CN102561426A - 3-dof (three degrees of freedom) controllable mechanism type excavator - Google Patents

3-dof (three degrees of freedom) controllable mechanism type excavator Download PDF

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Publication number
CN102561426A
CN102561426A CN2012100080488A CN201210008048A CN102561426A CN 102561426 A CN102561426 A CN 102561426A CN 2012100080488 A CN2012100080488 A CN 2012100080488A CN 201210008048 A CN201210008048 A CN 201210008048A CN 102561426 A CN102561426 A CN 102561426A
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China
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connecting rod
fraising
driving lever
bucket
excavator
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CN2012100080488A
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CN102561426B (en
Inventor
蔡敢为
张�林
潘宇晨
王红州
王建亮
黄院星
李小清
张金玲
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Guangxi University
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Guangxi University
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Abstract

The invention relates to a 3-dof (three degrees of freedom) controllable mechanism type excavator which comprises a movable arm lifting mechanism, a bucket rod ascending and descending mechanism, a bucket turning-over mechanism, a travelling mechanism, a slewing mechanism and a stand. The movable arm lifting mechanism comprises a movable arm and a lifting mechanism; the bucket rod ascending and descending mechanism comprises a bucket rod and an ascending and descending mechanism; the bucket turning-over mechanism comprises a bucket and a turning-over mechanism; and the movable arm, the bucket rod and the bucket are driven by a servo motor which is arranged on the stand through the lifting mechanism, the ascending and descending mechanism and the turning-over mechanism respectively. The 3-dof controllable mechanism type excavator adopts a new connecting rod to replace the hydraulic transmission, is free from the defects of the hydraulic excavator that the hydraulic elements have high requirements for the manufacturing precision, the hydraulic oil can be seriously affected by the temperature, and the fault of the hydraulic system is not easy to check and debug. Compared with other controllable mechanism type excavators, the 3-dof controllable mechanism type excavator has the advantages that the number of connection rods is reduced, the weight is lowered and the load-carrying capacity is improved, and the defects of complex structure and heavy weight of the connecting rod mechanism are overcome.

