CN213829004U - Reducing log gripping apparatus - Google Patents

Abstract

The utility model discloses a reducing log gripping apparatus, when the log of different specifications was snatched to operation log gripping apparatus, can snatch the relative position of mechanism's rotation point through the change of reducing mechanism to reach the purpose of reducing, can be more effective, stable snatch the log of radius level in the certain limit. Secondly, the lateral wall is the type of falling V structure in the frame, be equipped with branch year knot and branch year seat on the lateral wall, can both share the load for reducing mechanism when reducing mechanism is in the biggest reducing state and minimum reducing state, and the usability is improved, in addition, reducing mechanism is parallel four-bar structure, can keep snatching the mechanism and keep unchangeable at reducing in-process gesture, and simultaneously, the jaw upper end of snatching the mechanism is equipped with actuating arm and the logical groove that is used for cooperating reducing mechanism, make in the reducing in-process, it can keep the gesture inconvenient to snatch the mechanism, and can not influence reducing mechanism and produce deformation in snatching the in-process yet.

Description

Reducing log gripping apparatus

Technical Field

The utility model relates to an engineering machine tool field especially relates to a reducing log gripping apparatus.

Background

The wood consumption in China is rapidly increased and becomes the largest world import country of wood. A large amount of logs are imported from foreign countries every year in China, and the current handling process and equipment working mode of rough logs in operation sites cause that the log disability rate is still high and the efficiency is low. Log gaugeThe span of lattice and weight is huge, and generally speaking, the air-dry density value of wood can be 0.12g/cm of that of smaller balsa wood³1.2-1.36 g/cm of larger snakewood grain³And the value range distribution is wide.

At present, the loading and unloading of logs with smaller diameter grades are generally carried out by adopting conventional equipment, the loading and unloading of logs with larger diameter grades are completed by using special equipment, a single type wood loading and unloading manipulator cannot be used for loading and unloading logs with all specifications and all types of wood, the efficiency is low, and wood loading and unloading engineering equipment is in urgent need of updating.

When the full-symmetrical jaw claws clamp, no matter where the rotating point is arranged, under the condition of ensuring that the log with the largest diameter can be well clamped, a large longitudinal movable gap always exists when the log with the smallest diameter is clamped, and the working stability is poor. When the wide jaw and the narrow jaw are clamped, the wide and narrow matched jaw can overcome the problem of large longitudinal movable gap, but the wide and narrow matched jaw needs to be compensated by a huge structural size and a large clamping swinging angle, so that the working efficiency is greatly reduced, and the high efficiency of the design requirement is not met.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is that, because the timber loading and unloading manipulator of current single model can't be according to the log specification adjustment gripping apparatus that will snatch the radius, lead to the loading and unloading work of the log of unable all specifications, all kinds of timber, inefficiency.

The utility model aims at providing a reducing log gripping apparatus which is not enough for the prior art.

In order to achieve the purpose, the utility model provides a variable diameter log gripping apparatus, which comprises a frame and two gripping mechanisms connected with the frame, wherein any one of the gripping mechanisms is provided with a rotating point; the variable-diameter log gripping device is characterized by further comprising two variable-diameter mechanisms connected with the rack, and the rack is connected with the two gripping mechanisms through the variable-diameter mechanisms; a driving mechanism which drives the reducing mechanisms to move and/or deform so as to drive the rotating point of any one grabbing mechanism to move relative to the rotating point of the other grabbing mechanism is arranged between the two reducing mechanisms; the rack is characterized by further comprising a rotating mechanism, wherein the rotating mechanism is arranged on the upper end face of the top wall and used for driving the rack to rotate, and the rack is connected with the mechanical arm through the rotating mechanism.

Preferably, the frame is an inverted U-shaped structure including two side walls and a top wall; two reducing mechanism all sets up in two between the lateral wall, and two reducing mechanism respectively along the structure axial direction of falling U type is fixed in the both ends of lateral wall.

Preferably, the two side walls of the rack are both of inverted V-shaped structures comprising two sub side walls, the side surface of any one of the sub side walls is provided with pin holes arranged at intervals along the sub side wall direction, and the two diameter changing mechanisms are both of parallel four-bar linkage structures comprising two connecting seats, two upper swing rods and two lower swing rods; one ends of the two upper swing rods and the two lower swing rods of any parallel four-bar linkage structure are hinged to pin holes of the side dividing walls through pin shafts, and the other ends of the two upper swing rods and the two lower swing rods are hinged between the two connecting seats through pin shafts.

