CN102094433A - Hybrid-driven controllable excavation mechanism - Google Patents
Hybrid-driven controllable excavation mechanism Download PDFInfo
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- CN102094433A CN102094433A CN 201010582771 CN201010582771A CN102094433A CN 102094433 A CN102094433 A CN 102094433A CN 201010582771 CN201010582771 CN 201010582771 CN 201010582771 A CN201010582771 A CN 201010582771A CN 102094433 A CN102094433 A CN 102094433A
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Abstract
The invention discloses a hybrid-driven controllable excavation mechanism which comprises a first excavation arm, a second excavation arm, a forward shovel type bucket and a frame, wherein the first excavation arm and the second excavation arm are respectively formed by the connection of a two-degree-of-freedom hybrid-driven controllable mechanism with the forward shovel type bucket through a complex hinge and a connecting rod. The first excavation arm and the second excavation arm are both arranged on the frame and subjected to hybrid-driving of two high-power conventional motors and two low-power servo motors, and therefore, the requirements for large excavating force and concurrently flexible track output can be met simultaneously. The hybrid-driven controllable excavation mechanism disclosed by the invention can solve the problems that the traditional single-degree-of-freedom mechanical excavation mechanism is simple in implementation action, the hydraulic excavation mechanism is probably subjected to oil leakage, etc. Besides, the whole excavation mechanism has the advantages of high excavation efficiency, low manufacturing cost and low processing and assembling requirements.
Description
Technical field
The present invention relates to a kind of engineering machinery, particularly a kind of combination drive excavating mechanism of controllable.
Background technology
Excavator is a kind of important engineering machinery, is widely used in mechanized construction aspects such as industry, traffic, the energy, farmland improvement, water conservancy, civilian construction, mine excavation and modernized military engineering.So far, excavator mainly contains two types of fluid pressure type and mechanical types.That hydraulic excavator has is simple in structure, in light weight, can realize advantages such as a lot of compound actions, is widely adopted.But hydraulic excavator is to be the medium of transferring power with hydraulic oil, and its startability is relatively poor, leak because of inner member wearing and tearing back produces easily, and the element that relates to is more, and the hydraulic oil of leakage can cause the pollution of environment.Phenomenons such as it is overheated to occur simultaneously, and it is unable to work.Along with the increase of excavator functional requirement, its hydraulic system becomes increasingly complex, and it is sudden, disguised to cause its fault to occur having more.Because the defective of hydraulic system and limitation, hydraulic excavator mostly are medium and small excavator, many large excavators also have to adopt power-actuated mechanical type excavator.The mechanical type excavator has had last 100 years history, is to utilize mechanical transmissioning piece to drive to excavate action, and it has the operating efficiency height, and long service life can adapt to abominable characteristics such as mine working environment.But traditional single-degree-of-freedom mechanical type excavator self structure bulky complex and can not finish flexible and changeable excavation action even only be used for mining, is also usually met difficulty, as: when excavating higher table top, can not produce bigger cutting force on the bucket tooth; For the cleaning foundation of inclined seam, discharge height is less than normal or the like in load wagon.Current, engineering machinery field has such common recognition: the action that the mechanical type excavator can be finished is simple, be difficult to change, and many actions can not realize; Hydraulic excavator can be carried out the action of various engineerings neatly, but has hydraulic system component requirement height, life-span defectives such as length, leakage of oil not.This is a very stubborn problem of one of engineering machinery field, also is to fail the difficult problem that makes a breakthrough for a long time.
Summary of the invention
The purpose of this invention is to provide a kind of combination drive excavating mechanism of controllable, it is simple to overcome single-degree-of-freedom mechanical type digging mechanism action in the past, shortcomings such as difficult control such as excavation speed overcome hydraulic excavator structure Hydraulic Elements requirement height again, easily produce leakage of oil, reliability and cannot say for sure deficiencies such as card.And adopt high-power conventional motor and the combination drive of smaller power servomotor, satisfying the output that takes into account flexibility when big digging force requires, digging efficiency height, low cost of manufacture, process and assemble require low.