Description

A kind of Three Degree Of Freedom controllable mechanism formula excavator
Technical field
The present invention relates to engineering machinery field, particularly a kind of Three Degree Of Freedom controllable mechanism formula excavator.
Background technology
Excavator is the of paramount importance a kind of engineering machinery of engineering machinery field now, is widely used in effectively reducing people's work intensity in the middle of all kinds of construction workings, and has improved operating efficiency; Because it is little, in light weight that hydraulic drive has a volume, realize advantages such as overload protection easily, most mining machine of today has all adopted hydraulic drive, still; Adopt hydraulicdriven excavator also to exist many deficiencies and shortcoming, at first, the hydraulic system accuracy of manufacture requires high; Complex process and cost are higher, and the Hydraulic Elements maintaining requires high, and technical level that must be higher; Secondly, hydraulic drive receives influence of temperature change easily, should not under very high or very low temperature, work; The hydraulic oil temperature influence is big, and gross efficiency is low, and noise and vibration are arranged sometimes.
Raising along with development of NC technology and mechanical industry level; The numerical controlization of engineering machinery is the new development trend of engineering machinery field, and the combining of Numeric Control Technology and engineering machinery can make the engineering machinery performance get a qualitative improvement, because of it has simple in structure; Control easily; Maintaining is simple, and therefore plurality of advantages such as low cost of manufacture have wide development space.More existing controllable mechanism formula excavators, though avoided many shortcomings of hydraulic system, still having needs perfect place; Some controllable mechanism formula excavator linkage is simple, and working space is too small, though some has guaranteed working space; But it is huge to exist the connecting rod running part; Mechanism is complicated, and weight is excessive, the stressed shortcoming such as bad of each bar.
Summary of the invention
The purpose of this invention is to provide a kind of Three Degree Of Freedom controllable mechanism formula excavator; The working space that at first should have the hydraulic drive excavator is big; Advantages such as flexibility is good; Avoid the hydraulic crawler excavator Hydraulic Elements accuracy of manufacture require high, the hydraulic oil temperature influence is serious, hydraulic system breaks down shortcomings such as being difficult for inspection and eliminating, simultaneously, also should avoid other controllable type excavator connecting rod quantity many, from shortcoming such as great, that mechanical property is bad.
The present invention achieves the above object through following technical scheme:
A kind of Three Degree Of Freedom controllable mechanism formula excavator comprises swing arm lifting mechanism, dipper act descending mechanism, scraper bowl switching mechanism, running gear, slew gear, frame.
Said swing arm lifting mechanism is made up of swing arm and lifting mechanism; Said swing arm is connected on the frame through first fraising; Said lifting mechanism is made up of first driving lever and first connecting rod; Said first driving lever, one end is connected on the frame through second fraising, and the other end is connected with first connecting rod through the 3rd fraising, and the first connecting rod other end is connected on the swing arm through the 4th fraising.Said first driving lever drives the swing arm act through lifting mechanism and falls.
Said dipper is lifted descending mechanism and is made up of dipper and act descending mechanism; Said dipper is connected on the swing arm through the 5th fraising; Said act descending mechanism is made up of second driving lever and second connecting rod; Second driving lever, one end is connected on the frame through the 6th fraising, and the other end is connected with second connecting rod through the 7th fraising, and the second connecting rod other end is connected with dipper through the 8th fraising.Said second driving lever is lifted the act of descending mechanism drive dipper through dipper and is fallen.
Said scraper bowl switching mechanism is made up of scraper bowl and switching mechanism; Said scraper bowl is hinged on the dipper through the 9th; Said switching mechanism is made up of third connecting rod, retainer, the 4th connecting rod and the 3rd driving lever; Said the 3rd driving lever one end is connected with frame through the tenth fraising, and the other end is connected with the 4th connecting rod through the 11 fraising, and the 4th connecting rod other end is connected with retainer through the 12 fraising; The retainer other end is connected with third connecting rod through the 13 fraising, and the third connecting rod other end is connected with scraper bowl through the 14 fraising.Said the 3rd driving lever drives the scraper bowl upset through switching mechanism.
Said first driving lever, second driving lever, the 3rd driving lever are by rack-mounted first servomotor, second servomotor and the 3rd driven by servomotor; Can be that servomotor provides electric power through internal combustion engine, also can adopt type of drive such as hybrid power.
Said frame is installed on the walking mechanism through slew gear; Said this Three Degree Of Freedom controllable mechanism formula excavator is accomplished the revolution operation under the effect of slew gear; Under the drive of walking mechanism, accomplish the walking operation, cooperate swing arm lifting mechanism, dipper act descending mechanism, scraper bowl switching mechanism to accomplish digging operation jointly.