Preferably, two connecting seats on any diameter changing mechanism are located on the outer side of the side dividing wall, and the upper swing rod and the lower swing rods are located on the inner side of the side dividing wall.

Preferably, the upper end face of the end part of any one of the sub-side walls, which is far away from the top wall, is provided with a load sharing buckle, and the load sharing buckle is matched with a pin shaft between any one of the connecting seats and the lower swing rod; the upper end face, close to the top wall, of any one of the sub-side walls is provided with a load distributing seat in a shape like a Chinese character 'shan' comprising two clamping grooves, and the clamping grooves are matched with pin shafts between any one of the connecting seats and the lower swing rod and between any one of the connecting seats and the upper swing rod.

Preferably, an annular cushion block is sleeved on a pin shaft between the connecting seat and the lower swing rod on any diameter changing mechanism and the upper swing rod, and the annular cushion block is matched with the load sharing buckle and the clamping groove on the load sharing seat.

Preferably, the upper end surfaces of the two upper swing rods on any diameter-changing mechanism are respectively provided with a supporting seat, and a first bearing shaft is arranged between the two supporting seats on any diameter-changing mechanism; the driving mechanism is hinged between the first bearing shafts.

Preferably, any connecting seat all is oblique triangle-shaped, and is arbitrary the lower part that lies in oblique triangle on the connecting seat all is equipped with the pinhole, arbitrary two of snatching the mechanism the rotation point articulates in arbitrary two of reducing mechanism the pinhole department of connecting seat.

Preferably, any one of the grabbing mechanisms is an arc-shaped structure comprising two driving arms and two jaws, the upper end of each jaw is provided with a driving arm which protrudes out of the arc surface outside the jaw and is arranged at a certain angle, and a rotating point is arranged at the joint of the driving arm and the jaw; a third bearing shaft is arranged between the upper end parts of the two driving arms, and a through groove for realizing nested connection is arranged between the rotating point and the third bearing shaft on each driving arm; a second bearing shaft is arranged between the upper end parts of the inclined triangles on the two connecting seats on any diameter changing mechanism, and a third bearing shaft is arranged between the upper end parts of the two driving arms of any grabbing mechanism; and a driving mechanism is arranged between the second bearing shaft and the third bearing shaft.

The embodiment of the utility model provides a technical scheme can include following beneficial effect:

the utility model provides an among the technical scheme, reducing log gripping apparatus can include frame, reducing mechanism and snatch the mechanism erection joint and form, when the log gripping apparatus of operation snatchs the log of different specifications, can change the relative position who snatchs the mechanism rotation point through reducing mechanism to reach the purpose of reducing, can be more effective, stable snatch the log of radius level in the certain limit. Secondly, the lateral wall is the type of falling V structure in the frame, be equipped with branch year knot and branch year seat on the lateral wall, can both share the load for reducing mechanism when reducing mechanism is in the biggest reducing state and minimum reducing state, and the usability is improved, in addition, reducing mechanism is parallel four-bar structure, can keep snatching the mechanism and keep unchangeable at reducing in-process gesture, and simultaneously, the jaw upper end of snatching the mechanism is equipped with actuating arm and the logical groove that is used for cooperating reducing mechanism, make in the reducing in-process, it can keep the gesture inconvenient to snatch the mechanism, and can not influence reducing mechanism and produce deformation in snatching the in-process yet.

Drawings

In order to more clearly illustrate the embodiments or prior art solutions of the present invention, the drawings needed to be used in the description of the embodiments or prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.

Fig. 1 is a perspective view of the log gripper assembled by the frame, the reducing mechanism and the gripping mechanism of the present invention.

Fig. 2 is a schematic structural diagram of an embodiment of a rack according to the present invention;

fig. 3 is a schematic structural diagram of an embodiment of a reducing mechanism according to the present invention;

fig. 4 is a schematic structural diagram of an embodiment of a gripping mechanism according to the present invention;

the correspondence between reference numbers and component names is:

1. a frame; 11. a top wall; 12. a side wall; 13. load sharing buckles; 14. a load distributing seat; 121. dividing a side wall; 141. a card slot; 2. a diameter-changing mechanism; 21. a connecting seat; 22. an upper swing rod; 23. a lower swing rod; 24. a supporting seat; 25. a first bearing shaft; 26. a second bearing shaft; 27. a positioning sleeve; 28. an auxiliary support rod; 3. a grabbing mechanism; 31. a rotation point; 32. a jaw; 33. a drive arm; 34. an arc-shaped groove; 35. a through groove; 36. a third bearing shaft; 4. a drive mechanism.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that all the directional indicators (such as upper, lower, left, right, front and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.

