CN102535539B - Space controllable mechanism loader with two-dimensional rotating movable arm and two-dimensional rotating bucket - Google Patents
Space controllable mechanism loader with two-dimensional rotating movable arm and two-dimensional rotating bucket Download PDFInfo
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- CN102535539B CN102535539B CN201210007822.3A CN201210007822A CN102535539B CN 102535539 B CN102535539 B CN 102535539B CN 201210007822 A CN201210007822 A CN 201210007822A CN 102535539 B CN102535539 B CN 102535539B
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- loader
- servomotor
- connecting rod
- swing arm
- scraper bowl
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Abstract
The invention relates to a space controllable mechanism loader with a two-dimensional rotating movable arm and a two-dimensional rotating bucket. The loader comprises a vehicle body, the movable arm, the bucket, four driving rods, four connecting rods and four servo motors, wherein both the movable arm and the bucket can realize independent two-dimensional rotation; and the whole loader can realize space four-range-of-motion motion output. The space controllable mechanism loader can effectively overcome the defects of a high processing accuracy requirement, high maintenance cost, low reliability, high oil leakage probability and the like of a hydraulic element of a hydraulic loader, and can solve the problems of an inflexible action, a limited working space, low working efficiency and the like of a plane loader which only can output a trajectory in a plane.
Description
Technical field
The present invention relates to loader field, particularly a kind of two-dimensional rotary swing arm two-dimensional rotary scraper bowl space controllable-mechanism type loader.
Background technology
Loader is a kind of restoration in earth-rock construction machinery that is widely used in the construction projects such as highway, railway, building, water power, harbour, mine, be mainly used in the bulk materials such as shovel dress soil, sandstone, lime, coal, also can dig operation to the slight shovel of the works such as ore, pan soil.Traditional loader mostly is hydraulic driven, exist that the matching requirements of hydraulic system parts machining are high, not length, leakage of oil, the long-term unsolved problem of maintaining high in cost of production engineering machinery field of life-span, and the loading executing agency of existing loader mostly is plane mechanism, by the driving of swing arm hydraulic cylinder, realize lifting and the decline of swing arm, the driving of rocking arm hydraulic cylinder realizes the upset of scraper bowl.Due to its structural limitations, the swing arm of this class hydraulic loader and scraper bowl all can only be realized the movement output of single mobility in plane, therefore also must coordinate running gear just can complete the loading tasks such as shovel dress, lifting, unloading.Also there is such problem in the controllable-mechanism type loader of plane.Therefore, the construction site of narrow space severe at environment and the burst accident rescue site that needs quick scraper, removes obstacles, traditional plane loader exists the problems such as output action underaction, working space are limited, inefficiency.
Summary of the invention
The object of the present invention is to provide a kind of two-dimensional rotary swing arm two-dimensional rotary scraper bowl space controllable-mechanism type loader, by controllable motor, driven, link transmission, each parts machining matching requirements are low, can effectively overcome the shortcomings such as hydraulic loader Hydraulic Elements requirement on machining accuracy is high, maintenance cost is high, reliability is difficult to ensure card, easy leakage of oil, can also fine solution plane loader can only realize the track output in plane, the problems such as the action underaction, the working space that cause are limited, inefficiency.
The present invention achieves the above object by the following technical programs:
Two-dimensional rotary swing arm two-dimensional rotary scraper bowl space controllable-mechanism type loader, comprise car body, swing arm, scraper bowl, the first driving lever, the second driving lever, the 3rd driving lever, the 4th driving lever, first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod, the first servomotor, the second servomotor, the 3rd servomotor and the 4th servomotor, its structure and connected mode are:
Swing arm one end is connected with car body by the first universal joint, the other end is connected with scraper bowl by the second universal joint, first driving lever one end is connected with the first servomotor being cemented on car body by the first revolute pair, the other end is connected with first connecting rod by the first spherical pair, and the first connecting rod other end is connected with swing arm by the second spherical pair.Second driving lever one end is connected with the second servomotor being cemented on car body by the second revolute pair, and the other end is connected with second connecting rod by the 3rd spherical pair, and the second connecting rod other end is connected with swing arm by the 4th spherical pair.The 3rd driving lever one end is connected with the 3rd servomotor being cemented on car body by the 3rd revolute pair, and the other end is connected with third connecting rod by the 5th spherical pair, and the third connecting rod other end is connected with scraper bowl by the 6th spherical pair.The 4th driving lever one end is connected with the 4th servomotor being cemented on car body by the 4th revolute pair, and the other end is connected with the 4th connecting rod by the 7th spherical pair, and the 4th connecting rod other end is connected with scraper bowl by the 8th spherical pair.