The outstanding advantage of the present invention is:
1, the present invention adopts brand-new linkage, not only has the big and flexibility ratio advantages of higher of working space of hydraulic drive excavator; And compare other controllable mechanism formula excavator, and reduced connecting rod quantity, simplified the connecting rod running part; Simple in structure; Reduce the weight of running part, improved the stressed of each bar and hinged place, improved the dynamic performance of excavator.
2 because the present invention adopts controllable mechanism to substitute hydraulic drive, avoided the hydraulic crawler excavator Hydraulic Elements accuracy of manufacture require high, the hydraulic oil temperature influence is serious, hydraulic system breaks down shortcomings such as being difficult for inspection and eliminating.
3; Because this Three Degree Of Freedom controllable mechanism formula excavator adopts the power set of servo motor driving system as hydraulic crawler excavator; The utilization computer technology is controlled the operation process of excavator, has fundamentally promoted the performance of excavator, makes this excavator have the vast market development potentiality.
Description of drawings
Fig. 1 is a kind of Three Degree Of Freedom controllable mechanism formula excavator front view according to the invention.
Fig. 2 is a kind of Three Degree Of Freedom controllable mechanism formula excavator swing arm lifting mechanism sketch map according to the invention.
Fig. 3 is that a kind of Three Degree Of Freedom controllable mechanism formula excavator boom according to the invention is lifted the descending mechanism sketch map.
Fig. 4 is a kind of Three Degree Of Freedom controllable mechanism formula power shovel switching mechanism sketch map according to the invention.
Fig. 5 is a kind of Three Degree Of Freedom controllable mechanism formula excavator frame according to the invention and walking mechanism sketch map.
Fig. 6 is a kind of Three Degree Of Freedom controllable mechanism formula excavator internal combustion engine drive servomotor principle sketch according to the invention.
Fig. 7 is a kind of Three Degree Of Freedom controllable mechanism formula excavator schematic three dimensional views according to the invention.
Fig. 8 is a kind of Three Degree Of Freedom controllable mechanism formula excavator work sketch map according to the invention.
The specific embodiment
Below through accompanying drawing technical scheme of the present invention is described further.
Map 1, a kind of Three Degree Of Freedom controllable mechanism formula excavator comprises running gear, slew gear, frame 2, swing arm lifting mechanism, dipper act descending mechanism, scraper bowl switching mechanism.
Map 1, Fig. 2, Fig. 7; Said swing arm lifting mechanism is made up of swing arm 12 and lifting mechanism; Said swing arm 12 is connected on the frame through first fraising 6, and said lifting mechanism is made up of with first connecting rod 24 first driving lever 27, and said first driving lever, 27 1 ends are connected on the frame through second fraising 3; The other end is connected with first connecting rod 24 through the 3rd fraising 25, and first connecting rod 24 other ends ream through the 4th and 11 are connected on the swing arm 12.Said first driving lever 27 drives swing arm 12 acts through lifting mechanism and falls.
Map 1, Fig. 3, Fig. 7; Said dipper is lifted descending mechanism and is made up of dipper 17 and act descending mechanism; Said dipper 17 is connected on the swing arm 12 through the 5th fraising 19, and said act descending mechanism is made up of with second connecting rod 10 second driving lever 8, and second driving lever, 8 one ends are connected on the frame through the 6th fraising 9; The other end is connected with second connecting rod 10 through the 7th fraising 7, and second connecting rod 10 other ends pass through the 8th and ream and 13 be connected with dipper 17.Said second driving lever 8 is lifted 17 acts of descending mechanism drive dipper through dipper and is fallen.
Map 1, Fig. 4, Fig. 7; Said scraper bowl switching mechanism is made up of scraper bowl 15 and switching mechanism; Said scraper bowl 15 14 is hinged on the dipper 17 through the 9th fraising, and said switching mechanism is made up of third connecting rod 18, retainer 21, the 4th connecting rod 23 and the 3rd driving lever 4, and said the 3rd driving lever 4 one ends ream through the tenth and 5 are connected with frame; The other end is connected with the 4th connecting rod 23 through the 11 fraising 26; The 4th connecting rod 23 other ends are connected with retainer 21 through the 12 fraising 22, and retainer 21 other ends are connected with third connecting rod 18 through the 13 fraising 20, and third connecting rod 18 other ends pass through the 14 and ream and 16 be connected with scraper bowl 15.Said the 3rd driving lever 4 drives scraper bowl 15 upsets through switching mechanism.
Map 1, Fig. 5, Fig. 6; Said first driving lever 27, second driving lever 8, the 3rd driving lever 4 drive by rack-mounted first servomotor 28, second servomotor 30 and the 3rd servomotor 29; Can be that servomotor provides electric power through internal combustion engine, also can adopt type of drive such as hybrid power.
Map 1, Fig. 5, Fig. 7, Fig. 8; Said frame 2 is installed on the walking mechanism 1 through slew gear 31; Said Three Degree Of Freedom controllable mechanism formula excavator is accomplished the revolution operation under the effect of slew gear 31; Under the drive of walking mechanism 1, accomplish the walking operation, cooperate swing arm lifting mechanism, dipper act descending mechanism, scraper bowl switching mechanism to accomplish digging operation jointly.

