CN109629616A - It is a kind of that the wooden Working mechanism is grabbed using multi-rod closing chain structure - Google Patents
It is a kind of that the wooden Working mechanism is grabbed using multi-rod closing chain structure Download PDFInfo
- Publication number
- CN109629616A CN109629616A CN201710926573.0A CN201710926573A CN109629616A CN 109629616 A CN109629616 A CN 109629616A CN 201710926573 A CN201710926573 A CN 201710926573A CN 109629616 A CN109629616 A CN 109629616A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- rod
- wrist
- forearm
- drive rod
- 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.)
- Withdrawn
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 15
- 210000000707 wrist Anatomy 0.000 claims abstract description 36
- 210000000245 forearm Anatomy 0.000 claims abstract description 34
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 5
- 230000005611 electricity Effects 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 239000002023 wood Substances 0.000 abstract description 2
- 239000010720 hydraulic oil Substances 0.000 description 3
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000003921 oil 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
- E02F3/302—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 an additional link
-
- 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
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
It is a kind of that the wooden Working mechanism is grabbed using multi-rod closing chain structure, including big arm link, connecting plate, small arm link, wrist connecting rod, large arm, forearm, forearm drive rod, first connecting rod, second connecting rod, third connecting rod, revolving platform, pedestal, wrist drive rod, driving device, big arm link one end is connected on wrist drive rod, the big arm link other end is connect with connecting plate, small arm link one end is connect with connecting plate, it includes first servo motor that the small arm link other end, which is connected to driving device on wrist connecting rod, second servo motor, third servo motor, respectively with large arm, forearm drive rod, the connection of wrist drive rod, respectively to large arm, forearm drive rod, wrist drive rod is driven.The present invention uses more bar parallel institutions, and whole driving motors are all mounted on revolving platform and drive to driving lever, compact-sized, and rigidity is high, and inertia is low, dynamic property is good, response is rapid, and the production efficiency for grabbing wood can be improved.
Description
Technical field
It is specifically a kind of that the wooden Working mechanism is grabbed using multi-rod closing chain structure the present invention relates to forest machinery field.
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.
Summary of the invention
Carpentery workshop industry is grabbed using multi-rod closing chain structure for a kind of of timber grab the purpose of the present invention is to provide a kind of
Mechanism overcomes the disadvantages of required precision of fluid pressure type timber grab hydraulic system element is high, structure is complicated, easy oil leakage, while solving to open
Chain structure driving motor is all mounted on the position in joint, and the inertia that causes to roll over is big, dynamic property decline, and accumulated error is big,
The problem of bearing capacity is small, structure is complicated, to achieve the goals above, the invention adopts the following technical scheme: a kind of use
Multi-rod closing chain structure grabs the wooden Working mechanism, which is characterized in that including big arm link 13, connecting plate 12, small arm link 11, hand
Wrist connecting rod 8, large arm 14, forearm 7, forearm drive rod 3, first connecting rod 5, the second connecting rod 6, third connecting rod 4, revolving platform
2, pedestal 1, wrist drive rod 15, wrist 9, gripper 10, driving device, big 13 one end of arm link are connected to wrist drive rod 15
On, big 13 other end of arm link is connect with connecting plate 12, and small 11 one end of arm link is connect with connecting plate 12, and small arm link 11 is another
End is connected on wrist connecting rod 8, and 14 one end of large arm is connected on revolving platform 2,14 other end of large arm and connecting plate 12 and small
7 one end of arm links together together, and 7 other end of forearm is connected on wrist connecting rod 8, and 3 one end of forearm drive rod is connected to revolution
On platform 2,3 other end of forearm drive rod is connect with 5 one end of first connecting rod, 5 other end of first connecting rod and the second connecting rod 6
One end connection, 6 other end of the second connecting rod are connected on forearm 7, and 4 one end of third connecting rod is connected to 14 middle part of large arm, third
4 other end of connecting rod is connected on first connecting rod 5；Driving device includes that first servo motor, the second servo motor, third are watched
Motor is taken, is connect respectively with large arm 14, forearm drive rod 3, wrist drive rod 15, respectively to large arm 14, forearm drive rod 3, hand
Wrist drive rod 15 is driven.
The present invention is a kind of to grab the wooden Working mechanism using more bar parallel institutions, whole driving electricity using multi-rod closing chain structure
Machine is all mounted on revolving platform and drives to driving lever, compared with open-chain structure, reduces the movement inertia of arm, improves
Mechanical arm dynamic property, improves mechanical arm traveling comfort and reliability, and no accumulated error is compact-sized, and rigidity is high,
Inertia is low, dynamic property is good, response is rapid, and the production efficiency for grabbing wood can be improved.