Outstanding advantages of the present invention is:
1, by controllable motor, driven, link transmission, each parts machining matching requirements are low, can effectively overcome the shortcomings such as hydraulic loader Hydraulic Elements requirement on machining accuracy is high, maintenance cost is high, reliability is difficult to ensure card, easy leakage of oil.
2, swing arm can be realized independently two-dimensional rotary, scraper bowl can be realized independently two-dimensional rotary, the motion of whole loading function implementation space five mobilities, mechanism's output trajectory is flexible, working space is large, operating efficiency is high, can be severe at environment, the construction site of narrow space and need to load fast, remove obstacles, smooth burst accident rescue site can bring into play better acting on.
Accompanying drawing explanation
Fig. 1 is the first structural representation of two-dimensional rotary swing arm two-dimensional rotary scraper bowl of the present invention space controllable-mechanism type loader.
Fig. 2 is the second structural representation of two-dimensional rotary swing arm two-dimensional rotary scraper bowl of the present invention space controllable-mechanism type loader.
Fig. 3 is the first working state schematic representation of two-dimensional rotary swing arm two-dimensional rotary scraper bowl of the present invention space controllable-mechanism type loader.
Fig. 4 is the second working state schematic representation of two-dimensional rotary swing arm two-dimensional rotary scraper bowl of the present invention space controllable-mechanism type loader.
Fig. 5 is the third working state schematic representation of two-dimensional rotary swing arm two-dimensional rotary scraper bowl of the present invention space controllable-mechanism type loader.
Fig. 6 is the 4th kind of working state schematic representation of two-dimensional rotary swing arm two-dimensional rotary scraper bowl of the present invention space controllable-mechanism type loader.
Fig. 7 is the 5th kind of working state schematic representation of two-dimensional rotary swing arm two-dimensional rotary scraper bowl of the present invention space controllable-mechanism type loader.
The specific embodiment
Below in conjunction with drawings and Examples, technical scheme of the present invention is described further.
Contrast Fig. 1 and Fig. 2, two-dimensional rotary swing arm two-dimensional rotary scraper bowl space controllable-mechanism type loader, comprise car body 1, swing arm 2, scraper bowl 3, the first driving lever 4, the second driving lever 6, the 3rd driving lever 8, the 4th driving lever 10, first connecting rod 5, second connecting rod 7, third connecting rod 9, the 4th connecting rod 11, the first servomotor 24, the second servomotor 25, the 3rd servomotor 26 and the 4th servomotor 27, its structure and connected mode are:
Contrast Fig. 3, the working state schematic representation of industry realized dead ahead shovel under driving and pretending combining of the first servomotor 24, the second servomotor 25, the 3rd servomotor 26, the 4th servomotor 27 by two-dimensional rotary swing arm two-dimensional rotary scraper bowl space controllable-mechanism type loader.
Contrast Fig. 4, the working state schematic representation of industry realized right front square spade under driving and pretending combining of the first servomotor 24, the second servomotor 25, the 3rd servomotor 26, the 4th servomotor 27 by two-dimensional rotary swing arm two-dimensional rotary scraper bowl space controllable-mechanism type loader.
Contrast Fig. 5, two-dimensional rotary swing arm two-dimensional rotary scraper bowl space controllable-mechanism type loader is at the working state schematic representation of realizing dead ahead lifting operation under driving of combining of the first servomotor 24, the second servomotor 25, the 3rd servomotor 26, the 4th servomotor 27.
Contrast Fig. 6, two-dimensional rotary swing arm two-dimensional rotary scraper bowl space controllable-mechanism type loader is at the working state schematic representation of realizing right front discharge operation under driving of combining of the first servomotor 24, the second servomotor 25, the 3rd servomotor 26, the 4th servomotor 27.