Claims (1)

1. a Three Degree Of Freedom controllable mechanism formula excavator comprises running gear, slew gear, frame, swing arm lifting mechanism, dipper act descending mechanism, scraper bowl switching mechanism, it is characterized in that:
Said swing arm lifting mechanism is made up of swing arm and lifting mechanism; Said swing arm is connected on the frame through first fraising; Said lifting mechanism is made up of first driving lever and first connecting rod, and said first driving lever, one end is connected on the frame through second fraising, and the other end is connected with first connecting rod through the 3rd fraising; The first connecting rod other end is connected on the swing arm through the 4th fraising
Said dipper is lifted descending mechanism and is made up of dipper and act descending mechanism; Said dipper is connected on the swing arm through the 5th fraising; Said act descending mechanism is made up of second driving lever and second connecting rod, and second driving lever, one end is connected on the frame through the 6th fraising, and the other end is connected with second connecting rod through the 7th fraising; The second connecting rod other end is connected with dipper through the 8th fraising
Said scraper bowl switching mechanism is made up of scraper bowl and switching mechanism; Said scraper bowl is hinged on the dipper through the 9th; Said switching mechanism is made up of third connecting rod, retainer, the 4th connecting rod and the 3rd driving lever, and said the 3rd driving lever one end is connected with frame through the tenth fraising, and the other end is connected with the 4th connecting rod through the 11 fraising; The 4th connecting rod other end is connected with retainer through the 12 fraising; The retainer other end is connected with third connecting rod through the 13 fraising, and the third connecting rod other end is connected with scraper bowl through the 14 fraising
Said first driving lever, second driving lever, the 3rd driving lever are by rack-mounted first servomotor, second servomotor and the 3rd driven by servomotor, and said frame is installed on the walking mechanism through slew gear.
CN201210008048.8A 2012-01-12 2012-01-12 3-dof (three degrees of freedom) controllable mechanism type excavator Expired - Fee Related CN102561426B (en)

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Cited By (19)

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Publication number Priority date Publication date Assignee Title
CN103332607A (en) * 2013-06-29 2013-10-02 长治清华机械厂 Amplitude variation station crane with clutch
CN103569875A (en) * 2013-11-15 2014-02-12 钦州学院 Plane two-degree-of-freedom seven-rod closed chain type reach stacker for containers
CN103569874A (en) * 2013-11-15 2014-02-12 钦州学院 Plane two-degree-of-freedom seven-rod servo drive reach stacker for containers
CN103569873A (en) * 2013-11-15 2014-02-12 钦州学院 Plane two-degree-of-freedom nine-rod servo drive reach stacker for containers
CN103612997A (en) * 2013-11-15 2014-03-05 钦州学院 Planer two-degrees-of-freedom eleven-rod servo drive container reach stacker crane
CN103626078A (en) * 2013-11-15 2014-03-12 钦州学院 Plane two-freedom-degree nine-rod closed-chain type reach stacker
CN103626044A (en) * 2013-11-15 2014-03-12 钦州学院 Plane two-degree-of-freedom eleven-rod double closed-loop sub-chain type container front-handling mobile crane
CN103726529A (en) * 2013-12-16 2014-04-16 广西大学 High-rigidity nine-link controllable mechanical loading mechanism
CN103741736A (en) * 2013-12-16 2014-04-23 广西大学 Mechanical loading mechanism of nine-rod two-freedom-degree forward-turning bucket
CN103741734A (en) * 2013-12-16 2014-04-23 广西大学 Forwards-overturning night-rod two-freedom-degree mechanical loading mechanism
CN103964218A (en) * 2014-04-30 2014-08-06 钦州学院 Electric bucket-wheel material piling and taking machine comprising two-freedom-degree redundant drive overhanging arm
CN104153407A (en) * 2014-08-26 2014-11-19 广西大学 Mechanical electric-locking type dual-driving electric excavator
CN104153408A (en) * 2014-08-26 2014-11-19 广西大学 Mechanical dual-driving electric excavator
CN104234096A (en) * 2014-08-19 2014-12-24 广西大学 Multi-DOF (Degree Of Freedom) controllable mechanism type digging machine driven by two motors
CN104594409A (en) * 2014-12-25 2015-05-06 广西大学 Multi-working-angle seven-rod two-degree-of-freedom controllable mechanism type loading mechanism
CN104608116A (en) * 2014-12-17 2015-05-13 广西大学 Mobile mechanical arm with seven-connecting-rod five-freedom-degree controllable mechanism
CN104674873A (en) * 2015-03-18 2015-06-03 广西大学 Metamorphic mechanism type dumping excavator
CN106638734A (en) * 2016-11-18 2017-05-10 广西大学 Electric linear driven controllable connecting rod type excavator with function of locking metamorphism
CN111042235A (en) * 2019-12-19 2020-04-21 中国地质大学（武汉） Face shovel excavating and loading device capable of increasing driving force and stroke of bucket