In addition, descriptions in the present application as to "first", "second", and the like are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present application, unless expressly stated or limited otherwise, the terms "connected" and "fixed" are to be construed broadly, e.g., "fixed" may be fixedly connected or detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In addition, the technical solutions between the embodiments of the present invention can be combined with each other, but it is necessary to be able to be realized by a person having ordinary skill in the art as a basis, and when the technical solutions are contradictory or cannot be realized, the combination of such technical solutions should be considered to be absent, and is not within the protection scope of the present invention.

The utility model provides a reducing log gripping apparatus.

Referring to fig. 1-4, in the present embodiment, the variable diameter log gripping apparatus includes a frame 1 and two gripping mechanisms 3 connected to the frame 1, where each of the gripping mechanisms 3 has a rotation point 31, and the gripping mechanism 3 may be a structure, such as a rotary jaw 32, that is driven by a driving mechanism 4 and rotates a gripping portion around the rotation point 31 to grip and release a material during a material gripping process; on the basis of the prior art, the variable-diameter log gripping apparatus further comprises two variable-diameter mechanisms 2 connected with the rack 1, and the rack 1 is connected with the two gripping mechanisms 3 through the variable-diameter mechanisms 2; and a driving mechanism 4 for driving the reducing mechanisms 2 to move and/or deform so as to drive the rotating point 31 of any one of the grabbing mechanisms 3 to move relative to the rotating point 31 of the other grabbing mechanism 3 is arranged between the two reducing mechanisms 2, and the driving mechanism 4 can be a hydraulic cylinder.

When the log radius span that needs lifted by crane is great, the utility model provides a reducing log gripping apparatus can be under actuating mechanism 4's drive, displacement and/or deformation take place for reducing mechanism 2, owing to snatch mechanism 3 and set up in frame 1 through reducing mechanism 2, consequently, snatch mechanism 3 and can change along with reducing mechanism 2, this process is the reducing, when snatching the log, it can be according to the radius adjustment turning point 31 of log to snatch mechanism 3, thereby the messenger has more reasonable contact point and makes the log be in more reasonable loaded area between snatch mechanism 3 and the log, can't be competent in all specifications for the timber loading and unloading manipulator of using single model among the prior art, the condition of the loading and unloading work of the log of all kinds of timber, the utility model discloses more have universality and general use, work efficiency has been improved.

It should be noted that, in this embodiment, there is no limitation on the connection manner between the reducing mechanism 2 and the rack 1, and no matter what kind of structure and connection manner is adopted, it is within the protection scope of the present invention as long as the reducing mechanism 2 can move and/or deform under the driving of the driving mechanism 4 to drive any one of the rotation points 31 of the grabbing mechanism 3 to move relative to another rotation point 31 of the grabbing mechanism 3. Of course, a connection mode between the reducing mechanism 2 and the frame 1 may be specifically designed, as follows:

specifically, the frame 1 is an inverted U-shaped structure including two side walls 12 and a top wall 11; two reducing mechanism 2 all sets up in two between the lateral wall 12, and two reducing mechanism 2 is respectively along the both ends of the type of falling U structure axial direction is fixed in lateral wall 12. The machine frame 1 is simple and compact in structure and convenient for arrangement of the reducing mechanisms 2.

Specifically, the two side walls 12 of the rack 1 are both inverted V-shaped structures including two sub side walls 121, and the structure is simple and compact, and the manufacturing cost is saved.

Specifically, the side surface of any sub-side wall 121 is provided with pin holes arranged at intervals along the direction of the sub-side wall 121, and the two diameter changing mechanisms 2 are parallel four-bar linkage structures including two connecting seats 21, two upper swing rods 22 and two lower swing rods 23; one end of each of the two upper swing rods 22 and one end of each of the two lower swing rods 23 of any one of the parallel four-bar linkage structures are hinged to the pin holes of the side walls 12, specifically, the pin holes of the side walls 121, and the other ends of the two upper swing rods and the two lower swing rods are hinged to the two connecting seats 21 through pin shafts.

