth-turn
20 are connected on base 19, and 21 other end of the second driving lever is rotated secondary 1 by the 9th and is connected with 2 one end of second connecting rod, and second connects
2 other end of bar is rotated secondary 3 by the tenth and is connected with 4 one end of upper arm, and it is in one's hands that 4 other end of upper arm rotates secondary 6 connection by the 11st
On wrist connecting rod 7；Described first driving lever, 17 one end rotates secondary 16 by the 6th and is connected on base 19, and the first driving lever 17 is another
End is rotated secondary 18 by the 7th and is connected with 9 one end of large arm, and 9 other end of large arm rotates secondary 8 by the 5th and is connected to wrist connecting rod 7
On；14 one end of the fourth link rotates secondary 13 by first and is connected on base 19, and 14 other end of fourth link is by the
Two rotate secondary 15 is connected with 12 one end of first connecting rod, and 12 other end of first connecting rod is rotated secondary 11 by the 3rd and connected with third connecting rod 10
Connect, the other end of third connecting rod 10 rotates secondary 5 by the 4th and is connected on upper arm 4；Rotate second first is provided with secondary 15
Electromagnetic locking device 23；Rotate the tenth and second electromagnetic locking device 24 is installed on secondary 3；Servo drive includes that first watches
Motor, the second servomotor are taken, is connected to drive which to rotate with the first driving lever 17, the second driving lever 21；First locking device
23 and second locking device 24 locked using electromagnetic mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611063087.2A CN106608526A (en) | 2016-11-28 | 2016-11-28 | Novel variable-freedom-degree-linkage-mechanism log grasper provided with rotation pair locking devices |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611063087.2A CN106608526A (en) | 2016-11-28 | 2016-11-28 | Novel variable-freedom-degree-linkage-mechanism log grasper provided with rotation pair locking devices |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106608526A true CN106608526A (en) | 2017-05-03 |
Family
ID=58636519
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611063087.2A CN106608526A (en) | 2016-11-28 | 2016-11-28 | Novel variable-freedom-degree-linkage-mechanism log grasper provided with rotation pair locking devices |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106608526A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003103400A (en) * | 2001-09-26 | 2003-04-08 | Toshiba Plant Kensetsu Co Ltd | Automatic welding head construction |
| CN203679567U (en) * | 2013-12-02 | 2014-07-02 | 大连齐车轨道交通装备有限责任公司 | Welding special machine suitable for complex position welding |
| CN204308459U (en) * | 2014-12-10 | 2015-05-06 | 无锡洲翔成套焊接设备有限公司 | Double leval jib swing mechanism |
| CN104594400A (en) * | 2014-12-25 | 2015-05-06 | 广西大学 | Rotatable multiple-connecting-rod controllable excavating mechanism having metamorphic function |
| CN104646881A (en) * | 2014-12-23 | 2015-05-27 | 广西大学 | Method for performing welding construction by use of multi-DOF (Degree Of Freedom) controllable rocking arm type connecting rod mechanism |
| CN204545769U (en) * | 2015-04-08 | 2015-08-12 | 常州铭赛机器人科技股份有限公司 | The lever regulated mechanism of soldering tip |
-
2016
- 2016-11-28 CN CN201611063087.2A patent/CN106608526A/en not_active Application Discontinuation
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003103400A (en) * | 2001-09-26 | 2003-04-08 | Toshiba Plant Kensetsu Co Ltd | Automatic welding head construction |
| CN203679567U (en) * | 2013-12-02 | 2014-07-02 | 大连齐车轨道交通装备有限责任公司 | Welding special machine suitable for complex position welding |
| CN204308459U (en) * | 2014-12-10 | 2015-05-06 | 无锡洲翔成套焊接设备有限公司 | Double leval jib swing mechanism |
| CN104646881A (en) * | 2014-12-23 | 2015-05-27 | 广西大学 | Method for performing welding construction by use of multi-DOF (Degree Of Freedom) controllable rocking arm type connecting rod mechanism |
| CN104594400A (en) * | 2014-12-25 | 2015-05-06 | 广西大学 | Rotatable multiple-connecting-rod controllable excavating mechanism having metamorphic function |
| CN204545769U (en) * | 2015-04-08 | 2015-08-12 | 常州铭赛机器人科技股份有限公司 | The lever regulated mechanism of soldering tip |
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Application publication date: 20170503 |