CN106759566A - One kind drives the simple timber grab of two degrees of freedom linkage using servomotor - Google Patents
One kind drives the simple timber grab of two degrees of freedom linkage using servomotor Download PDFInfo
- Publication number
- CN106759566A CN106759566A CN201611063089.1A CN201611063089A CN106759566A CN 106759566 A CN106759566 A CN 106759566A CN 201611063089 A CN201611063089 A CN 201611063089A CN 106759566 A CN106759566 A CN 106759566A
- Authority
- CN
- China
- Prior art keywords
- driving lever
- connecting rod
- servomotor
- wrist
- large arm
- 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
- 210000000707 wrist Anatomy 0.000 claims abstract description 17
- 210000000245 forearm Anatomy 0.000 claims abstract description 10
- 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
- 230000007246 mechanism Effects 0.000 description 2
- 239000003921 oil Substances 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000010586 diagram Methods 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
- 239000002023 wood Substances 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
One kind drives the simple timber grab of two degrees of freedom linkage, including the second driving lever 2, base 14, large arm 4, forearm 7, wrist connecting rod 9, the first driving lever 11, wrist 17, paw 8, servo drive and connecting rod 15 using servomotor；The one end of the connecting rod 15 rotates secondary 5 and is connected in large arm 4 by the 7th, and the other end of connecting rod 15 is connected on the first driving lever 11 by eighth-turn dynamic secondary 10；The base 14 is arranged in walking chassis, servo drive includes the first servomotor, the second servomotor, it is connected to drive it to rotate with the first driving lever 11, the second driving lever 2 respectively, first driving lever 11, the common driving of the second driving lever 2 complete the motions such as large arm lifting and the pitching of wrist 17, and that realizes paw 18 grabs carpentery workshop industry.Motor instant invention overcomes open-chain structure is required for being arranged on the shortcoming of joint position, improves the stationarity and reliability of arm operation.
Description
Technical field
It is particularly a kind of to drive two degrees of freedom linkage simply to grab wood using servomotor the present invention relates to mechanical field
Machine.
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 use in processing transport operation.Timber grab has mechanical and fluid pressure type two types, the machinery of current timber grab
Most of arm is hydraulic-driven, 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, and the hydraulic oil of leakage to pollute the environment after inner member abrasion, influence timber is former
The quality of material；Hydraulic oil temperature influence is larger, and gross efficiency is relatively low, there is noise and vibration sometimes.It sometimes appear that overheat, 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 will in use
Ask technology higher, difficulty is larger.With the increase of timber grab function, its hydraulic system becomes increasingly complex, and failure has more
It is sudden, disguised.Mechanical timber grab is to realize grabbing wooden action using mechanical transmissioning piece, have the advantages that it is sturdy and durable, but
It is that the mechanical timber grab of traditional single-degree-of-freedom can not complete complicated action, range of application is extremely limited, mechanical controllable machine
The electronic timber grab of structure, hydraulic drive is instead of with linkage, when driving lever is driven by servomotor, is easily realized automatic
Change, NC postprocessing is controlled, and solves some shortcomings of hydraulic system presence.
The content of the invention
The simple timber grab of two degrees of freedom linkage is driven using servomotor it is an object of the invention to provide one kind, gram
The shortcomings of fluid pressure type timber grab hydraulic system element required precision high, complex structure, easy oil leakage is taken, the driving of open-chain structure is overcome
Motor is required for being arranged on the shortcoming of joint position, simplifies the complexity of structure, the weight of reducing mechanism, movement inertia, body
Product and cost.To achieve the above object, the present invention is provided one kind and is simply grabbed using servomotor driving two degrees of freedom linkage
Wooden machine, including the second driving lever 2, base 14, large arm 4, forearm 7, wrist connecting rod 9, the first driving lever 11, wrist 17, paw 8,
Servo drive and connecting rod 15；Described one end of second driving lever 2 rotates secondary 1 and is connected with base 14 by the 3rd, and second actively
The other end of bar 2 rotates secondary 3 and is connected with the one end of large arm 4 by the 4th, and the other end of large arm 4 rotates secondary 6 with the one end of forearm 7 by the 5th
Connection, the other end of forearm 7 rotates secondary 8 and connects on wrist connecting rod 9 by the 6th；Described one end of first driving lever 11 passes through first
Rotate secondary 13 to be connected with base 14, the other end of the first driving lever 11 rotates secondary 10 and connects on wrist connecting rod 9 by second；The company
The one end of bar 15 rotates secondary 5 and is connected in large arm 4 by the 7th, and the other end of connecting rod 15 moves secondary 10 connection first actively by eighth-turn
On bar 11；The base 14 is arranged in walking chassis, and servo drive includes the first servomotor, the second servomotor,
It is connected to drive it to rotate with the first driving lever 11, the second driving lever 2 respectively, the first driving lever 11, the common drive of the second driving lever 2
Dynamic to complete the motions such as large arm lifting and the pitching of wrist 17, that realizes paw 18 grabs carpentery workshop industry.
The present invention uses controllable many bar closed chain mechanisms, and the motor for overcoming open-chain structure is required for being arranged on joint position
The shortcoming put, improves the stationarity and reliability of arm operation, and without accumulated error, precision is higher；Compact conformation, rigidity is 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 requirement height, complex structure, easy oil leakage, poor reliability, the low shortcoming of transmission efficiency.
Brief description of the drawings
Fig. 1 is of the present invention a kind of using the servomotor driving simple timber grab schematic diagram of two degrees of freedom linkage.
