Wood grabbing operation mechanism adopting multi-connecting-rod series-parallel structure

Abstract

The invention discloses a wood grabbing operation mechanism adopting a multi-connecting-rod series-parallel structure. The mechanism is characterized by comprising a base, a revolving platform, a first driving rod, a second driving rod, a large arm, a large arm connecting rod, a middle arm connecting rod, a middle arm, a small arm, a dip angle detector and a driving device; one end of the first driving rod is connected with the revolving platform, and the other end of the first driving rod is connected with one end of the large arm connecting rod; the small arm is connected with a wrist; a pawis connected with the wrist; the dip angle detector is mounted on the small arm; and the driving device comprises a first servo motor, a second servo motor and a third servo motor. The small arm is connected with the wrist; the paw is connected with the wrist; the dip angle detector is mounted on the small arm; and the driving device comprises the first servo motor, the second servo motor and thethird servo motor. The motor traditionally mounted on the arm is mounted on a frame, so that the weight of the arm is reduced.

Description

technical field [0001] The invention relates to the field of forest machinery, in particular to a wood-grabbing operation mechanism adopting a multi-connection parallel structure. Background technique [0002] In the past few years, due to the shortage of personnel in the labor market, labor costs have increased year by year, which has promoted the wide application of log grabbers in timber harvesting, processing and handling operations. There are two types of log grabbers: mechanical and hydraulic. At present, most of the mechanical arms of log grabbers are driven by hydraulic pressure. Since hydraulic transmission uses hydraulic oil as the medium for power transmission, there are the following problems: its starting performance is poor, and it is easy to cause Leakage occurs after internal components are worn, and the leaked hydraulic oil will pollute the environment and affect the quality of wood raw materials; hydraulic oil is greatly affected by temperature, the overall...

AI Technical Summary

Problems solved by technology

[0003] The object of the present invention is to provide a wood grabbing operation mechanism for a log grab that adopts a multi-link and serial structure, which overcomes the shortcomings of hydraulic system components such as high precision requirements, complex structure, and easy oil leakage. At the same time, it solves the problems that the driving motors of the open-chain structure are installed at the joints, resulting in large moment of inertia of the arm, decreased dynamic performance, large cumulative error, small bearing capacity, and complex structure.

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