CN106609514A - Connecting rod type variable freedom degree timber grab driven by servo motor - Google Patents

Connecting rod type variable freedom degree timber grab driven by servo motor Download PDF

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Publication number
CN106609514A
CN106609514A CN201611062535.7A CN201611062535A CN106609514A CN 106609514 A CN106609514 A CN 106609514A CN 201611062535 A CN201611062535 A CN 201611062535A CN 106609514 A CN106609514 A CN 106609514A
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CN
China
Prior art keywords
rod
rotates
arm
wrist
driving lever
Prior art date
Legal status (The legal status 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 status listed.)
Pending
Application number
CN201611062535.7A
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Chinese (zh)
Inventor
不公告发明人
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Guangxi University
Original Assignee
Guangxi University
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Filing date
Publication date
Application filed by Guangxi University filed Critical Guangxi University
Priority to CN201611062535.7A priority Critical patent/CN106609514A/en
Publication of CN106609514A publication Critical patent/CN106609514A/en
Pending legal-status Critical Current

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Classifications

    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F3/00Dredgers; Soil-shifting machines
    • E02F3/04Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/30Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F3/00Dredgers; Soil-shifting machines
    • E02F3/04Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/30Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
    • E02F3/301Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom with more than two arms (boom included), e.g. two-part boom with additional dipper-arm
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F3/00Dredgers; Soil-shifting machines
    • E02F3/04Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36Component parts
    • E02F3/40Dippers; Buckets Grab device, e.g. manufacturing processes for buckets, form, geometry, material of buckets
    • E02F3/413Dippers; Buckets Grab device, e.g. manufacturing processes for buckets, form, geometry, material of buckets with grabbing device
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F3/00Dredgers; Soil-shifting machines
    • E02F3/04Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36Component parts
    • E02F3/42Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/425Drive systems for dipper-arms, backhoes or the like

Abstract

The invention discloses a connecting rod type variable freedom degree timber grab driven by a servo motor. The connecting rod type variable freedom degree timber grab comprises a base, a big arm telescopic mechanism, a lifting mechanism, a wrist connecting rod pitching mechanism, a wrist, a paw, a servo drive device and two locking devices. The big arm telescopic mechanism comprises a first connecting rod, a second connecting rod and a third connecting rod. One end of the first connecting rod is connected with the base through a first rotation pair, and the other end of the first connecting rod is connected with one end of the third connecting rod through a third rotation pair. The other end of the third connecting rod is connected with the second connecting rod through a fourth rotation pair. One end of the second connecting rod is connected with the base through a second rotation pair, and the other end of the second connecting rod is connected with the big arm through a fifth rotation pair. The locking devices are arranged on rotation pairs. A connecting rod transmission mechanism is adopted in the connecting rod type variable freedom degree timber grab for replacing traditional hydraulic transmission, and the defects that a hydraulic timber grab hydraulic system is complex, and oil leakage is likely to happen can be overcome; and due to the fact that the locking devices are adopted in the rotation pairs, the three-freedom-degree timber grabbing work can be achieved by utilizing two drive rods.

Description

A kind of servomotor drive link formula can variable freedom timber grab
Technical field
The present invention relates to mechanical field, particularly a kind of servomotor drive link formula can variable freedom timber grab.
Background technology
Over the years, because the personnel of labour market are in short supply, human cost rises 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:It rises Dynamic property is poor, and easily because producing leakage 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, there is noise and vibration sometimes.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, with linkage hydraulic drive is instead of, and when driving lever is driven by servomotor, is easily realized automatic Change, NC postprocessing control, solve some shortcomings of hydraulic system presence, but existing needs outfit equal with linkage degree of freedom The controlled motor of quantity is being controlled big and high cost the problem of mechanism's weight, movement inertia that complex structure is brought.
Variable Freedom Mechanism is by the functional requirement that is combined into new topological structure to adapt to different phase.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 servomotor drive link formula can variable freedom timber grab, overcome fluid pressure type to grab wood Machine hydraulic system components accuracy has high demands, complex structure, easy oil leakage the shortcomings of, overcome open-chain structure motor be required for peace The shortcoming of joint position is mounted in, and causes the quantity of controllable drive motor less than the degree of freedom of timber grab linkage, overcome existing There is mechanical type electric timber grab structure to need be equipped with the controlled motor with linkage degree of freedom equivalent amount to be controlled to lack Point, simplifies the complexity of structure, the weight of reducing mechanism, movement inertia, volume and cost.For achieving the above object, this It is bright there is provided a kind of servomotor drive link formula can variable freedom timber grab, including base 1, large arm telescoping mechanism, elevator Structure, wrist connecting rod luffing mechanism, wrist 31, paw 32, servo drive, the first locking device 7 and the second locking device 29; The large arm telescoping mechanism includes first connecting rod 27, second connecting rod 23 and third connecting rod 24, the one end of the first connecting rod 27 and bottom Seat 1 rotates secondary 28 and connects by first, and the other end of first connecting rod 27 rotates secondary 26 and connects with the one end of third connecting rod 24 by the 3rd Connect, the other end of third connecting rod 24 rotates secondary 25 and is connected with second connecting rod 23 by the 4th;The one end of second connecting rod 23 leads to base 1 Cross the second rotation secondary 22 to connect, the other end of second connecting rod 23 rotates secondary 9 and is connected with large arm 8 by the 5th;The elevating mechanism bag Forearm 14, the 5th connecting rod 18, the driving lever 20 of six-bar linkage 16 and first are included, first driving lever 20 passes through the 8th with base 1 Rotate secondary 21 to connect, the other end of the first driving lever 20 rotates secondary 19 and is connected with the one end of the 5th connecting rod 18 by the 9th, and the 5th connects The other end of bar 18 and the one end of forearm 14 rotate secondary 15 and be connecteds by the tenth, and the other end and the wrist connecting rod 12 of forearm 14 pass through the 14 rotate secondary 13 connects, and one end of six-bar linkage 16 rotates secondary 17 and is connected with forearm 14 by the 15th, six-bar linkage 16 The other end rotates secondary 10 and is connected with large arm 8 by the 16th;The wrist connecting rod luffing mechanism includes the second driving lever the 3, the 4th Connecting rod 5, large arm 8 and wrist connecting rod 12, second driving lever 3 rotates secondary 2 and is connected with base 1 by the 11st, and described second The other end of driving lever 3 and the one end of fourth link 5 rotate secondary 4 and be connecteds by the 12nd, the other end of fourth link 5 and large arm 8 one End rotates secondary 6 and connects by the 6th, and the other end of large arm 8 rotates secondary 11 and is connected with wrist connecting rod 12 by the 13rd;First lock The tight locking device 29 of device 7 and second is separately mounted to the 6th rotation secondary 6 and the 4th and rotates at secondary 25, can be according to different works Condition is locked in good time;Servo drive include the first servomotor, the second servomotor, respectively with the first driving lever 20 and Second driving lever 3 connects to drive it to rotate;First locking device 7 and the second locking device 29 are locked using electromagnetic mode Tightly.
A kind of servomotor drive link formula of the present invention can variable freedom timber grab adopt controllable many bar closed chain mechanisms, overcome The motor of open-chain structure is required for being arranged on the shortcoming of joint position, improves the stationarity and reliability of arm operation Property, without cumulative error, precision is higher;Compact conformation, rigidity is high, and large carrying capacity, inertia are low, dynamic property is good, arm motion Track flexible and diverse.Install locking device additional on linkage, and allow it that spy is locked and loosened according to the different operating modes of mechanism Fixed rotation pair, reduces the degree of freedom of mechanism in good time, realizes in the case where expected requirement is completed, the controllable driving for using The quantity of motor is capable of achieving Three Degree Of Freedom and grabs carpentery workshop industry less than the degree of freedom of timber grab linkage using two driving levers, gram The shortcoming that existing timber grab needs to be equipped with the controlled motor with linkage degree of freedom equivalent amount to be controlled is taken, simplifies knot The complexity of structure, the weight of reducing mechanism, movement inertia, volume and cost, increased the controllability and stability of mechanism, carry High work efficiency.Also overcome simultaneously fluid pressure type timber grab hydraulic system element required precision height, complex structure, easy oil leakage, The low shortcoming of poor reliability, transmission efficiency.
Description of the drawings
Fig. 1 can variable freedom timber grab schematic diagram for a kind of servomotor drive link formula of the present invention.
Specific embodiment
A kind of servomotor drive link formula can variable freedom timber grab, including base 1, large arm telescoping mechanism, elevating mechanism, handss Wrist connecting rod luffing mechanism, wrist 31, paw 32, servo drive, the first locking device 7 and the second locking device 29;It is described Base 1 is arranged on removable revolving dial;The large arm telescoping mechanism includes first connecting rod 27, second connecting rod 23 and the 3rd Connecting rod 24, one end of the first connecting rod 27 rotates secondary 28 and is connected with base 1 by first, the other end of first connecting rod 27 and the 3rd The one end of connecting rod 24 rotates secondary 26 and connects by the 3rd, and the other end and the second connecting rod 23 of third connecting rod 24 rotate secondary 25 by the 4th Connection;The one end of second connecting rod 23 and base 1 rotate secondary 22 and be connecteds by second, and the other end of second connecting rod 23 and large arm 8 pass through the Five rotate secondary 9 connects;The elevating mechanism includes forearm 14, the 5th connecting rod 18, the driving lever 20 of six-bar linkage 16 and first, institute State the first driving lever 20 to be connected by eighth-turn dynamic secondary 21 with base 1, the other end and the 5th connecting rod 18 1 of the first driving lever 20 End rotates secondary 19 and connects by the 9th, and the other end of the 5th connecting rod 18 rotates secondary 15 and is connected with the one end of forearm 14 by the tenth, little The other end of arm 14 and wrist connecting rod 12 rotate secondary 13 and be connecteds by the 14th, and one end and the forearm 14 of six-bar linkage 16 pass through the 15 rotate secondary 17 connects, and the other end of six-bar linkage 16 rotates secondary 10 and is connected with large arm 8 by the 16th;The wrist connecting rod Luffing mechanism includes the second driving lever 3, fourth link 5, large arm 8 and wrist connecting rod 12, and second driving lever 3 leads to base 1 Cross the 11st rotation secondary 2 to connect, the other end of second driving lever 3 rotates secondary 4 and connects with the one end of fourth link 5 by the 12nd Connect, the other end of fourth link 5 rotates secondary 6 and is connected with the one end of large arm 8 by the 6th, the other end and the wrist connecting rod 12 of large arm 8 lead to Cross the 13rd rotation secondary 11 to connect;First locking device 7 and the second locking device 29 are separately mounted to the 6th rotation secondary 6 and the 4th Rotate at secondary 25, can in good time be locked according to different operating modes;Servo drive includes that the first servomotor, second are watched Motor is taken, is connected to drive it to rotate with the first driving lever 20 and the second driving lever 3 respectively;First locking device 7 and the second lock Tight device 29 is locked using electromagnetic mode.
A kind of servomotor drive link formula of the present invention can variable freedom timber grab in operating mode operation, large arm 8 is stretched During contracting, the first locking device 7 of the 6th rotation vice division chief 6 is opened, and the 6th rotates secondary 6 degree of gaining freedom, and the 4th rotates at secondary 25 Second locking device 29 is locked, and the 4th rotates secondary 25 loses degree of freedom, and now, large arm 8 is realized flexible.6th rotates vice division chief 6 First locking device 7 is locked, and the 6th rotates secondary 6 loses degree of freedom, and the 4th rotates the second locking device 29 at secondary 25 opens, the Four rotate secondary 25 degree of gaining freedom, and now, large arm 8 realizes lifting.Rotate the rotation secondary 25 of pair 6 and the 4th to the 6th all to lock Tightly, the 6th rotation secondary 6 and the 4th rotation secondary 25 loses degree of freedom, and wrist connecting rod 12 is implemented separately pitching.First locking device 7 With the second locking device 29 according to different working conditions, tight lock is selected respectively or is opened, complete jointly large arm lifting and it is flexible, The motion such as pitching of wrist connecting rod 12 and wrist 31, that realizes paw 32 grabs carpentery workshop industry.First locking device 7 and the second locking dress Put 29 to be locked using electromagnetic mode, control is easily realized.
The invention enables the quantity of controllable drive motor overcomes existing timber grab less than the degree of freedom of timber grab linkage The shortcoming for being equipped with the controlled motor with linkage degree of freedom equivalent amount to be controlled is needed, simplifies the complicated journey of structure Each connecting rod rod member is made lighter bar by degree, the weight of reducing mechanism, movement inertia, volume and cost, the timber grab of the present invention, so as to So that whole mechanism kinematic inertia is little, dynamic performance is good, it is easy to control, and by arranging revolving dial, makes timber grab possess 360 The revolution work space of degree, Work Space Range is big.

