CN102535543A - Space controllable mechanism-type loader with three-dimensional rotational moving arm and two-dimensional rotational bucket - Google Patents
Space controllable mechanism-type loader with three-dimensional rotational moving arm and two-dimensional rotational bucket Download PDFInfo
- Publication number
- CN102535543A CN102535543A CN201210008005XA CN201210008005A CN102535543A CN 102535543 A CN102535543 A CN 102535543A CN 201210008005X A CN201210008005X A CN 201210008005XA CN 201210008005 A CN201210008005 A CN 201210008005A CN 102535543 A CN102535543 A CN 102535543A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- servomotor
- loader
- swing arm
- driving lever
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Operation Control Of Excavators (AREA)
Abstract
The invention relates to a space controllable mechanism-type loader with a three-dimensional rotational moving arm and a two-dimensional rotational bucket, which comprises a loader body, the moving arm, the bucket, five drive bars, five connecting bars and five servo motors. The moving arm is capable of rotating three-dimensionally and independently, the bucket is capable of rotating two-dimensionally and independently, and the whole loader is capable of generating movement in a space with five degrees of movement. The space controllable mechanism-type loader effectively overcomes the shortages that hydraulic elements of a hydraulic loader are high in processing precision requirement, high in maintenance cost, difficulty on reliability guarantee, easy to leak oil and the like, and also solves the problems of insufficient movement flexibility, limited work space, low work efficiency and the like due to the fact that a plane loader only generates paths in a plane.
Description
Technical field
The present invention relates to the loader field, particularly a kind of Three dimensional rotation swing arm two dimension is rotated scraper bowl space controllable mechanism formula loader.
Background technology
Loader is a kind of cubic metre of earth and stone construction machinery that is widely used in construction projects such as highway, railway, building, water power, harbour, mine; Be mainly used in bulk materials such as shovel dress soil, sandstone, lime, coal, also can dig operation the slight shovel of works such as ore, pan soil.Mostly traditional loader is hydraulic driven; Exist hydraulic system component process and assemble and require not length, leakage of oil, the long-term unsolved problem of maintaining cost higher engineering mechanical field of high, life-span; And mostly the loading executing agency of existing loader is plane mechanism; Driving through the swing arm hydraulic cylinder realizes the lifting and the decline of swing arm, and the driving of rocking arm hydraulic cylinder realizes the upset of scraper bowl.Because its structural limitations, the swing arm of this type hydraulic loader and scraper bowl all can only realize the motion output of single mobility in the plane, so also must cooperate running gear could accomplish loading tasks such as shovel dress, lifting, unloading.Also there is such problem in the controllable mechanism formula loader on plane.Problems such as output action underaction, working space are limited so construction site abominable at environment, that the space is narrow and small and the burst accident rescue site that needs shovel fortune fast, removes obstacles, traditional plane loader exist, inefficiency.
Summary of the invention
The object of the present invention is to provide a kind of Three dimensional rotation swing arm two dimension to rotate scraper bowl space controllable mechanism formula loader; Drive by controllable motor; The connecting rod transmission; Each component process and assemble requires low; Shortcomings such as hydraulic loader Hydraulic Elements requirement on machining accuracy is high, the maintenance cost is high, reliability cannot say for sure to demonstrate,prove, easy leakage of oil can be effectively overcome, can also the track output in the plane, problems such as action underaction, the working space that causes is limited, inefficiency can only be realized by fine solution plane loader.
The present invention achieves the above object through following technical scheme:
A kind of Three dimensional rotation swing arm two dimension is rotated scraper bowl space controllable mechanism formula loader; Comprise swing arm, scraper bowl, first driving lever, second driving lever, the 3rd driving lever, the 4th driving lever, the 5th driving lever, first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod, the 5th connecting rod, first servomotor, second servomotor, the 3rd servomotor, the 4th servomotor, the 5th servomotor and car body, its structure and connected mode are:
Swing arm one end is connected with car body through first spherical pair; The swing arm other end is connected with scraper bowl through first Hooke hinge; First driving lever, one end is connected with first servomotor on being cemented in car body through first revolute pair, and the other end is connected with first connecting rod one end through second Hooke hinge, and the first connecting rod other end passes through second spherical pair and is connected with swing arm; Second driving lever, one end is connected with second servomotor on being cemented in car body through second revolute pair; The other end is connected with second connecting rod one end through the 3rd Hooke hinge, and the second connecting rod other end passes through the 3rd spherical pair and is connected with swing arm, and the 3rd driving lever one end is connected with the 3rd servomotor on being cemented in car body through the 3rd revolute pair; The other end is connected with third connecting rod one end through four-stringed bowed instrument gram hinge; The third connecting rod other end is connected with swing arm through the 4th spherical pair, and the 4th driving lever one end is connected with the 4th servomotor on being cemented in car body through the 4th revolute pair, and the other end passes through the 5th Hooke and cuts with scissors and be connected with the 4th connecting rod one end; The 4th connecting rod other end is connected with scraper bowl through the 5th spherical pair; The 5th driving lever one end is connected with the 5th servomotor on being cemented in car body through the 5th revolute pair, and the other end is connected with the 5th connecting rod one end through the 6th Hooke hinge, and the 5th connecting rod other end passes through the 6th spherical pair and is connected with scraper bowl.