Specific embodiment
One kind drives the simple timber grab of two degrees of freedom linkage, including the second driving lever 2, base using servomotor
14th, large arm 4, forearm 7, wrist connecting rod 9, the first driving lever 11, wrist 17, paw 8, servo drive and connecting rod 15；It is described
Base 14 is arranged on removable revolving dial；Described one end of second driving lever 2 rotates secondary 1 and is connected with base 14 by the 3rd,
The other end of second driving lever 2 rotates secondary 3 and be connected with the one end of large arm 4 by the 4th, the other end of large arm 4 by the 5th rotate pair 6 and
The one end of forearm 7 connects, and the other end of forearm 7 rotates secondary 8 and connects on wrist connecting rod 9 by the 6th；Described one end of first driving lever 11
Secondary 13 are rotated by first to be connected with base 14, the other end of the first driving lever 11 rotates secondary 10 and connects wrist connecting rod 9 by second
On；The one end of the connecting rod 15 rotates secondary 5 and is connected in large arm 4 by the 7th, and the other end of connecting rod 15 is connected by eighth-turn dynamic secondary 10
Connect on the first driving lever 11；The base 14 is arranged in walking chassis, and servo drive includes the first servomotor, the
Two servomotors, are connected to drive it to rotate with the first driving lever 11, the second driving lever 2 respectively, and the first driving lever 11, second is led
Lever 2 drives and completes the motions such as large arm lifting and the pitching of wrist 17 jointly, and that realizes paw 18 grabs carpentery workshop industry.
Claims (1)
1. it is a kind of that the simple timber grab of two degrees of freedom linkage is driven using servomotor, it is characterised in that including：Second actively
Bar 2, base 14, large arm 4, forearm 7, wrist connecting rod 9, the first driving lever 11, wrist 17, paw 8, servo drive and connecting rod
15；The base 14 is arranged on removable revolving dial；Described one end of second driving lever 2 rotates secondary 1 and bottom by the 3rd
Seat 14 is connected, and the other end of the second driving lever 2 rotates secondary 3 and is connected with the one end of large arm 4 by the 4th, and the other end of large arm 4 passes through the 5th
Rotate secondary 6 to be connected with the one end of forearm 7, the other end of forearm 7 rotates secondary 8 and connects on wrist connecting rod 9 by the 6th；First master
The one end of lever 11 rotates secondary 13 and is connected with base 14 by first, and the other end of the first driving lever 11 rotates secondary 10 and connects by second
On wrist connecting rod 9；The one end of the connecting rod 15 rotates secondary 5 and is connected in large arm 4 by the 7th, and the other end of connecting rod 15 passes through eighth-turn
Dynamic secondary 10 connect on the first driving lever 11；The base 14 is arranged in walking chassis, and servo drive includes the first servo
Motor, the second servomotor, are connected to drive it to rotate with the first driving lever 11, the second driving lever 2 respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611063089.1A CN106759566A (en) | 2016-11-28 | 2016-11-28 | One kind drives the simple timber grab of two degrees of freedom linkage using servomotor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611063089.1A CN106759566A (en) | 2016-11-28 | 2016-11-28 | One kind drives the simple timber grab of two degrees of freedom linkage using servomotor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106759566A true CN106759566A (en) | 2017-05-31 |
Family
ID=58904414
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611063089.1A Pending CN106759566A (en) | 2016-11-28 | 2016-11-28 | One kind drives the simple timber grab of two degrees of freedom linkage using servomotor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106759566A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106759569A (en) * | 2016-11-30 | 2017-05-31 | 广西大学 | One kind drives the simple linkage of two degrees of freedom using servomotor |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07196286A (en) * | 1994-01-10 | 1995-08-01 | Mitsubishi Heavy Ind Ltd | Heavy weight installation work machine |
| EP1609346A1 (en) * | 2004-06-21 | 2005-12-28 | Deere & Company | Movable interface with multiple degrees of freedom |
| CN202170521U (en) * | 2011-07-01 | 2012-03-21 | 临颍县颍机机械制造有限公司 | Grass grasping machine |
| CN203284820U (en) * | 2013-02-08 | 2013-11-13 | 广西大学 | Branched chain stop control type multiple-degree-of-freedom link mechanism type loader |
| CN104532889A (en) * | 2014-12-25 | 2015-04-22 | 广西大学 | Seven-rod eight-pair controllable mechanism type loading mechanism capable of working at multiple angles |
| CN104526677A (en) * | 2014-12-25 | 2015-04-22 | 广西大学 | Controllable mechanism type movable palletizing robot |
-
2016
- 2016-11-28 CN CN201611063089.1A patent/CN106759566A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07196286A (en) * | 1994-01-10 | 1995-08-01 | Mitsubishi Heavy Ind Ltd | Heavy weight installation work machine |
| EP1609346A1 (en) * | 2004-06-21 | 2005-12-28 | Deere & Company | Movable interface with multiple degrees of freedom |
| CN202170521U (en) * | 2011-07-01 | 2012-03-21 | 临颍县颍机机械制造有限公司 | Grass grasping machine |
| CN203284820U (en) * | 2013-02-08 | 2013-11-13 | 广西大学 | Branched chain stop control type multiple-degree-of-freedom link mechanism type loader |
| CN104532889A (en) * | 2014-12-25 | 2015-04-22 | 广西大学 | Seven-rod eight-pair controllable mechanism type loading mechanism capable of working at multiple angles |
| CN104526677A (en) * | 2014-12-25 | 2015-04-22 | 广西大学 | Controllable mechanism type movable palletizing robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106759569A (en) * | 2016-11-30 | 2017-05-31 | 广西大学 | One kind drives the simple linkage of two degrees of freedom using servomotor |
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|---|---|---|---|
| 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: 20170531 |