CN102094433B - Hybrid-driven controllable excavation mechanism - Google Patents
Hybrid-driven controllable excavation mechanism Download PDFInfo
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- CN102094433B CN102094433B CN2010105827718A CN201010582771A CN102094433B CN 102094433 B CN102094433 B CN 102094433B CN 2010105827718 A CN2010105827718 A CN 2010105827718A CN 201010582771 A CN201010582771 A CN 201010582771A CN 102094433 B CN102094433 B CN 102094433B
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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 advantage such as a lot of compound actions, is extensively 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 mostly the defective of hydraulic system and limitation, hydraulic excavator 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 historical, 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 accomplish 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 accomplished 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 have that the requirement of hydraulic system component is high, 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 again the requirement of hydraulic excavator structure Hydraulic Elements high, be prone to generation 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 through following technical scheme: 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 said 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 through first; The other end is hinged with first connecting rod through second fraising, and second driving lever, one end is hinged in the 3rd fraising of frame, and the other end is hinged with second connecting rod through the 4th fraising.Said first connecting rod is a knee, and middle bending part has the 5th fraising, and is hinged with second connecting rod through the 5th fraising, and first connecting rod is terminal hinged with the fraising of positive shovel scraper bowl bottom through the 6th fraising, and said first driving lever is by the first conventional motor-driven.Said second driving lever is by first driven by servomotor,
The said second excavation arm also is one group of two degrees of freedom Hybrid Driven Controlled Mechanism; Connect to form by the 3rd driving lever, the 4th driving lever, third connecting rod, the 4th connecting rod, the 5th connecting rod and frame; The 3rd driving lever one end is hinged with third connecting rod through the 7th fraising; The other end is hinged on the frame through the 8th, and the 4th driving lever one end is through the 9th fraising and the 4th rod hinge connection, and the other end is hinged in the tenth fraising of frame; Said the 5th connecting rod one end is through 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 through the 11 fraising, and said the 3rd driving lever is by the second conventional motor-driven, and said 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 said 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, work such as the location of completion 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 through 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, overcome again the requirement of hydraulic excavator structure Hydraulic Elements high, be prone to generation 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 high to the component requirement, the life-span is long, 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.The complete machine structure compact, the component process and assemble requires low.
Description of drawings
Fig. 1 is that combination drive excavating mechanism of controllable first according to the invention excavates the arm structure sketch map;
Fig. 2 is that combination drive excavating mechanism of controllable second according to the invention excavates the arm structure sketch map;
Fig. 3 is the elevation of combination drive excavating mechanism of controllable according to the invention;
Fig. 4 is the vertical view of combination drive excavating mechanism of controllable according to the invention;
Fig. 5 takes back the sketch map on the crawler type walking mechanism that changes platform for combination drive excavating mechanism of controllable according to the invention is installed in;
Fig. 6 is that combination drive excavating mechanism of controllable according to the invention excavates the work sketch map of the attitude of arm with the bigger digging force of acquisition through adjustment second.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment technical scheme of the present invention is described further.
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 said 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, work such as the location of completion excavation, revolution, discharging and complete machine and walking.
Claims (1)
1. a combination drive excavating mechanism of controllable comprises that first excavates arm, and second excavates arm, and positive shovel scraper bowl and frame is characterized in that its structure and connected mode are:
The said first excavation arm is one group of two degrees of freedom Hybrid Driven Controlled Mechanism, is connected to form by first driving lever, second driving lever, first connecting rod, second connecting rod and frame, and first driving lever, one end is hinged on the frame through first; The other end is hinged with first connecting rod through 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 through the 4th fraising, and said first connecting rod is a knee; Middle bending part has the 5th fraising; Hinged with second connecting rod through the 5th fraising, first connecting rod is terminal hinged with the fraising of positive shovel scraper bowl bottom through the 6th fraising, and said first driving lever is by the first conventional motor-driven; Said second driving lever is by first driven by servomotor
The said second excavation arm also is one group of two degrees of freedom Hybrid Driven Controlled Mechanism; Connect to form by the 3rd driving lever, the 4th driving lever, third connecting rod, the 4th connecting rod, the 5th connecting rod and frame; The 3rd driving lever one end is hinged with third connecting rod through the 7th fraising; The other end is hinged on the frame through the 8th, and the 4th driving lever one end is through the 9th fraising and the 4th rod hinge connection, and the other end is hinged in the tenth fraising of frame; Said the 5th connecting rod one end is through 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 through the 11 fraising, and said the 3rd driving lever is by the second conventional motor-driven, and said 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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CN2010105827718A CN102094433B (en) | 2010-12-10 | 2010-12-10 | Hybrid-driven controllable excavation mechanism |
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CN102094433B true CN102094433B (en) | 2012-02-08 |
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Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
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CN102359129B (en) * | 2011-07-07 | 2013-05-08 | 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 |
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 |
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 |
CN103122646B (en) * | 2013-02-08 | 2015-04-01 | 广西大学 | Branched chain stop control type multi-degree of freedom (DOF) linkage mechanism |
CN103787207B (en) * | 2014-02-27 | 2017-01-04 | 钦州学院 | Closed chain formula combination drive front-handling mobile crane |
CN103848352B (en) * | 2014-03-20 | 2015-11-25 | 钦州学院 | Heavy-load type 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 |
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 |
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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JP2003328382A (en) * | 2002-05-15 | 2003-11-19 | Iseki & Co Ltd | Front loader mounting device |
CN101078224A (en) * | 2007-02-12 | 2007-11-28 | 张晓英 | Hybrid power plant for engineering machinery |
CN101725163A (en) * | 2008-10-29 | 2010-06-09 | 神钢建设机械株式会社 | Hybrid working machine |
CN201901887U (en) * | 2010-12-10 | 2011-07-20 | 广西大学 | Controllable hybrid drive excavating mechanism |
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Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2003328382A (en) * | 2002-05-15 | 2003-11-19 | Iseki & Co Ltd | Front loader mounting device |
CN101078224A (en) * | 2007-02-12 | 2007-11-28 | 张晓英 | Hybrid power plant for engineering machinery |
CN101725163A (en) * | 2008-10-29 | 2010-06-09 | 神钢建设机械株式会社 | Hybrid working machine |
CN201901887U (en) * | 2010-12-10 | 2011-07-20 | 广西大学 | Controllable hybrid drive excavating mechanism |
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