To ensure that the posture of the grabbing mechanism 3 before and after the diameter change of the diameter changing mechanism 2 is the same, the design of a parallel four-bar structure is considered, at the moment, the grabbing mechanism 3 can be regarded as being fixed with the connecting seat 21, and the posture of the grabbing mechanism 3 is directly influenced by the direction of the connecting seat 21. Because of the parallel four-bar linkage structure, the connecting seat 21 keeps unchanged in direction at any time during movement, so that the grabbing mechanism 3 is guaranteed to be identical in posture before and after diameter changing, and the danger that the grabbing mechanism 3 is collided with surrounding objects or grabbed between the grabbing mechanisms 3 due to uncontrollable posture change in the diameter changing process of the grabbing mechanism 3 is avoided.

Furthermore, two connecting seats 21 on any diameter changing mechanism 2 are located on the outer side of the partial side wall 121, and the two upper swing rods 22 and the two lower swing rods 23 are located on the inner side of the partial side wall 121, so that a pin shaft between the connecting seats 21 and the lower swing rods 23 can be abutted against the upper end surface of the partial side wall 121. The structure can be matched with the side wall 12 of the inverted V-shaped structure, so that the load borne by the reducing mechanism 2 is shared by the sub side wall 121 to be borne, and the overall usability is improved.

Furthermore, a load sharing buckle 13 is arranged on the upper end face of the end part of any one of the side dividing walls 121 far away from the top wall 11, and the load sharing buckle 13 is matched with a pin shaft between the connecting seat 21 and the lower swing rod 23 on any one of the reducing mechanisms 2. The contact area is increased, and the load sharing effect is better played.

Furthermore, the upper end surface of any one of the sub-side walls 121 close to the top wall 11 is provided with a loading seat 14 in a shape like a Chinese character 'shan' including two clamping grooves 141, and the clamping grooves 141 are matched with pin shafts between any one of the connecting seats 21 and the lower swing link 23 and the upper swing link 22.

Furthermore, an annular cushion block is sleeved on a pin shaft between the connecting seat 21 and the lower swing rod 23 on any diameter-changing mechanism 2 and the upper swing rod 22, and the annular cushion block is matched with the load sharing buckle 13 and the clamping groove 141 on the load sharing seat 14. When the reducing log gripping apparatus is in the maximum reducing state, the annular cushion block is pressed against the load sharing buckle 13, the annular cushion block can play a role in sharing load and protecting the pin shaft, the usability is improved, in addition, the axial deformation of the lower swing rod 23 is restrained by the annular cushion block, when the reducing log gripping apparatus is in the minimum reducing state, the annular cushion block or the pin shaft is pressed against the clamping groove 141 of the load sharing seat 14, the bending moment of the reducing mechanism 2 loaded on the load sharing seat 14 can be reduced to the maximum extent, the load sharing seat 14 is enabled to bear more loads, and the overall usability is improved.

Furthermore, a positioning sleeve 27 is arranged on a pin shaft between the connecting seat 21, the upper swing rod 22 and the lower swing rod 23 on any diameter changing mechanism 2, so that the functions of positioning and deformation prevention are achieved.

In the above-described embodiment, the drive mechanism 4 may also be specifically designed. The upper end surfaces of the two upper swing rods 22 on any one diameter-changing mechanism 2 are respectively provided with a supporting seat 24, and a first supporting shaft 25 is arranged between the two supporting seats 24 on any one diameter-changing mechanism 2; the driving mechanism 4 is hinged between the first bearing shafts 25, and the driving mechanism 4 may be a hydraulic cylinder. In the structure, as the hydraulic cylinder extends, the reducing mechanism 2 deforms until the reducing mechanism 2 reaches the maximum reducing state when the pin shaft or the annular cushion block between the connecting seat 21 and the lower swing rod 23 abuts against the upper end face of the lower end part of the side wall 12, and as the hydraulic cylinder contracts, the reducing mechanism 2 deforms until the reducing mechanism 2 reaches the minimum reducing state when the pin shaft or the annular cushion block between the connecting seat 21 and the lower swing rod 23 abuts against the load distributing seat 14 at the upper end part of the side wall 12.

In the above embodiment, the connection mode between the diameter-changing mechanism 2 and the grabbing mechanism 3 may be specifically designed, any one of the connection seats 21 is in an oblique triangle shape, a pin hole is formed in the lower end portion of the oblique triangle on any one of the connection seats 21 and used for being hinged to the grabbing mechanism 3, and two of the rotation points 31 of any one of the grabbing mechanisms 3 are hinged to the pin holes of any two of the connection seats 21 of the diameter-changing mechanism 2 through a pin shaft. When the diameter-changing mechanism 2 moves and/or deforms under the driving of the driving mechanism 4, the rotating point 31 of any one of the grabbing mechanisms 3 can be driven to move relative to the rotating point 31 of the other grabbing mechanism 3.