Contrast Fig. 7, two-dimensional rotary swing arm two-dimensional rotary scraper bowl space controllable-mechanism type loader is at the working state schematic representation of realizing left front discharge operation under driving of combining of the first servomotor 24, the second servomotor 25, the 3rd servomotor 26, the 4th servomotor 27.
Claims (1)
1. two-dimensional rotary swing arm two-dimensional rotary scraper bowl space controllable-mechanism type loader, comprise car body, swing arm, scraper bowl, the first driving lever, the second driving lever, the 3rd driving lever, the 4th driving lever, first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod, the first servomotor, the second servomotor, the 3rd servomotor and the 4th servomotor, its structure and connected mode are:
Swing arm one end is connected with car body by the first universal joint, the other end is connected with scraper bowl by the second universal joint, first driving lever one end is connected with the first servomotor being cemented on car body by the first revolute pair, the other end is connected with first connecting rod by the first spherical pair, the first connecting rod other end is connected with swing arm by the second spherical pair, second driving lever one end is connected with the second servomotor being cemented on car body by the second revolute pair, the other end is connected with second connecting rod by the 3rd spherical pair, the second connecting rod other end is connected with swing arm by the 4th spherical pair, the 3rd driving lever one end is connected with the 3rd servomotor being cemented on car body by the 3rd revolute pair, the other end is connected with third connecting rod by the 5th spherical pair, the third connecting rod other end is connected with scraper bowl by the 6th spherical pair, the 4th driving lever one end is connected with the 4th servomotor being cemented on car body by the 4th revolute pair, the other end is connected with the 4th connecting rod by the 7th spherical pair, the 4th connecting rod other end is connected with scraper bowl by the 8th spherical pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210007822.3A CN102535539B (en) | 2012-01-12 | 2012-01-12 | Space controllable mechanism loader with two-dimensional rotating movable arm and two-dimensional rotating bucket |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210007822.3A CN102535539B (en) | 2012-01-12 | 2012-01-12 | Space controllable mechanism loader with two-dimensional rotating movable arm and two-dimensional rotating bucket |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102535539A CN102535539A (en) | 2012-07-04 |
| CN102535539B true CN102535539B (en) | 2014-05-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210007822.3A Expired - Fee Related CN102535539B (en) | 2012-01-12 | 2012-01-12 | Space controllable mechanism loader with two-dimensional rotating movable arm and two-dimensional rotating bucket |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103273493B (en) * | 2013-05-24 | 2016-04-20 | 西南交通大学 | A kind of Robot neck mechanism |
| CN115142488A (en) * | 2021-03-31 | 2022-10-04 | 纳博特斯克有限公司 | Construction machine, drive system, and drive device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08184072A (en) * | 1994-12-28 | 1996-07-16 | Yutani Heavy Ind Ltd | Structure of tilt-angle dozer device |
| JPH09302706A (en) * | 1996-05-15 | 1997-11-25 | Hitachi Constr Mach Co Ltd | Working machine |
| CN101899846A (en) * | 2010-08-04 | 2010-12-01 | 广西大学 | Planer multiple degree of freedom controllable loading mechanism |
| CN102085659A (en) * | 2010-12-16 | 2011-06-08 | 广西大学 | Space-controlled five degree of freedom twelve-rod welding robot mechanism |
| CN202401487U (en) * | 2012-01-12 | 2012-08-29 | 广西大学 | Space controlled mechanism type loader with two-dimensional rotating movable arm and two-dimensional rotating bucket |
-
2012
- 2012-01-12 CN CN201210007822.3A patent/CN102535539B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08184072A (en) * | 1994-12-28 | 1996-07-16 | Yutani Heavy Ind Ltd | Structure of tilt-angle dozer device |
| JPH09302706A (en) * | 1996-05-15 | 1997-11-25 | Hitachi Constr Mach Co Ltd | Working machine |
| CN101899846A (en) * | 2010-08-04 | 2010-12-01 | 广西大学 | Planer multiple degree of freedom controllable loading mechanism |
| CN102085659A (en) * | 2010-12-16 | 2011-06-08 | 广西大学 | Space-controlled five degree of freedom twelve-rod welding robot mechanism |
| CN202401487U (en) * | 2012-01-12 | 2012-08-29 | 广西大学 | Space controlled mechanism type loader with two-dimensional rotating movable arm and two-dimensional rotating bucket |
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| CN102535539A (en) | 2012-07-04 |
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