CN106801443A - The link-type that a kind of use servomotor drives can variable freedom timber grab - Google Patents

The link-type that a kind of use servomotor drives can variable freedom timber grab Download PDF

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Publication number
CN106801443A
CN106801443A CN201611062776.1A CN201611062776A CN106801443A CN 106801443 A CN106801443 A CN 106801443A CN 201611062776 A CN201611062776 A CN 201611062776A CN 106801443 A CN106801443 A CN 106801443A
Authority
CN
China
Prior art keywords
rod
locking
arm
wrist
rotates
Prior art date
Application number
CN201611062776.1A
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 CN201611062776.1A priority Critical patent/CN106801443A/en
Publication of CN106801443A publication Critical patent/CN106801443A/en

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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 link-type that a kind of use servomotor drives can variable freedom timber grab, it is characterised in that including:Base 1, large arm elevating mechanism, wrist connecting rod luffing mechanism, wrist 31, paw 32, servo drive and the first locking device 9 and the second locking device 19:The large arm elevating mechanism is made up of large arm 14 and elevating mechanism, and the large arm 14 is connected to servo drive on base 1 by the 7th rotation secondary 13 includes the first servomotor, is connected to drive it to rotate with driving lever 3;First locking device 9 and the second locking device 19 are locked using electromagnetic mode.Conventional hydraulic transmission is substituted present invention employs novel link transmission mechanism, the shortcomings of solving hydraulic pressure timber grab hydraulic system complexity, easy oil leakage, requirement on machining accuracy high, due to using locking device on pair is rotated, it is to be capable of achieving two frees degree to grab carpentery workshop industry using a driving lever, reduces motor usage quantity.