Furthermore, any one of the grabbing mechanisms 3 is an arc-shaped structure comprising two jaws 32, the upper end of each jaw 32 is provided with a driving arm 33 which protrudes out of the arc surface outside the jaw 32 and is arranged at a certain angle, and a rotating point 31 is arranged at the joint of the driving arm 33 and the jaw 32; a third bearing shaft 36 is arranged between the upper ends of the two driving arms 33, and a through groove 35 for realizing nested connection is arranged between the rotating point 31 and the third bearing shaft 36 on the driving arm 33.

Further, the through groove 35 extends downward to form an arc-shaped groove 34 on the outer arc surface of the jaw 32. The structure reduces the manufacturing cost on the premise of not influencing the overall firmness.

Specifically, a second bearing shaft 26 is arranged between the upper end parts of the inclined triangles on the two connecting seats 21 on any diameter changing mechanism 2; a third bearing shaft 36 is arranged between the upper end parts of the two driving arms 33 of any one grabbing mechanism 3; the driving mechanism 4 is arranged between the second bearing shaft 26 and the third bearing shaft 36, the driving mechanism 4 can be a hydraulic cylinder, the reducing mechanism 2 and the grabbing mechanism 3 are integrated by the structure, the grabbing mechanism 3 can perform a reducing process along with the reducing mechanism 2, and the position of the reducing mechanism 2 cannot be influenced to deviate when the grabbing mechanism 3 grabs or loosens materials.

Furthermore, at least one auxiliary supporting rod 28 is arranged between the second bearing shaft 26 and the pin shaft at one end of the upper swing link 22.

In any of the above technical solutions, further improvements can be made to the variable diameter log gripper. For example, the variable diameter log gripper further comprises a rotating mechanism, and the rotating mechanism is rotatably connected to the upper end face of the rack 1; the drive mechanism 4 of the swivel mechanism may be a swing hydraulic cylinder. This configuration allows the gripping mechanism 3 to rotate to align the log and, in addition, the variable diameter log gripper can be coupled to the engineering robot via the rotating mechanism.

As described in the background section above, the span of the log size and weight is huge, and further improvements can be made to the variable diameter log grippers for the reasons of design universality and general applicability. For example, the radius of the log is divided into two radial intervals, and the nominal grabbing log radial is set to be 200-600 mm.

Specifically, the width of the mechanism of the rack 1 is more than 1200mm, the radius of the load sharing buckle 13 is more than 38.6mm, the swing angle between the upper swing rod 22 and the lower swing rod 23 of the reducing mechanism 2 is preferably more than 113 °, the included angle between the connecting seat 21 and the vertical line is preferably more than 42 °, the upward moving height of the reducing mechanism 2 when the reducing mechanism is changed from the maximum reducing state to the minimum reducing state is more than 200mm, the spacing distance between the hinged points of the connecting seat 21 and the upper swing rod 22 and the lower swing rod 23 is more than 160mm, the swing angle of the jaw 32 of the grabbing mechanism 3 is more than 37 °, the length of the driving arm 33 at the upper end of the jaw 32 is more than 290mm, and the optimal reducing size of the reducing log grabbing tool is more than 450 mm.

The above only be the preferred embodiment of the utility model discloses a not consequently restriction the utility model discloses a patent range, all are in the utility model discloses a conceive, utilize the equivalent structure transform of what the content was done in the description and the attached drawing, or direct/indirect application all is included in other relevant technical field the utility model discloses a patent protection within range.

Claims (9)

1. A variable-diameter log gripping apparatus comprises a rack (1) and two gripping mechanisms (3) connected with the rack (1), wherein a rotating point (31) is arranged on each gripping mechanism (3); the variable-diameter log gripping device is characterized by further comprising two variable-diameter mechanisms (2) connected with the rack (1), wherein the rack (1) is connected with the two gripping mechanisms (3) through the variable-diameter mechanisms (2); a driving mechanism (4) for driving the diameter-changing mechanisms (2) to move and/or deform so as to drive the rotating point (31) of any one of the grabbing mechanisms (3) to move relative to the rotating point (31) of the other grabbing mechanism (3) is arranged between the two diameter-changing mechanisms (2); the automatic feeding machine is characterized by further comprising a rotating mechanism, wherein the rotating mechanism is arranged on the upper end face of the top wall (11) and used for driving the rack (1) to rotate, and the rack (1) is connected with the mechanical arm through the rotating mechanism.