Outstanding advantage of the present invention is:
1, drive by controllable motor, the connecting rod transmission, each component process and assemble requirement is low, can effectively overcome hydraulic loader Hydraulic Elements requirement on machining accuracy height, maintain shortcomings such as cost is high, reliability cannot say for sure card, easy leakage of oil.
2, swing arm can be realized independently Three dimensional rotation; Scraper bowl can realize that independently two dimension is rotated; The motion of whole loading function implementation space five mobilities; Mechanism's output trajectory is flexible, working space is big, high efficiency, can be abominable at environment, construction site that the space is narrow and small and need load fast, remove obstacles, smooth burst accident rescue site can bring into play better acting on.
Description of drawings
Fig. 1 is first structural representation that a kind of Three dimensional rotation swing arm two dimension according to the invention is rotated scraper bowl space controllable mechanism formula loader.
Fig. 2 is second structural representation that a kind of Three dimensional rotation swing arm two dimension according to the invention is rotated scraper bowl space controllable mechanism formula loader.
Fig. 3 is first kind of working state schematic representation that a kind of Three dimensional rotation swing arm two dimension according to the invention is rotated scraper bowl space controllable mechanism formula loader.
Fig. 4 is second kind of working state schematic representation that a kind of Three dimensional rotation swing arm two dimension according to the invention is rotated scraper bowl space controllable mechanism formula loader.
Fig. 5 is the third working state schematic representation that a kind of Three dimensional rotation swing arm two dimension according to the invention is rotated scraper bowl space controllable mechanism formula loader.
Fig. 6 is the 4th kind of working state schematic representation that a kind of Three dimensional rotation swing arm two dimension according to the invention is rotated scraper bowl space controllable mechanism formula loader.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment technical scheme of the present invention is described further.
Map 4, a kind of Three dimensional rotation swing arm two dimension rotate scraper bowl space controllable mechanism formula loader at first servomotor 31, second servomotor 32, the 3rd servomotor 33, the 4th servomotor 34, uniting of the 5th servomotor 35 drive the working state schematic representation of realization dead ahead lower lifting operation down.
Map 6, a kind of Three dimensional rotation swing arm two dimension are rotated scraper bowl space controllable mechanism formula loader and are being driven the working state schematic representation that realization dead ahead down exceeds unloading operation uniting of first servomotor 31, second servomotor 32, the 3rd servomotor 33, the 4th servomotor 34, the 5th servomotor 35.
Claims (1)
1. a Three dimensional rotation swing arm two dimension is rotated scraper bowl space controllable mechanism formula loader; Comprise swing arm, scraper bowl, first driving lever, second driving lever, the 3rd driving lever, the 4th driving lever, the 5th driving lever, first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod, the 5th connecting rod, first servomotor, second servomotor, the 3rd servomotor, the 4th servomotor, the 5th servomotor and car body, its structure and connected mode are:
Swing arm one end is connected with car body through first spherical pair; The swing arm other end is connected with scraper bowl through first Hooke hinge; First driving lever, one end is connected with first servomotor on being cemented in car body through first revolute pair, and the other end is connected with first connecting rod one end through second Hooke hinge, and the first connecting rod other end passes through second spherical pair and is connected with swing arm; Second driving lever, one end is connected with second servomotor on being cemented in car body through second revolute pair; The other end is connected with second connecting rod one end through the 3rd Hooke hinge, and the second connecting rod other end passes through the 3rd spherical pair and is connected with swing arm, and the 3rd driving lever one end is connected with the 3rd servomotor on being cemented in car body through the 3rd revolute pair; The other end is connected with third connecting rod one end through four-stringed bowed instrument gram hinge; The third connecting rod other end is connected with swing arm through the 4th spherical pair, and the 4th driving lever one end is connected with the 4th servomotor on being cemented in car body through the 4th revolute pair, and the other end passes through the 5th Hooke and cuts with scissors and be connected with the 4th connecting rod one end; The 4th connecting rod other end is connected with scraper bowl through the 5th spherical pair; The 5th driving lever one end is connected with the 5th servomotor on being cemented in car body through the 5th revolute pair, and the other end is connected with the 5th connecting rod one end through the 6th Hooke hinge, and the 5th connecting rod other end passes through the 6th spherical pair and is connected with scraper bowl.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210008005.XA CN102535543B (en) | 2012-01-12 | 2012-01-12 | Space controllable mechanism-type loader with three-dimensional rotational moving arm and two-dimensional rotational bucket |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210008005.XA CN102535543B (en) | 2012-01-12 | 2012-01-12 | Space controllable mechanism-type loader with three-dimensional rotational moving arm and two-dimensional rotational bucket |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102535543A true CN102535543A (en) | 2012-07-04 |