Description

The link-type that a kind of use servomotor drives can variable freedom timber grab
Technical field
The present invention relates to mechanical field, the link-type that particularly a kind of use servomotor drives can variable freedom grab wood 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, solve some shortcomings of hydraulic system presence, but be equipped with the presence of needs equal with the linkage free degree The controlled motor of quantity is 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 use servomotor drive link-type can variable freedom timber grab, overcome Fluid pressure type timber grab hydraulic system element required precision is high, complex structure, easy oil leakage the shortcomings of, overcome open-chain structure driving electricity Machine is required for being arranged on the shortcoming of joint position, and causes the quantity of controllable drive motor less than the freedom of timber grab linkage Degree, overcomes the electronic timber grab structure of existing machinery formula to need to be equipped with the controlled motor of linkage free degree equivalent amount to carry out The shortcoming of control, simplifies the complexity of structure, the weight of reducing mechanism, movement inertia, volume and cost.To realize above-mentioned mesh , the link-type driven the invention provides a kind of use servomotor can variable freedom timber grab, including base 1, large arm liter Descending mechanism, wrist connecting rod luffing mechanism, wrist 31, paw 32, servo drive and the first locking device 9 and the second locking Device 19:The large arm elevating mechanism is made up of large arm 14 and elevating mechanism, and the large arm 14 rotates secondary 13 and connects by the 7th On base 1, the fourth link 16 of the elevating mechanism is connected on base 1 by eighth-turn dynamic secondary 15, and the other end is by the Nine rotate secondary 18 is connected with the 5th connecting rod 20, and the other end of the 5th connecting rod 20 rotates secondary 21 and is connected with large arm 14 by the tenth;It is described Wrist connecting rod luffing mechanism is made up of wrist connecting rod 12 and luffing mechanism, and the wrist connecting rod 12 rotates secondary 22 and connects by the 11st It is connected in large arm 14, the luffing mechanism is made up of driving lever 3, first connecting rod 5, second connecting rod 7, third connecting rod 8, driving lever 3 One end rotates secondary 2 and is connected on base 1 by first, and the other end rotates secondary 4 and is connected with first connecting rod 5 by second, and first connects The another two ends of bar 5 rotate the rotation secondary 17 of pair 6 and the 4th and are connected on second connecting rod 7 and third connecting rod 8 by the 3rd, second connecting rod 7 Secondary 11 are rotated by the 5th to be connected on wrist connecting rod 12, the other end of third connecting rod 8 rotates secondary 10 with wrist connecting rod by the 6th 12 connections, another connection end of wrist connecting rod rotates secondary 22 and is connected with large arm 14 by the 11st;The He of first locking device 9 Second locking device 19 is separately mounted to the 6th rotation secondary 10 and the 9th and rotates on secondary 18, enters according to the different operating mode of timber grab structure Row locking in good time;Servo drive includes the first servomotor, is connected to drive it to rotate with driving lever 3;First locking dress Put 9 and second locking device 19 locked using electromagnetic mode.
A kind of servomotor drive link formula of the present invention can variable freedom timber grab use 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 accumulated 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 free degree of mechanism in good time, realizes in the case where expected requirement is completed, the controllable driving for using The quantity of motor, less than the free degree of timber grab linkage, is to be capable of achieving two degrees of freedom to grab carpentery workshop industry using a driving lever, The shortcoming for overcoming existing timber grab to need to be equipped with the controlled motor with linkage free degree equivalent amount to be controlled, simplifies The complexity of structure, the weight of reducing mechanism, movement inertia, volume and cost, increased the controllability and stability of mechanism, Improve operating efficiency.Also overcome fluid pressure type timber grab hydraulic system element required precision high, complex structure, leakiness simultaneously The low shortcoming of oil, poor reliability, transmission efficiency.
Brief description of the drawings
Fig. 1 be a kind of link-type that drives of use servomotor of the present invention can the structure of variable freedom timber grab show It is intended to.
Specific embodiment
The link-type that a kind of use servomotor drives can variable freedom timber grab, including base 1, large arm elevating mechanism, Wrist connecting rod luffing mechanism, wrist 31, paw 32, servo drive and the first locking device 9 and the second locking device 19; The base 1 is arranged on removable revolving dial;The large arm elevating mechanism is made up of large arm 14 and elevating mechanism, described big Arm 14 rotates secondary 13 and is connected on base 1 by the 7th, and the fourth link 16 of the elevating mechanism is connected by eighth-turn dynamic secondary 15 It is connected on base 1, the other end rotates secondary 18 and is connected with the 5th connecting rod 20 by the 9th, and the other end of the 5th connecting rod 20 passes through the tenth turn Dynamic secondary 21 are connected with large arm 14;The wrist connecting rod luffing mechanism is made up of wrist connecting rod 12 and luffing mechanism, and the wrist connects Bar 12 rotates secondary 22 and is connected in large arm 14 by the 11st, and the luffing mechanism is by driving lever 3, first connecting rod 5, second connecting rod 7th, third connecting rod 8 is constituted, and the one end of driving lever 3 rotates secondary 2 and is connected on base 1 by first, and the other end rotates secondary 4 by second It is connected with first connecting rod 5, the another two ends of first connecting rod 5 rotate the rotation secondary 17 of pair 6 and the 4th and are connected to the He of second connecting rod 7 by the 3rd On third connecting rod 8, second connecting rod 7 rotates secondary 11 and is connected on wrist connecting rod 12 by the 5th, and the other end of third connecting rod 8 is by the Six rotate secondary 10 is connected with wrist connecting rod 12, and another connection end of wrist connecting rod rotates secondary 22 and connects with large arm 14 by the 11st Connect;The locking device 19 of first locking device 9 and second is separately mounted to the 6th rotation secondary 10 and the 9th and rotates on secondary 18, presses Locked in good time according to the different operating mode of timber grab structure;Servo drive include the first servomotor, be connected with driving lever 3 with It is driven to rotate;First locking device 9 and the second locking device 19 are locked using electromagnetic mode.
In operating mode operation, when large arm 14 is lifted, the second locking device 19 is opened, and the 9th rotates secondary 18 degree of affranchising, Locking device 9 is locked, i.e., the 6th kinematic pair 10 is locked, and loses the free degree.Now, large arm is rotated under driving link effect around the 7th Secondary 13 rotate lifting.During wrist connecting rod pitching, locking device 9 is opened, and the degree of affranchising of the 6th kinematic pair 10, locking device 19 is locked Tightly, the locking of the 9th kinematic pair 18 loses the free degree, and the respect thereto 1 of large arm 14 loses the free degree, is now moved under the driving of driving link 3 Power realizes wrist connecting rod pitching with moving across first connecting rod 5, second connecting rod 7 and third connecting rod 8 and pass to wrist connecting rod 12.Whole It is individual grab carpentery workshop industry during, the first locking device 9 and the second locking device 19 according to different working conditions, in good time locking, Open, carpentery workshop industry is grabbed in completion.