The present invention achieves the above object by the following technical programs: a kind of combination drive excavating mechanism of controllable, comprise that first excavates arm, and second excavates arm, positive shovel scraper bowl and frame, its structure and connected mode are:
The described first excavation arm is one group of two degrees of freedom Hybrid Driven Controlled Mechanism, connect to form by first driving lever, second driving lever, first connecting rod, second connecting rod and frame, first driving lever, one end is hinged on the frame by first, the other end is hinged with first connecting rod by second fraising, second driving lever, one end is hinged in the 3rd fraising of frame, and the other end is hinged with second connecting rod by the 4th fraising.Described first connecting rod is a knee, and middle bending part has the 5th fraising, and is hinged with second connecting rod by the 5th fraising, and first connecting rod is terminal hinged with the fraising of positive shovel scraper bowl bottom by the 6th fraising, and described first driving lever is by the first conventional motor-driven.Described second driving lever is by first driven by servomotor,
The described second excavation arm also is one group of two degrees of freedom Hybrid Driven Controlled Mechanism, by the 3rd driving lever, the 4th driving lever, third connecting rod, the 4th connecting rod, the 5th connecting rod and frame connect to form, the 3rd driving lever one end is hinged with third connecting rod by the 7th fraising, the other end is hinged on the frame by the 8th, the 4th driving lever one end is by the 9th fraising and the 4th rod hinge connection, the other end is hinged in the tenth fraising of frame, described the 5th connecting rod one end is by the first compound hinge and third connecting rod and the 4th rod hinge connection, the other end is hinged with the fraising on positive shovel scraper bowl top by the 11 fraising, described the 3rd driving lever is by the second conventional motor-driven, and described the 4th driving lever is by second driven by servomotor.
The rear portion is equipped with the first conventional motor and the second conventional motor on the described frame, and the front portion is equipped with first servomotor and second servomotor.Frame itself can be installed in traditional excavator and take back on the rubber-tyred or crawler type walking mechanism that changes platform, finishes work such as the location of excavation, revolution, discharging and complete machine and walking.
Outstanding advantage of the present invention is:
1, two of digging mechanism side chains are the two degrees of freedom Hybrid Driven Controlled Mechanism, can realize the output of digging mechanism mining track complicated and changeable in working space by computer control, it is simple both to have overcome mechanical type digging mechanism action in the past, shortcomings such as difficult control such as excavation speed have overcome hydraulic excavator structure Hydraulic Elements requirement height again, have easily produced leakage of oil, reliability and cannot say for sure deficiencies such as card;
2, adopt the strategy of high-power conventional motor and the combination drive of smaller power servomotor, compare reliability with the mechanism of full driven by servomotor with bigger digging force and Geng Gao;
3, adopt outer revolute pair to drive the mode of closed chain transmission, two conventional motors and two servomotors are installed on the frame, and rod member can both be made lighter bar, guarantee that digging mechanism has big rigidity and less inertia, and dynamic performance is better.
Combination drive excavating mechanism of controllable of the present invention can solve traditional single-degree-of-freedom mechanical type digging mechanism and can not realize problems such as compound action, can solve again that the hydraulic excavator structure is long to component requirement height, life-span, leakiness wet goods problem.Mechanism adopts the strategy of high-power conventional motor and the combination drive of smaller power servomotor, is satisfying the output that takes into account flexibility when big digging force requires.Complete machine structure is simply compact, and the component process and assemble requires low.