| CN102535543B CN102535543B (en) | 2014-05-07 |
Family
ID=46343448
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210008005.XA Expired - Fee Related CN102535543B (en) | 2012-01-12 | 2012-01-12 | Space controllable mechanism-type loader with three-dimensional rotational moving arm and two-dimensional rotational bucket |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102535543B (en) |
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 |
| CN202416387U (en) * | 2012-01-12 | 2012-09-05 | 广西大学 | Spatial controllable mechanism type loader with three-dimensional rotating movable arm and two-dimensional rotating bucket |
-
2012
- 2012-01-12 CN CN201210008005.XA patent/CN102535543B/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 |
| CN202416387U (en) * | 2012-01-12 | 2012-09-05 | 广西大学 | Spatial controllable mechanism type loader with three-dimensional rotating movable arm and two-dimensional rotating bucket |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102535543B (en) | 2014-05-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202401489U (en) | Space-controllable mechanism-type loading machine with one-dimensional rotating moveable arm and three-dimensional rotating bucket | |
| CN102561417B (en) | Spatially controllable mechanism type loader with two-dimensional rotary moving arm and three-dimensional rotary bucket | |
| CN202416386U (en) | Space controllable mechanism-type loading machine with three-dimensional rotary moving arm and one-dimensional rotary bucket | |
| CN202401487U (en) | Space controlled mechanism type loader with two-dimensional rotating movable arm and two-dimensional rotating bucket | |
| CN202416388U (en) | Space controllable mechanism type loader with three-dimensional rotating swinging arm and three-dimensional rotating bucket | |
| CN202416393U (en) | Controllable-space structural loader with one-dimensional-rotation moving arm and two-dimensional-rotation bucket | |
| CN202416392U (en) | Space-controllable mechanism type loading machine with two-dimensional rotating boom and one-dimensional rotating scraper pan | |
| CN102535540A (en) | Space controllable mechanism-type loader with three-dimensional rotational moving arm and two-dimensional rotational bucket | |
| CN202416387U (en) | Spatial controllable mechanism type loader with three-dimensional rotating movable arm and two-dimensional rotating bucket | |
| CN202401483U (en) | Space controlled mechanism type loader with two-dimensional rotating movable arm and three-dimensional rotating bucket | |
| CN202401488U (en) | space controlled mechanism type loader with two-dimensional rotating movable arm and three-dimensional rotating bucket | |
| CN202401484U (en) | Space-controllable mechanism type loader with movable arm rotating in one dimension and bucket rotating in three dimensions | |
| CN102535539B (en) | Space controllable mechanism loader with two-dimensional rotating movable arm and two-dimensional rotating bucket | |
| CN202416389U (en) | Space-controllable mechanical type loader with two-dimensional rotation moving arm and one-dimensional rotation bucket | |
| CN202401482U (en) | Space-controllable mechanical loader for two-dimensional rotating bucket of two-dimensional rotating movable arm | |
| CN202416390U (en) | Space-controlled mechanism type loading machine with three-dimensional rotation movable arm and one-dimensional rotation bucket | |
| CN202416391U (en) | Space-controlled mechanism loader with swing arm of three-dimensional rotation and bucket of two-dimensional rotation | |
| CN202401485U (en) | Space-controllable mechanism type loading machine with three-dimensional rotation movable arm and three-dimensional rotation bucket | |
| CN102400475A (en) | Space hydraulic loading machine with bucket capable of realizing two-dimensional rotation | |
| CN102535541A (en) | Space controllable mechanism-type loader with one-dimensional rotational moving arm and two-dimensional rotational bucket | |
| CN102561422A (en) | Space controllable mechanism type loader with movable arm capable of three-dimensionally rotating and bucket capable of one-dimensionally rotating | |
| CN102561419B (en) | Space-controllable mechanism type loader with three-dimensional rotating movable arm and one-dimensional rotating bucket | |
| CN102561420A (en) | Spatially controllable mechanism type loader with one-dimensional rotary moving arm and three-dimensional rotary bucket | |
| CN102561421A (en) | Space controllable mechanism type loader with movable arm capable of two-dimensionally rotating and bucket capable of one-dimensionally rotating | |
| CN102561416A (en) | Spatially controllable mechanism type loader with two-dimensional rotatory moving arm and one-dimensional rotary bucket |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140507 Termination date: 20170112 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |