CN106609517A - Multi-freedom-degree connecting rod mechanism novel wood grabbing machine driven by servo motors - Google Patents
Multi-freedom-degree connecting rod mechanism novel wood grabbing machine driven by servo motors Download PDFInfo
- Publication number
- CN106609517A CN106609517A CN201611063090.4A CN201611063090A CN106609517A CN 106609517 A CN106609517 A CN 106609517A CN 201611063090 A CN201611063090 A CN 201611063090A CN 106609517 A CN106609517 A CN 106609517A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- driving lever
- drive rod
- drive
- freedom
- 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
Links
- 230000007246 mechanism Effects 0.000 title abstract description 7
- 239000002023 wood Substances 0.000 title abstract description 6
- 210000000707 wrist Anatomy 0.000 claims abstract description 11
- 230000005611 electricity Effects 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 abstract description 5
- 239000012530 fluid Substances 0.000 description 3
- 239000010720 hydraulic oil Substances 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000003921 oil Substances 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012805 post-processing Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; 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
- E02F3/30—Dredgers; 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
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; 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
- E02F3/30—Dredgers; 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
- E02F3/301—Dredgers; 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
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; 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
- E02F3/36—Component parts
- E02F3/40—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets
- E02F3/413—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets with grabbing device
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; 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
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/425—Drive systems for dipper-arms, backhoes or the like
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a multi-freedom-degree connecting rod mechanism novel wood grabbing machine driven by servo motors. The multi-freedom-degree connecting rod mechanism novel wood grabbing machine comprises a base 9, a first drive rod 1, a second drive rod 2, a third drive rod 3, a third connecting rod 4, a fourth connecting rod 7, a first connecting rod 5, a large arm 6, a wrist 20, a gripper 8 and a servo drive device. One end of the large arm 6 is connected with the fourth connecting rod 7 through a ninth rotation pair 19, and the other end of the large arm 6 is connected with the gripper 8 through the wrist 20. The servo drive device comprises the first servo motor, the second servo motor and the third servo motor which are connected with the first drive rod 1, the second drive rod 2 and the third drive rod 3 correspondingly to drive the first drive rod 1, the second drive rod 2 and the third drive rod 3 to rotate. The first drive rod 1, the second drive rod 2 and the third drive rod 3 conduct driving together to complete the movements such as large arm lifting and pitching of the wrist 20, and wood grabbing work of the gripper 8 is achieved. According to the multi-freedom-degree connecting rod mechanism novel wood grabbing machine driven by the servo motors, the motors are installed on the base, and the problems that open chain structures are large in arm weight, poor in dynamic performance and the like are solved.
Description
Technical field
The present invention relates to mechanical field, particularly one kind are driven using servomotor, and multiple degrees of freedom linkage is new to grab wood
Machine.
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 is controlled, and solves some shortcomings of hydraulic system presence.
The content of the invention
It is an object of the invention to provide a kind of drive the new timber grab of multiple degrees of freedom linkage using servomotor, gram
The shortcomings of fluid pressure type timber grab hydraulic system element required precision height, complex structure, easy oil leakage is taken, the driving of open-chain structure is overcome
Motor is required for the shortcoming installed in joint position, simplifies the complexity of structure, the weight of reducing mechanism, movement inertia, body
Product and cost.For achieving the above object, the present invention is provided and a kind of is driven using servomotor that multiple degrees of freedom linkage is new to grab
Wooden machine, including base 9, the first driving lever 1, the second driving lever 2, the 3rd driving lever 3, third connecting rod 4, fourth link 7, first company
Bar 5, large arm 6, wrist 20, paw 8 and servo drive, described first driving lever, 1 one end by first rotate secondary 11 with
Base 9 connects, and the other end is rotated secondary 14 by the 4th and is connected with third connecting rod 4, and 4 other end of third connecting rod rotates secondary by the 5th
15 are connected with first connecting rod 5；Described second driving lever, 2 one end is rotated secondary 12 by second and is connected with base 9, and the other end passes through
6th rotates secondary 16 is connected with first connecting rod 5；Described 3rd driving lever, 3 one end is rotated secondary 13 by the 3rd and is connected with base 9,
The other end is connected with fourth link 7 by eighth-turn dynamic secondary 18；6 one end of the large arm rotates secondary 19 and fourth link by the 9th
7 connections, the other end is connected with paw 8 by wrist 20, servo drive include the first servomotor, the second servomotor,
3rd servomotor, is connected with the first driving lever 1, the second driving lever 2 and the 3rd driving lever 3 to drive which to rotate, first respectively
Driving lever 1, the second driving lever 2 and 3 common driving of the 3rd driving lever complete the motions such as large arm lifting and the pitching of wrist 20, realize
Paw 8 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, overcome fluid pressure type timber grab hydraulic pressure system
System components accuracy have high demands, complex structure, easy oil leakage, poor reliability, the low shortcoming of transmission efficiency.
Description of the drawings
Fig. 1 drives multiple degrees of freedom linkage new timber grab mechanism to show using servomotor for one kind of the present invention
It is intended to.