Detailed description of the invention
Fig. 1 is a kind of structural scheme of mechanism that the wooden Working mechanism is grabbed using multi-rod closing chain structure of the present invention.
Specific embodiment
It is a kind of that the wooden Working mechanism is grabbed using multi-rod closing chain structure, which is characterized in that including big arm link 13, connecting plate
12, small arm link 11, wrist connecting rod 8, large arm 14, forearm 7, forearm drive rod 3, first connecting rod 5, the second connecting rod 6, third
Connecting rod 4, revolving platform 2, pedestal 1, wrist drive rod 15, wrist 9, gripper 10, driving device, big 13 one end of arm link connection
On wrist drive rod 15, big 13 other end of arm link is connect with connecting plate 12, and small 11 one end of arm link is connect with connecting plate 12,
Small 11 other end of arm link is connected on wrist connecting rod 8, and 14 one end of large arm is connected on revolving platform 2,14 other end of large arm with
Connecting plate 12 and 7 one end of forearm link together together, and 7 other end of forearm is connected on wrist connecting rod 8, forearm drive rod 3
One end is connected on revolving platform 2, and 3 other end of forearm drive rod is connect with 5 one end of first connecting rod, and first connecting rod 5 is another
End is connect with 6 one end of the second connecting rod, and 6 other end of the second connecting rod is connected on forearm 7, and 4 one end of third connecting rod is connected to
14 middle part of large arm, 4 other end of third connecting rod are connected on first connecting rod 5；Driving device includes first servo motor, second
Servo motor, third servo motor are connect with large arm 14, forearm drive rod 3, wrist drive rod 15 respectively, respectively to large arm 14,
Forearm drive rod 3, wrist drive rod 15 are driven.
By it is of the present invention it is a kind of using multi-rod closing chain structure grab the wooden Working mechanism be applied to grab carpentery workshop industry when, only
It needs to connect pedestal 1 with rubber-tyred or crawler type walking mechanism, wrist connecting rod 8 and wrist 9, gripper 10 connect i.e.
It can.
Revolving platform 2 rotates first, and the rotation within the scope of 360 degree may be implemented, and large arm 14 is driven by first servo motor,
The stretching motion of this mechanical arm entirety is driven by the rotation of large arm 14.Forearm drive rod 3 is driven by the second servo motor, small
The rotation of arm drive rod 3 is transmitted to forearm 7 by two five-rods, realizes that forearm 7 moves up and down.Wrist drive rod 15 is by
The driving of three servo motors, is transmitted to wrist connecting rod 8 by two parallelogram four-bar mechanisms, realizes the pitching movement of wrist.
The rotation of large arm 14, forearm drive rod 3 and wrist drive rod 15 matches, and realizes the motion control to wrist, gripper, final real
Now grab the completion of carpentery workshop industry.
Claims (1)
1. a kind of grab the wooden Working mechanism using multi-rod closing chain structure, it is characterised in that: including big arm link, connecting plate, small
Arm link, wrist connecting rod, large arm, forearm, forearm drive rod, first connecting rod, the second connecting rod, third connecting rod, revolution are flat
Platform, pedestal, wrist drive rod, driving device；Big arm link one end is connected on wrist drive rod, the big arm link other end and company
Fishplate bar connection, small arm link one end are connect with connecting plate, and the small arm link other end is connected on wrist connecting rod, the connection of large arm one end
On revolving platform, the large arm other end links together together with connecting plate and forearm one end, and the forearm other end is connected to hand
On wrist connecting rod, forearm drive rod one end is connected on revolving platform, and the forearm drive rod other end is connect with first connecting rod one end,
The first connecting rod other end is connect with second connecting rod one end, and the second connecting rod other end is connected on forearm, third connecting rod
One end is connected in the middle part of large arm, and the third connecting rod other end is connected on first connecting rod；Driving device includes the first servo electricity
Machine, the second servo motor, third servo motor are connect with large arm, forearm drive rod, wrist drive rod respectively, respectively to large arm,
Forearm drive rod, wrist drive rod are driven.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710926573.0A CN109629616A (en) | 2017-10-07 | 2017-10-07 | It is a kind of that the wooden Working mechanism is grabbed using multi-rod closing chain structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710926573.0A CN109629616A (en) | 2017-10-07 | 2017-10-07 | It is a kind of that the wooden Working mechanism is grabbed using multi-rod closing chain structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109629616A true CN109629616A (en) | 2019-04-16 |
Family
ID=66049941
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710926573.0A Withdrawn CN109629616A (en) | 2017-10-07 | 2017-10-07 | It is a kind of that the wooden Working mechanism is grabbed using multi-rod closing chain structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109629616A (en) |
-
2017
- 2017-10-07 CN CN201710926573.0A patent/CN109629616A/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 | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190416 |