Description of drawings
Fig. 1 is that combination drive excavating mechanism of controllable first of the present invention excavates the arm structure schematic diagram;
Fig. 2 is that combination drive excavating mechanism of controllable second of the present invention excavates the arm structure schematic diagram;
Fig. 3 is the elevation of combination drive excavating mechanism of controllable of the present invention;
Fig. 4 is the vertical view of combination drive excavating mechanism of controllable of the present invention;
Fig. 5 takes back the schematic diagram on the crawler type walking mechanism that changes platform for combination drive excavating mechanism of controllable of the present invention is installed in;
Fig. 6 is that combination drive excavating mechanism of controllable of the present invention excavates the attitude of arm to obtain the work schematic diagram of bigger digging force by adjusting second.
The specific embodiment
Below in conjunction with drawings and Examples technical scheme of the present invention is described further.
Contrast Fig. 1,4, a kind of combination drive excavating mechanism of controllable comprises that two groups are excavated arm, positive shovel scraper bowl and frame.
Contrast Fig. 1,2 and 4, it is one group of plane two degrees of freedom Hybrid Driven Controlled Mechanism that first of described combination drive excavating mechanism of controllable excavates arm, is connected to form by first driving lever 1, second driving lever 4, first connecting rod 2, second connecting rod 3 and frame 27.First driving lever, 1 one ends are hinged on the frame 27 by first fraising 11, and the other end is hinged with first connecting rod 2 by second fraising 12, and second driving lever, 4 one ends are hinged in the 3rd fraising 15 of frame 27, and the other end is hinged with second connecting rod 3 by the 4th fraising 14.Described first connecting rod 2 is a knee, and middle bending part has the 5th fraising 13, and is hinged with second connecting rod 3 by the 5th fraising 13, and first connecting rod 2 is terminal hinged with the 6th fraising 16 of positive shovel scraper bowl 10 bottoms by the 6th fraising 16.Described first driving lever 1 is driven by the first conventional motor 23.Described second driving lever 4 is driven by first servomotor 24.
Contrast Fig. 1,3 and 4, second of described combination drive excavating mechanism of controllable excavates also one group of plane two degrees of freedom Hybrid Driven Controlled Mechanism of arm, is connected to form by the 3rd driving lever 5, the 4th driving lever 8, third connecting rod 6, the 4th connecting rod 7, the 5th connecting rod 9 and frame 27.The 3rd driving lever 5 one ends are hinged with third connecting rod 6 by the 7th fraising 18, and the other end is hinged on the frame 27 by the 8th fraising 17, and the 4th driving lever 8 one ends are hinged by the 9th fraising the 20 and the 4th connecting rod 7, and the other end is hinged in the tenth fraising 21 of frame 27.Described the 5th connecting rod 9 one ends are hinged by the first compound hinge 19 and third connecting rod 6, the 4th connecting rod 7, and the other end is hinged with the 11 fraising 22 on positive shovel scraper bowl 10 tops by the 11 fraising 22.Described the 3rd driving lever 5 is driven by the second conventional motor 25.Described the 4th driving lever 8 is driven by second servomotor 26.
The contrast Figure 4 and 5, the rear portion is equipped with 25 two conventional motors of first conventional motor 23, the second conventional motor on the described frame, and the front portion is equipped with first servomotor 24,26 two servomotors of second servomotor.Frame itself can be installed in traditional excavator and take back on the rubber-tyred or crawler type walking mechanism that changes platform, finishes work such as the location of excavation, revolution, discharging and complete machine and walking.
Contrast Fig. 1,4,5 and 6, when digging mechanism carries out excacation, because the first excavation arm is one group of plane two degrees of freedom Hybrid Driven Controlled Mechanism,, can make first end that excavates arm realize given mining track by the programming Control first conventional motor 23, first servomotor 24.When realizing mining track,, cooperate first to excavate the upset excavation action that arm is realized positive shovel scraper bowl 10 by controlling the second conventional motor 25, second servomotor 26 of the second excavation arm.After the excavation action is finished, by to two excavation two conventional motors of arm and jointly controlling of two servomotors, realize that arm promotes, scraper bowl maintenance action, while revolving dial work returns back to arm in the zone of stacking soil.Stack the top, zone when positive shovel scraper bowl 10 returns back to, positive shovel scraper bowl 10 revolutions are unloaded the soil action and are finished.In the mining process, first conventional motor 23, the second conventional motor 25 provides most mining power.First servomotor 24, second servomotor 26 are coordinated output, cooperate the output of above-mentioned two conventional motors to make whole digging mechanism realize flexible and changeable, as to be fit to various excavation operating modes track.
