CN109623800A - A kind of multi-connecting-rod mechanism using closing chain structure for grabbing carpentery workshop industry - Google Patents
A kind of multi-connecting-rod mechanism using closing chain structure for grabbing carpentery workshop industry Download PDFInfo
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- CN109623800A CN109623800A CN201710926576.4A CN201710926576A CN109623800A CN 109623800 A CN109623800 A CN 109623800A CN 201710926576 A CN201710926576 A CN 201710926576A CN 109623800 A CN109623800 A CN 109623800A
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- lever
- driving lever
- connecting rod
- driving
- elevating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The present invention is a kind of for grabbing carpentery workshop industry using the multi-connecting-rod mechanism of closing chain structure, comprising: pedestal, rotatable platform, telescoping mechanism, elevating mechanism, luffing mechanism, wrist and driving device；Telescoping mechanism includes the first driving lever and large arm；Elevating mechanism includes: the second driving lever, second connecting rod, third connecting rod and elevating lever；Luffing mechanism includes: third driving lever and pitch lever；Driving device includes three servo motors, and three servo motors are connected with the first driving lever, the second driving lever and third driving lever respectively.The present invention is using controllable more bar closed chain mechanisms, compared with open-chain structure, improves mechanism traveling comfort and reliability, no accumulated error, and precision is higher；Compact-sized, rigidity is high, and large carrying capacity, inertia are low, dynamic property is good, claw motion profile flexible and diverse.
Description
Technical field
It is the present invention relates to forest machinery field, in particular to a kind of for grabbing carpentery workshop industry using the multi link of closing chain structure
Mechanism.
Background technique
Over the years, since 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, at present the machinery of timber grab
Most of arm is hydraulic-driven, and the medium due to hydraulic drive using hydraulic oil as transmitting power, have the following problems: it rises
Dynamic property is poor, is easy to influence timber original because generating leakage after internal element abrasion, and the hydraulic oil leaked pollutes the environment
The quality of material；Hydraulic oil is affected by temperature larger, and gross efficiency is lower, there is noise and vibration sometimes.It sometimes appear that overheat, work
Phenomena such as powerless；Hydraulic Elements requirement on machining accuracy is high, and matching requirements are stringent, and manufacture is more difficult, maintains and wants in use
Ask technology higher, difficulty is larger.With the increase of timber grab function, hydraulic system becomes increasingly complex, and failure has more
Sudden, concealment.Mechanical timber grab is to grab the wooden movement using mechanical transmissioning piece realization, have many advantages, such as it is sturdy and durable, but
It is that the mechanical timber grab of traditional single-degree-of-freedom cannot complete complicated movement, application range is extremely limited, mechanical controllable machine
The electronic timber grab of structure, it is easy to accomplish automatic when driving lever is driven by servo motor with link mechanism instead of hydraulic drive
Change, NC postprocessing control, solves some shortcomings existing for hydraulic system, but exist and need outfit same with link mechanism freedom degree
The control motor of quantity carries out the big and at high cost problem of control structure complexity bring mechanism weight, movement inertia.
Summary of the invention
Closed linkage multi-connecting-rod mechanism is used for timber grab the purpose of the present invention is to provide a kind of, overcomes fluid pressure type
The disadvantages of required precision of timber grab hydraulic system element is high, structure is complicated, easy oil leakage, while solving open-chain structure driving motor all
It is mounted on the position in joint, the inertia that causes to roll over is big, dynamic property decline, and accumulated error is big, and bearing capacity is small, structure is multiple
Miscellaneous problem.The present invention provides a kind of for grabbing carpentery workshop industry using the multi-connecting-rod mechanism of closing chain structure, comprising: pedestal, can
Revolving platform, telescoping mechanism, elevating mechanism, luffing mechanism, wrist and driving device；Telescoping mechanism include the first driving lever with
And large arm；One end of first driving lever and rotatable platform are hinged, and large arm is in bending, and one end of large arm and the first driving lever
The other end it is hinged；Elevating mechanism includes: the second driving lever, second connecting rod, third connecting rod and elevating lever；Second driving lever
One end and rotatable platform are hinged, and one end of second connecting rod and the other end of the second driving lever are hinged, one end hinge of third connecting rod
It is connected to the middle part of second connecting rod, elevating lever is in bending, and one end of elevating lever and the other end of third connecting rod are hinged；Second connects
The other end of bar is articulated with the middle part of large arm, and the other end of large arm is articulated with the middle part of elevating lever, and luffing mechanism includes: third master
Lever and pitch lever；One end of third driving lever is articulated on rotatable platform, one end and the third driving lever of pitch lever
The other end is hinged；The top of wrist and the other end of elevating lever are hinged, and the other end of lower part and pitch lever is hinged, are connected by second
Bar, large arm, the part lever arm formation quadrangle driving mechanism of third connecting rod and elevating lever, improve traveling comfort；Driving
Device include three servo motors, three servo motors respectively with the first driving lever 3, the second driving lever 4 and third driving lever 6
It is connected.
The present invention is a kind of for grabbing carpentery workshop industry using the multi-connecting-rod mechanism of closing chain structure, compared with open-chain structure, improves
The stationarity and reliability of arm operation, no accumulated error, precision are higher；Compact-sized, rigidity is high, and large carrying capacity is used to
Measure that low, dynamic property is good, arm motion track flexible and diverse.Overcome fluid pressure type cane catching machine hydraulic system element required precision
High, the disadvantages of structure is complicated, easy oil leakage.
