CN102535542B - 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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- CN102535542B CN102535542B CN201210008002.6A CN201210008002A CN102535542B CN 102535542 B CN102535542 B CN 102535542B CN 201210008002 A CN201210008002 A CN 201210008002A CN 102535542 B CN102535542 B CN 102535542B
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- loader
- connecting rod
- servomotor
- 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 work 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, realize lifting and the decline of swing arm by the driving of swing arm hydraulic cylinder, 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, driven by controllable motor, link transmission, each parts machining matching requirements are low, can effectively overcome that hydraulic loader Hydraulic Elements requirement on machining accuracy is high, high, the reliability of maintenance cost is difficult to ensure the shortcoming such as 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:
A kind of 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 3rd universal joint, the first connecting rod other end is connected with swing arm by the first 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 4th universal joint, the second connecting rod other end is connected with swing arm by the second 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 universal joint, the third connecting rod other end is connected with scraper bowl by the 3rd 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 6th universal joint, the 4th connecting rod other end is connected with scraper bowl by the 4th spherical pair.
Outstanding advantages of the present invention is:
1, driven by controllable motor, link transmission, each parts machining matching requirements are low, can effectively overcome that hydraulic loader Hydraulic Elements requirement on machining accuracy is high, high, the reliability of maintenance cost is difficult to ensure the shortcoming such as 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 four 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.
brief description of the drawings
Fig. 1 is the structural representation of a kind of two-dimensional rotary swing arm two-dimensional rotary scraper bowl of the present invention space controllable-mechanism type loader.
Fig. 2 is the first working state schematic representation of a kind of two-dimensional rotary swing arm two-dimensional rotary scraper bowl of the present invention space controllable-mechanism type loader.
Fig. 3 is the second working state schematic representation of a kind of two-dimensional rotary swing arm two-dimensional rotary scraper bowl of the present invention space controllable-mechanism type loader.
Fig. 4 is the third working state schematic representation of a kind of two-dimensional rotary swing arm two-dimensional rotary scraper bowl of the present invention space controllable-mechanism type loader.
Fig. 5 is the 4th kind of working state schematic representation of a kind of two-dimensional rotary swing arm two-dimensional rotary scraper bowl of the present invention space controllable-mechanism type loader.
detailed description of the invention
Below in conjunction with drawings and Examples, technical scheme of the present invention is further illustrated.
Contrast Fig. 1, a kind of 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:
Swing arm 2 one end are connected with car body 1 by the first universal joint 28, the other end is connected with scraper bowl 3 by the second universal joint 29, first driving lever 4 one end are connected with the first servomotor 24 being cemented on car body 1 by the first revolute pair 12, the other end is connected with first connecting rod 5 by the 3rd universal joint 13, and first connecting rod 5 other ends are connected with swing arm 2 by the first spherical pair 14.Second driving lever 6 one end are connected with the second servomotor 25 being cemented on car body 1 by the second revolute pair 15, and the other end is connected with second connecting rod 7 by the 4th universal joint 16, and second connecting rod 7 other ends are connected with swing arm 2 by the second spherical pair 17.The 3rd driving lever 8 one end are connected with the 3rd servomotor 26 being cemented on car body 1 by the 3rd revolute pair 18, and the other end is connected with third connecting rod 9 by the 5th universal joint 19, and third connecting rod 9 other ends are connected with scraper bowl 3 by the 3rd spherical pair 20.The 4th driving lever 10 one end are connected with the 4th servomotor 27 being fixed on car body 1 by the 4th revolute pair 21, and the other end is connected with the 4th connecting rod 11 by the 6th universal joint 22, and the 4th connecting rod 11 other ends are connected with scraper bowl by the 4th spherical pair 23.
Contrast Fig. 2, 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 a kind of two-dimensional rotary swing arm two-dimensional rotary scraper bowl space controllable-mechanism type loader.
Contrast Fig. 3, a kind of two-dimensional rotary swing arm two-dimensional rotary scraper bowl space controllable-mechanism type loader is at the working state schematic representation of realizing front 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. 4, a kind of 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 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. 5, a kind of 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.
Claims (1)
1. a 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 3rd universal joint, the first connecting rod other end is connected with swing arm by the first 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 4th universal joint, the second connecting rod other end is connected with swing arm by the second 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 universal joint, the third connecting rod other end is connected with scraper bowl by the 3rd 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 6th universal joint, the 4th connecting rod other end is connected with scraper bowl by the 4th spherical pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210008002.6A CN102535542B (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 |
|---|---|---|---|
| CN201210008002.6A CN102535542B (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 |
|---|---|
| CN102535542A CN102535542A (en) | 2012-07-04 |
| CN102535542B true CN102535542B (en) | 2014-08-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210008002.6A Expired - Fee Related CN102535542B (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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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04124325A (en) * | 1990-09-13 | 1992-04-24 | Japanic:Kk | Accessory attaching or removing mechanism for construction equipment |
| JP2001193091A (en) * | 2000-01-06 | 2001-07-17 | Hiroshi Okamura | Universal arm device |
| JP2006009568A (en) * | 2004-06-21 | 2006-01-12 | Deere & Co | Movable interface structure having a plurality of degree of freedom |
| CN101892680A (en) * | 2010-07-15 | 2010-11-24 | 广西大学 | Mechanical two-degree-of-freedom controllable loading machine |
| CN102296649A (en) * | 2011-07-07 | 2011-12-28 | 广西大学 | Multi-connecting-rod loading mechanism |
| CN202401482U (en) * | 2012-01-12 | 2012-08-29 | 广西大学 | Space-controllable mechanical loader for two-dimensional rotating bucket of two-dimensional rotating movable arm |
-
2012
- 2012-01-12 CN CN201210008002.6A patent/CN102535542B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04124325A (en) * | 1990-09-13 | 1992-04-24 | Japanic:Kk | Accessory attaching or removing mechanism for construction equipment |
| JP2001193091A (en) * | 2000-01-06 | 2001-07-17 | Hiroshi Okamura | Universal arm device |
| JP2006009568A (en) * | 2004-06-21 | 2006-01-12 | Deere & Co | Movable interface structure having a plurality of degree of freedom |
| CN101892680A (en) * | 2010-07-15 | 2010-11-24 | 广西大学 | Mechanical two-degree-of-freedom controllable loading machine |
| CN102296649A (en) * | 2011-07-07 | 2011-12-28 | 广西大学 | Multi-connecting-rod loading mechanism |
| CN202401482U (en) * | 2012-01-12 | 2012-08-29 | 广西大学 | Space-controllable mechanical loader for two-dimensional rotating bucket of two-dimensional rotating movable arm |
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| Publication number | Publication date |
|---|---|
| CN102535542A (en) | 2012-07-04 |
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Granted publication date: 20140806 Termination date: 20170112 |
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