Claims (1)

1. a kind of servomotor drive link formula can variable freedom timber grab, it is characterised in that include:Base 1, large arm telescopic machine Structure, elevating mechanism, wrist connecting rod luffing mechanism, wrist 31, paw 32, servo drive, the first locking device 7 and the second lock Tight device 29;The base 1 is arranged on removable revolving dial;The large arm telescoping mechanism includes first connecting rod 27, second Connecting rod 23 and third connecting rod 24, one end of the first connecting rod 27 rotates secondary 28 and is connected with base 1 by first, first connecting rod 27 The other end rotates secondary 26 and is connected with the one end of third connecting rod 24 by the 3rd, and the other end and the second connecting rod 23 of third connecting rod 24 pass through 4th rotates secondary 25 connects;The one end of second connecting rod 23 and base 1 rotate secondary 22 and be connecteds by second, the other end of second connecting rod 23 and Large arm 8 rotates secondary 9 and connects by the 5th;The elevating mechanism includes forearm 14, the 5th connecting rod 18, six-bar linkage 16 and first Driving lever 20, first driving lever 20 and base 1 are connected by eighth-turn dynamic secondary 21, the other end of the first driving lever 20 and the The one end of five connecting rod 18 rotates secondary 19 and connects by the 9th, and the other end and the one end of forearm 14 of the 5th connecting rod 18 rotate secondary by the tenth 15 connections, the other end of forearm 14 rotates pair 13 and is connected with wrist connecting rod 12 by the 14th, one end of six-bar linkage 16 with it is little Arm 14 rotates secondary 17 and connects by the 15th, and the other end of six-bar linkage 16 rotates secondary 10 and is connected with large arm 8 by the 16th;Institute Wrist connecting rod luffing mechanism is stated including the second driving lever 3, fourth link 5, large arm 8 and wrist connecting rod 12, second driving lever 3 Secondary 2 are rotated with base 1 by the 11st to be connected, the other end and the one end of fourth link 5 of second driving lever 3 pass through the 12nd Rotate secondary 4 to connect, the other end of fourth link 5 rotates secondary 6 and is connected with the one end of large arm 8 by the 6th, the other end and wrist of large arm 8 Connecting rod 12 rotates secondary 11 and connects by the 13rd;First locking device 7 and the second locking device 29 are separately mounted to the 6th rotation Secondary 6 and the 4th rotate at secondary 25, can in good time be locked according to different operating modes;Servo drive includes the first servo electricity Machine, the second servomotor, are connected to drive it to rotate with the first driving lever 20 and the second driving lever 3 respectively;First locking device 7 and second locking device 29 locked using electromagnetic mode.
CN201611062535.7A 2016-11-28 2016-11-28 Connecting rod type variable freedom degree timber grab driven by servo motor Pending CN106609514A (en)

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Application Number Priority Date Filing Date Title
CN201611062535.7A CN106609514A (en) 2016-11-28 2016-11-28 Connecting rod type variable freedom degree timber grab driven by servo motor

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Application Number Priority Date Filing Date Title
CN201611062535.7A CN106609514A (en) 2016-11-28 2016-11-28 Connecting rod type variable freedom degree timber grab driven by servo motor

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106607914A (en) * 2016-11-28 2017-05-03 广西大学 Servo drive rod type variable freedom degree mechanical arm used for assembling work
CN106759570A (en) * 2016-11-30 2017-05-31 广西大学 A kind of servomotor drives has variable active degree linkage

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08226128A (en) * 1995-02-22 1996-09-03 Okada Aiyon Kk Stone gripper and stone masonry method
JP3718111B2 (en) * 2000-07-06 2005-11-16 日立建機株式会社 Work machine
CN104047316A (en) * 2014-06-27 2014-09-17 广西大学 Multi-freedom-degree controllable excavating mechanism with driving metamorphism function
CN104452840A (en) * 2014-11-11 2015-03-25 广西大学 Multi-degree-of-freedom metamorphism controllable excavation mechanism comprising parallelogram bucket maintaining mechanism
CN104631524A (en) * 2014-12-25 2015-05-20 广西大学 Multi-connecting-rod controllable excavation mechanism based on electromagnetic initiative metamorphism
CN106049572A (en) * 2016-06-24 2016-10-26 山东交通学院 Multiunit connecting rod driving heavy electro-hydraulic controllable sliding wood forking machine
CN106607914A (en) * 2016-11-28 2017-05-03 广西大学 Servo drive rod type variable freedom degree mechanical arm used for assembling work

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08226128A (en) * 1995-02-22 1996-09-03 Okada Aiyon Kk Stone gripper and stone masonry method
JP3718111B2 (en) * 2000-07-06 2005-11-16 日立建機株式会社 Work machine
CN104047316A (en) * 2014-06-27 2014-09-17 广西大学 Multi-freedom-degree controllable excavating mechanism with driving metamorphism function
CN104452840A (en) * 2014-11-11 2015-03-25 广西大学 Multi-degree-of-freedom metamorphism controllable excavation mechanism comprising parallelogram bucket maintaining mechanism
CN104631524A (en) * 2014-12-25 2015-05-20 广西大学 Multi-connecting-rod controllable excavation mechanism based on electromagnetic initiative metamorphism
CN106049572A (en) * 2016-06-24 2016-10-26 山东交通学院 Multiunit connecting rod driving heavy electro-hydraulic controllable sliding wood forking machine
CN106607914A (en) * 2016-11-28 2017-05-03 广西大学 Servo drive rod type variable freedom degree mechanical arm used for assembling work

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106607914A (en) * 2016-11-28 2017-05-03 广西大学 Servo drive rod type variable freedom degree mechanical arm used for assembling work
CN106759570A (en) * 2016-11-30 2017-05-31 广西大学 A kind of servomotor drives has variable active degree linkage

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Application publication date: 20170503