2. A variable diameter log grab as claimed in claim 1, characterised in that the frame (1) is an inverted U-shaped structure comprising two side walls (12) and a top wall (11); two reducing mechanism (2) all set up in two between lateral wall (12), and two reducing mechanism (2) are respectively along the both ends of inverted U type structure axial direction is fixed in lateral wall (12).

3. The diameter-variable log gripping apparatus as claimed in claim 2, wherein the two side walls (12) of the machine frame (1) are both of an inverted V-shaped structure comprising two sub-side walls (121), the side surface of any one of the sub-side walls (121) is provided with pin holes arranged at intervals along the direction of the sub-side wall (121), and the two diameter-variable mechanisms (2) are both of a parallel four-bar structure comprising two connecting seats (21), two upper swing rods (22) and two lower swing rods (23); one ends of the two upper swing rods (22) and the two lower swing rods (23) of any one parallel four-bar linkage structure are hinged to pin holes of the branch side walls (121) through pin shafts, and the other ends of the two upper swing rods and the two lower swing rods are hinged between the two connecting seats (21) through pin shafts.

4. A variable diameter log gripper according to claim 3, characterized in that two of the connecting seats (21) on any one of the variable diameter mechanisms (2) are located outside the partial side walls (121), and two of the upper swing link (22) and two of the lower swing link (23) are located inside the partial side walls (121).

5. The diameter-variable log gripping apparatus as claimed in claim 4, wherein the upper end surface of the end of any one of the branch side walls (121) far away from the top wall (11) is provided with a load sharing buckle (13), and the load sharing buckle (13) is matched with a pin shaft between any one of the connecting seats (21) and the lower swing rod (23); the upper end face, close to the top wall (11), of any one of the branch side walls (121) is provided with a loading seat (14) in a shape like a Chinese character 'shan' comprising two clamping grooves (141), and the clamping grooves (141) are matched with pin shafts between any one of the connecting seats (21), the lower swing rods (23) and the upper swing rods (22).

6. A variable diameter log gripper as claimed in claim 5, characterized in that a ring-shaped spacer block is sleeved on a pin shaft between the connecting seat (21) on any one of the variable diameter mechanisms (2) and the lower swing link (23) and the upper swing link (22), and the ring-shaped spacer block is matched with the load distributing buckle (13) and the clamping groove (141) on the load distributing seat (14).

7. A variable diameter log gripper as claimed in any one of claims 3 to 6, characterized in that the upper end surfaces of the two upper swing rods (22) on any one of the variable diameter mechanisms (2) are provided with bearing seats (24), and a first bearing shaft (25) is arranged between the two bearing seats (24) on any one of the variable diameter mechanisms (2); the driving mechanism (4) is hinged between the first bearing shafts (25).

8. A variable diameter log gripping apparatus as claimed in claim 7, wherein any one of the connecting seats (21) is in the shape of an oblique triangle, a pin hole is provided at the lower part of the oblique triangle on any one of the connecting seats (21), and the two rotation points (31) of any one of the gripping mechanisms (3) are hinged to the pin holes of the two connecting seats (21) of any one of the variable diameter mechanisms (2) by a pin shaft.

9. A variable diameter log gripper as claimed in claim 8, characterized in that any one of the gripping mechanisms (3) is an arc-shaped structure comprising two driving arms (33) and two jaws (32), the upper end of the jaw (32) is provided with a driving arm (33) protruding out of the outer arc surface of the jaw (32) and arranged at an angle, and the joint of the driving arm (33) and the jaw (32) is provided with a rotation point (31); a third bearing shaft (36) is arranged between the upper end parts of the two driving arms (33), and a through groove (35) for realizing nested connection is arranged between the rotating point (31) and the third bearing shaft (36) on each driving arm (33); a second bearing shaft (26) is arranged between the upper end parts of the inclined triangles on the two connecting seats (21) of any diameter changing mechanism (2), and a third bearing shaft (36) is arranged between the upper end parts of the two driving arms (33) of any grabbing mechanism (3); and a driving mechanism (4) is arranged between the second bearing shaft (26) and the third bearing shaft (36).

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