Specific embodiment
It is a kind of that the new timber grab of multiple degrees of freedom linkage, including base 9, the first driving lever 1, second are driven using servomotor
Driving lever 2, the 3rd driving lever 3, third connecting rod 4, fourth link 7, first connecting rod 5, large arm 6, wrist 20, paw 8 and servo
Driving means；The base 9 is arranged on removable revolving dial；Described first driving lever, 1 one end rotates secondary 11 by first
It is connected with base 9, the other end is rotated secondary 14 by the 4th and is connected with third connecting rod 4, and 4 other end of third connecting rod is rotated by the 5th
Secondary 15 are connected with first connecting rod 5；Described second driving lever, 2 one end is rotated secondary 12 by second and is connected with base 9, and the other end leads to
Cross the 6th rotation secondary 16 to be connected with first connecting rod 5；Described 3rd driving lever, 3 one end is rotated secondary 13 by the 3rd and is connected with base 9
Connect, the other end is connected with fourth link 7 by eighth-turn dynamic secondary 18；6 one end of the large arm rotates secondary 19 and the 4th by the 9th
Connecting rod 7 connects, and the other end is connected with paw 8 by wrist 20, and servo drive includes the first servomotor, the second servo electricity
Machine, the 3rd servomotor, are connected with the first driving lever 1, the second driving lever 2 and the 3rd driving lever 3 to drive which to rotate respectively, the
One driving lever 1, the second driving lever 2 and 3 common driving of the 3rd driving lever complete the motions such as large arm lifting and the pitching of wrist 20, real
Show paw 8 grabs carpentery workshop industry.
Claims (1)
1. it is a kind of that the new timber grab of multiple degrees of freedom linkage is driven using servomotor, including base 9, the first driving lever 1, the
Two driving levers 2, the 3rd driving lever 3, third connecting rod 4, fourth link 7, first connecting rod 5, large arm 6, wrist 20, paw 8 and watch
Driving means are taken, the base 9 is arranged on removable revolving dial；Described first driving lever, 1 one end rotates secondary by first
11 are connected with base 9, and the other end is rotated secondary 14 by the 4th and is connected with third connecting rod 4, and 4 other end of third connecting rod passes through the 5th turn
Dynamic secondary 15 are connected with first connecting rod 5；Described second driving lever, 2 one end is rotated secondary 12 by second and is connected with base 9, the other end
Secondary 16 are rotated by the 6th to be connected with first connecting rod 5；Described 3rd driving lever, 3 one end is rotated secondary 13 by the 3rd and is connected with base 9
Connect, the other end is connected with fourth link 7 by eighth-turn dynamic secondary 18；6 one end of the large arm rotates secondary 19 and the 4th by the 9th
Connecting rod 7 connects, and the other end is connected with paw 8 by wrist 20, and servo drive includes the first servomotor, the second servo electricity
Machine, the 3rd servomotor, are connected to drive which to rotate with the first driving lever 1, the second driving lever 2 and the 3rd driving lever 3 respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611063090.4A CN106609517A (en) | 2016-11-28 | 2016-11-28 | Multi-freedom-degree connecting rod mechanism novel wood grabbing machine driven by servo motors |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611063090.4A CN106609517A (en) | 2016-11-28 | 2016-11-28 | Multi-freedom-degree connecting rod mechanism novel wood grabbing machine driven by servo motors |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106609517A true CN106609517A (en) | 2017-05-03 |
Family
ID=58635960
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611063090.4A Pending CN106609517A (en) | 2016-11-28 | 2016-11-28 | Multi-freedom-degree connecting rod mechanism novel wood grabbing machine driven by servo motors |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106609517A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0760679A (en) * | 1993-08-31 | 1995-03-07 | Takenaka Komuten Co Ltd | Manipulator |
| JP2000170201A (en) * | 1998-12-09 | 2000-06-20 | Hitachi Constr Mach Co Ltd | Working device for construction machine |
| CN103168569A (en) * | 2013-02-08 | 2013-06-26 | 广西大学 | Branch-chain stop control type multiple-freedom-degree link mechanism form sugarcane loading machine |
| CN103737207A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Parallel-serial welding robot mechanism with six degrees of freedom |
| CN104047316A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Multi-freedom-degree controllable excavating mechanism with driving metamorphism function |
| CN104626092A (en) * | 2014-12-17 | 2015-05-20 | 广西大学 | Four-freedom-degree controllable mechanism type movable mechanical arm with seven connecting rods |
| CN106799744A (en) * | 2016-11-28 | 2017-06-06 | 广西大学 | One kind drives multiple degrees of freedom linkage novel fodder stacking machine arm using servomotor |
| CN106826910A (en) * | 2016-11-28 | 2017-06-13 | 广西大学 | A kind of servo-drive multi-activity degree linkage novel mechanical arm for assembling work |
-
2016
- 2016-11-28 CN CN201611063090.4A patent/CN106609517A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0760679A (en) * | 1993-08-31 | 1995-03-07 | Takenaka Komuten Co Ltd | Manipulator |
| JP2000170201A (en) * | 1998-12-09 | 2000-06-20 | Hitachi Constr Mach Co Ltd | Working device for construction machine |
| CN103168569A (en) * | 2013-02-08 | 2013-06-26 | 广西大学 | Branch-chain stop control type multiple-freedom-degree link mechanism form sugarcane loading machine |
| CN103737207A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Parallel-serial welding robot mechanism with six degrees of freedom |
| CN104047316A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Multi-freedom-degree controllable excavating mechanism with driving metamorphism function |
| CN104626092A (en) * | 2014-12-17 | 2015-05-20 | 广西大学 | Four-freedom-degree controllable mechanism type movable mechanical arm with seven connecting rods |
| CN106799744A (en) * | 2016-11-28 | 2017-06-06 | 广西大学 | One kind drives multiple degrees of freedom linkage novel fodder stacking machine arm using servomotor |
| CN106826910A (en) * | 2016-11-28 | 2017-06-13 | 广西大学 | A kind of servo-drive multi-activity degree linkage novel mechanical arm for assembling work |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170503 |