Detailed description of the invention
Fig. 1 is a kind of for grabbing carpentery workshop industry using the multi-connecting-rod mechanism structural schematic diagram of closing chain structure.
Specific embodiment
A kind of multi-connecting-rod mechanism using closing chain structure for grabbing carpentery workshop industry, comprising: pedestal 1, is stretched rotatable platform 2
Contracting mechanism, elevating mechanism, luffing mechanism, wrist 13 and driving device；Telescoping mechanism includes the first driving lever 3 and large arm 5；
One end of first driving lever 3 and rotatable platform 2 are hinged, and large arm 5 is in bending, and one end of large arm 5 and the first driving lever 3
The other end it is hinged；Elevating mechanism includes: the second driving lever 4, second connecting rod 7, third connecting rod 8 and elevating lever 11；Second is main
One end of lever 4 and rotatable platform 1 are hinged, and one end of second connecting rod 7 and the other end of the second driving lever 4 are hinged, and third connects
One end of bar 8 is articulated with the middle part of second connecting rod 7, and elevating lever 11 is in bending, and one end of elevating lever 11 and third connecting rod 8
The other end it is hinged；The other end of second connecting rod 7 is articulated with the middle part of large arm 5, and the other end of large arm 5 is articulated with elevating lever 11
Middle part, luffing mechanism includes: third driving lever 6 and pitch lever 15；One end of third driving lever 6 passes through the tenth revolute pair 18
It is articulated on rotatable platform 1, one end of pitch lever 15 and the other end of third driving lever 6 are hinged；The top of wrist 13 and liter
Drop bar 11 the other end it is hinged, lower part and the other end of pitch lever 15 are hinged, by second connecting rod 7, large arm 5, third connecting rod 8 and
The part lever arm of elevating lever 11 forms quadrangle driving mechanism, improves traveling comfort；Driving device is three servo motors,
Three servo motors are connected with the first driving lever 3, the second driving lever 4 and third driving lever 6 respectively.
By it is of the present invention using closed linkage multi-connecting-rod mechanism be applied to grab carpentery workshop industry when, it is only necessary to by pedestal 1 with
Rubber-tyred or crawler type walking mechanism connect, and the gripper 12 of wrist 10 and timber grab executing agency connects.
In use, cooperating realization is corresponding to move with luffing mechanism by telescoping mechanism, elevating mechanism, when the first driving lever
3 drive to the right, and the second driving lever 4 drives to the left, and third driving lever 6 drives to the right, it can be achieved that stretching motion, when the first driving lever
3 drive to the left, and the second driving lever 4 drives to the left, and third driving lever 6 drives, it can be achieved that pitching movement to the left；When the first driving lever
3 drive to the left, and the second driving lever 4 drives to the right, and third driving lever 6 drives, it can be achieved that elevating movement to the left.
Controllable drive motor is mounted on revolving platform by the present invention, simplifies the complexity of structure, reducing mechanism
Weight, volume and cost, each connecting rod rod piece of the invention are made into lighter bar, so that entire mechanism kinematic inertia is small, dynamics
Performance is good, easily controllable.
Claims (1)
1. a kind of for grabbing carpentery workshop industry using the multi-connecting-rod mechanism of closing chain structure, it is characterised in that: including pedestal, rotatable flat
Platform, telescoping mechanism, elevating mechanism, luffing mechanism, wrist and driving device；Telescoping mechanism is including the first driving lever and greatly
Arm；One end of first driving lever and rotatable platform are hinged, and large arm is in bending, and one end of large arm and the first driving lever is another
One end is hinged；Elevating mechanism includes: the second driving lever, second connecting rod, third connecting rod and elevating lever；One end of second driving lever
Hinged with rotatable platform, one end of second connecting rod and the other end of the second driving lever are hinged, and one end of third connecting rod is articulated with
The middle part of second connecting rod, elevating lever is in bending, and one end of elevating lever and the other end of third connecting rod are hinged；Second connecting rod
The other end is articulated with the middle part of large arm, and the other end of large arm is articulated with the middle part of elevating lever, and luffing mechanism includes: third driving lever
And pitch lever；One end of third driving lever is articulated on rotatable platform, and one end of pitch lever is another with third driving lever
End is hinged；The top of wrist and the other end of elevating lever are hinged, and the other end of lower part and pitch lever is hinged, by second connecting rod, greatly
The part lever arm of arm, third connecting rod and elevating lever forms quadrangle driving mechanism, improves traveling comfort；Driving device packet
Three servo motors are included, three servo motors are connected with the first driving lever, the second driving lever and third driving lever respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710926576.4A CN109623800A (en) | 2017-10-07 | 2017-10-07 | A kind of multi-connecting-rod mechanism using closing chain structure for grabbing carpentery workshop industry |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710926576.4A CN109623800A (en) | 2017-10-07 | 2017-10-07 | A kind of multi-connecting-rod mechanism using closing chain structure for grabbing carpentery workshop industry |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109623800A true CN109623800A (en) | 2019-04-16 |
Family
ID=66050851
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710926576.4A Withdrawn CN109623800A (en) | 2017-10-07 | 2017-10-07 | A kind of multi-connecting-rod mechanism using closing chain structure for grabbing carpentery workshop industry |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109623800A (en) |
-
2017
- 2017-10-07 CN CN201710926576.4A patent/CN109623800A/en not_active Withdrawn
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190416 |
|
| WW01 | Invention patent application withdrawn after publication |