Contrast Fig. 6, a certain given position and attitude for mechanism, keeping under the constant situation of position of bucket and corner, can be by control the 3rd driving lever 5, the 4th driving lever 8, adjust the attitude of the second excavation arm, make mechanism be in the attitude that stressing conditions is better, stiffness characteristics is better, can better finish specific mining task.
Claims (1)
1. a combination drive excavating mechanism of controllable comprises that first excavates arm, and second excavates arm, positive shovel scraper bowl and frame, and its row is levied and is that its structure and connected mode are:
The described first excavation arm is one group of two degrees of freedom Hybrid Driven Controlled Mechanism, by first driving lever, second driving lever, first connecting rod, second connecting rod and frame connect to form, first driving lever, one end is hinged on the frame by first, the other end is hinged with first connecting rod by second fraising, second driving lever, one end is hinged in the 3rd fraising of frame, the other end is hinged with second connecting rod by the 4th fraising, described first connecting rod is a knee, middle bending part has the 5th fraising, hinged by the 5th fraising with second connecting rod, first connecting rod is terminal hinged with the fraising of positive shovel scraper bowl bottom by the 6th fraising, described first driving lever is by the first conventional motor-driven, described second driving lever is by first driven by servomotor
The described second excavation arm also is one group of two degrees of freedom Hybrid Driven Controlled Mechanism, by the 3rd driving lever, the 4th driving lever, third connecting rod, the 4th connecting rod, the 5th connecting rod and frame connect to form, the 3rd driving lever one end is hinged with third connecting rod by the 7th fraising, the other end is hinged on the frame by the 8th, the 4th driving lever one end is by the 9th fraising and the 4th rod hinge connection, the other end is hinged in the tenth fraising of frame, described the 5th connecting rod one end is by the first compound hinge and third connecting rod and the 4th rod hinge connection, the other end is hinged with the fraising on positive shovel scraper bowl top by the 11 fraising, described the 3rd driving lever is by the second conventional motor-driven, and described the 4th driving lever is by second driven by servomotor.
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| CN2010105827718A CN102094433B (en) | 2010-12-10 | 2010-12-10 | Hybrid-driven controllable excavation mechanism |
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Cited By (12)
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|---|---|---|---|---|
| CN102359129A (en) * | 2011-07-07 | 2012-02-22 | 广西大学 | Controllable multi-link excavating mechanism |
| CN102528818A (en) * | 2011-12-27 | 2012-07-04 | 燕山大学 | Multi-loop coupling connecting rod working device with complex hinge |
| CN102535546A (en) * | 2012-01-12 | 2012-07-04 | 广西大学 | Controllable loader with high load capacity |
| CN102554936A (en) * | 2011-12-27 | 2012-07-11 | 燕山大学 | Three-degree-of-freedom series-parallel hybrid heavy-duty mechanical arm containing composite hinges |
| CN102619241A (en) * | 2012-01-12 | 2012-08-01 | 广西大学 | Space-controllable mechanism type loader |
| CN103122646A (en) * | 2013-02-08 | 2013-05-29 | 广西大学 | Branched chain stop control type multi-degree of freedom (DOF) linkage mechanism |
