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 PDF

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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
Application number
CN201611063087.2A
Other languages
Chinese (zh)
Inventor
不公告发明人
Original Assignee
广西大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 广西大学 filed Critical 广西大学
Priority to CN201611063087.2A priority Critical patent/CN106608526A/en
Publication of CN106608526A publication Critical patent/CN106608526A/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00Arms
    • B25J18/02Arms extensible
    • B25J18/04Arms extensible rotatable
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/007Manipulators mounted on wheels or on carriages mounted on wheels
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0009Constructional details, e.g. manipulator supports, bases
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices 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

A kind of new timber grab of variable freedom linkage containing rotation secondary locking device
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.
CN201611063087.2A 2016-11-28 2016-11-28 Novel variable-freedom-degree-linkage-mechanism log grasper provided with rotation pair locking devices CN106608526A (en)

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

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CN106608526A true CN106608526A (en) 2017-05-03

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Citations (6)

* Cited by examiner, † Cited by third party
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

Patent Citations (6)

* Cited by examiner, † Cited by third party
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