Claims (1)

1. the link-type that a kind of use servomotor drives can variable freedom timber grab, it is characterised in that including:Base 1, large arm Elevating mechanism, wrist connecting rod luffing mechanism, wrist 31, paw 32, servo drive and the first locking device 9 and the second lock Tight device 19;The base 1 is arranged on removable revolving dial;The large arm elevating mechanism is by large arm 14 and elevating mechanism Composition, the large arm 14 rotates secondary 13 and is connected on base 1 by the 7th, and the fourth link 16 of the elevating mechanism passes through the 8th Rotate secondary 15 to be connected on base 1, the other end rotates secondary 18 and is connected with the 5th connecting rod 20 by the 9th, the other end of the 5th connecting rod 20 Secondary 21 are rotated by the tenth to be connected with large arm 14;The wrist connecting rod luffing mechanism is made up of wrist connecting rod 12 and luffing mechanism, The wrist connecting rod 12 rotates secondary 22 and is connected in large arm 14 by the 11st, and the luffing mechanism is by driving lever 3, first connecting rod 5th, second connecting rod 7, third connecting rod 8 are constituted, and the one end of driving lever 3 rotates secondary 2 and is connected on base 1 by first, and the other end passes through Second rotation secondary 4 is connected with first connecting rod 5, and the another two ends of first connecting rod 5 rotate the rotation secondary 17 of pair 6 and the 4th and are connected to by the 3rd On second connecting rod 7 and third connecting rod 8, second connecting rod 7 rotates secondary 11 and is connected on wrist connecting rod 12 by the 5th, third connecting rod 8 The other end rotates secondary 10 and is connected with wrist connecting rod 12 by the 6th, and another connection end of wrist connecting rod rotates secondary 22 by the 11st It is connected with large arm 14;The locking device 19 of first locking device 9 and second is separately mounted to the 6th rotation secondary 10 and the 9th turn On dynamic secondary 18, locked in good time according to the different operating mode of timber grab structure;Servo drive includes the first servomotor, with master Lever 3 connects to drive it to rotate;First locking device 9 and the second locking device 19 are locked using electromagnetic mode.
CN201611062776.1A 2016-11-28 2016-11-28 The link-type that a kind of use servomotor drives can variable freedom timber grab CN106801443A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201611062776.1A CN106801443A (en) 2016-11-28 2016-11-28 The link-type that a kind of use servomotor drives can variable freedom timber grab

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Application Number Priority Date Filing Date Title
CN201611062776.1A CN106801443A (en) 2016-11-28 2016-11-28 The link-type that a kind of use servomotor drives can variable freedom timber grab

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106759568A (en) * 2016-11-30 2017-05-31 广西大学 One kind drives variable active degree linkage using servomotor

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2694316A1 (en) * 1992-07-31 1994-02-04 Pel Job Groupe Loader-excavator-elevator vehicle implement - has arm at free end of shaft and tool mounted on arm
JPH10183664A (en) * 1996-12-27 1998-07-14 Iida Tekko:Kk Clamp type bucket
CN101666104A (en) * 2009-09-30 2010-03-10 广西大学 Excavating mechanism of controllable planar three degree of freedom
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
CN104047314A (en) * 2014-06-27 2014-09-17 广西大学 Controllable mechanism type loading machine with active metamorphic function
CN104440866A (en) * 2014-12-25 2015-03-25 广西大学 Three-degree-of-freedom nine-connecting-rod controllable mobile operating mechanical arm with mobile pair

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2694316A1 (en) * 1992-07-31 1994-02-04 Pel Job Groupe Loader-excavator-elevator vehicle implement - has arm at free end of shaft and tool mounted on arm
JPH10183664A (en) * 1996-12-27 1998-07-14 Iida Tekko:Kk Clamp type bucket
CN101666104A (en) * 2009-09-30 2010-03-10 广西大学 Excavating mechanism of controllable planar three degree of freedom
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
CN104047314A (en) * 2014-06-27 2014-09-17 广西大学 Controllable mechanism type loading machine with active metamorphic function
CN104440866A (en) * 2014-12-25 2015-03-25 广西大学 Three-degree-of-freedom nine-connecting-rod controllable mobile operating mechanical arm with mobile pair

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106759568A (en) * 2016-11-30 2017-05-31 广西大学 One kind drives variable active degree linkage using servomotor

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Application publication date: 20170606

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