| CN103787207A (en) * | 2014-02-27 | 2014-05-14 | 钦州学院 | Closed chain type hybrid-driving front-surface lifting crane |
| CN103848355A (en) * | 2014-03-20 | 2014-06-11 | 钦州学院 | Link mechanism type hybrid-driven reach stacker with three freedom degrees |
| CN103848352A (en) * | 2014-03-20 | 2014-06-11 | 钦州学院 | Heavy-load-type container reach stacker crane |
| CN103848356A (en) * | 2014-03-20 | 2014-06-11 | 钦州学院 | Three-degree-of-freedom hybrid drive container reach stacker crane |
| CN106607888A (en) * | 2016-12-06 | 2017-05-03 | 广西大学 | Multi-rod two-degree-of-movement closed chain connection rod mechanism mechanical arm for stacking operation |
| CN110063646A (en) * | 2018-01-23 | 2019-07-30 | 李亚锐 | A kind of the connecting rod charging device and cooking of cooking |
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102359129B (en) * | 2011-07-07 | 2013-05-08 | 广西大学 | Controllable multi-link excavating mechanism |
| CN102359129A (en) * | 2011-07-07 | 2012-02-22 | 广西大学 | Controllable multi-link excavating mechanism |
| CN102528818B (en) * | 2011-12-27 | 2014-06-11 | 燕山大学 | Multi-loop coupling connecting rod working device with complex hinge |
| CN102554936A (en) * | 2011-12-27 | 2012-07-11 | 燕山大学 | Three-degree-of-freedom series-parallel hybrid heavy-duty mechanical arm containing composite hinges |
| CN102554936B (en) * | 2011-12-27 | 2014-11-12 | 燕山大学 | Three-degree-of-freedom series-parallel hybrid heavy-duty mechanical arm containing composite hinges |
| CN102528818A (en) * | 2011-12-27 | 2012-07-04 | 燕山大学 | Multi-loop coupling connecting rod working device with complex hinge |
| CN102619241A (en) * | 2012-01-12 | 2012-08-01 | 广西大学 | Space-controllable mechanism type loader |
| CN102535546A (en) * | 2012-01-12 | 2012-07-04 | 广西大学 | Controllable loader with high load capacity |
| CN102619241B (en) * | 2012-01-12 | 2014-06-25 | 广西大学 | Space-controllable mechanism type loader |
| CN103122646A (en) * | 2013-02-08 | 2013-05-29 | 广西大学 | Branched chain stop control type multi-degree of freedom (DOF) linkage mechanism |
| CN103122646B (en) * | 2013-02-08 | 2015-04-01 | 广西大学 | Branched chain stop control type multi-degree of freedom (DOF) linkage mechanism |
| CN103787207A (en) * | 2014-02-27 | 2014-05-14 | 钦州学院 | Closed chain type hybrid-driving front-surface lifting crane |
| CN103787207B (en) * | 2014-02-27 | 2017-01-04 | 钦州学院 | Closed chain formula combination drive front-handling mobile crane |
| CN103848352A (en) * | 2014-03-20 | 2014-06-11 | 钦州学院 | Heavy-load-type container reach stacker crane |
| CN103848356A (en) * | 2014-03-20 | 2014-06-11 | 钦州学院 | Three-degree-of-freedom hybrid drive container reach stacker crane |
| CN103848356B (en) * | 2014-03-20 | 2015-11-25 | 钦州学院 | Three Degree Of Freedom combination drive face-up transporting hoist of container crane |
| CN103848355B (en) * | 2014-03-20 | 2015-11-25 | 钦州学院 | Three-freedom-degree connection rod mechanism type combination drive front swing-machine |
| CN103848352B (en) * | 2014-03-20 | 2015-11-25 | 钦州学院 | Heavy-load type face-up transporting hoist of container crane |
| CN103848355A (en) * | 2014-03-20 | 2014-06-11 | 钦州学院 | Link mechanism type hybrid-driven reach stacker with three freedom degrees |
| CN106607888A (en) * | 2016-12-06 | 2017-05-03 | 广西大学 | Multi-rod two-degree-of-movement closed chain connection rod mechanism mechanical arm for stacking operation |
| CN110063646A (en) * | 2018-01-23 | 2019-07-30 | 李亚锐 | A kind of the connecting rod charging device and cooking of cooking |
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