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CN101892680A (en) * 2010-07-15 2010-11-24 广西大学 Mechanical two-degree-of-freedom controllable loading machine
CN101942845A (en) * 2010-08-25 2011-01-12 江苏柳工机械有限公司 Single movable arm forward six-bar linkage power quick-change operating device for loading machine
CN202401493U (en) * 2012-01-12 2012-08-29 广西大学 Three-degree-of-freedom controllable mechanism type excavator

Cited By (29)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103332607A (en) * 2013-06-29 2013-10-02 长治清华机械厂 Amplitude variation station crane with clutch
CN103332607B (en) * 2013-06-29 2015-04-15 长治清华机械厂 Amplitude variation station crane with clutch
CN103626044A (en) * 2013-11-15 2014-03-12 钦州学院 Plane two-degree-of-freedom eleven-rod double closed-loop sub-chain type container front-handling mobile crane
CN103569873A (en) * 2013-11-15 2014-02-12 钦州学院 Plane two-degree-of-freedom nine-rod servo drive reach stacker for containers
CN103612997A (en) * 2013-11-15 2014-03-05 钦州学院 Planer two-degrees-of-freedom eleven-rod servo drive container reach stacker crane
CN103626078A (en) * 2013-11-15 2014-03-12 钦州学院 Plane two-freedom-degree nine-rod closed-chain type reach stacker
CN103569874B (en) * 2013-11-15 2014-09-17 钦州学院 Plane two-degree-of-freedom seven-rod servo drive reach stacker for containers
CN103569874A (en) * 2013-11-15 2014-02-12 钦州学院 Plane two-degree-of-freedom seven-rod servo drive reach stacker for containers
CN103569875A (en) * 2013-11-15 2014-02-12 钦州学院 Plane two-degree-of-freedom seven-rod closed chain type reach stacker for containers
CN103626044B (en) * 2013-11-15 2014-09-17 钦州学院 Plane two-degree-of-freedom eleven-rod double closed-loop sub-chain type container front-handling mobile crane
CN103569873B (en) * 2013-11-15 2014-09-17 钦州学院 Plane two-degree-of-freedom nine-rod servo drive reach stacker for containers
CN103626078B (en) * 2013-11-15 2014-09-17 钦州学院 Plane two-freedom-degree nine-rod closed-chain type reach stacker
CN103569875B (en) * 2013-11-15 2014-09-17 钦州学院 Plane two-degree-of-freedom seven-rod closed chain type reach stacker for containers
CN103612997B (en) * 2013-11-15 2014-09-17 钦州学院 Planer two-degrees-of-freedom eleven-rod servo drive container reach stacker crane
CN103726529A (en) * 2013-12-16 2014-04-16 广西大学 High-rigidity nine-link controllable mechanical loading mechanism
CN103741736A (en) * 2013-12-16 2014-04-23 广西大学 Mechanical loading mechanism of nine-rod two-freedom-degree forward-turning bucket
CN103741734A (en) * 2013-12-16 2014-04-23 广西大学 Forwards-overturning night-rod two-freedom-degree mechanical loading mechanism
CN103964218B (en) * 2014-04-30 2016-02-03 钦州学院 Containing the electronic bucket-wheel stacker reclaimer of two-freedom redundant drive cantilevered leg
CN103964218A (en) * 2014-04-30 2014-08-06 钦州学院 Electric bucket-wheel material piling and taking machine comprising two-freedom-degree redundant drive overhanging arm
CN104234096A (en) * 2014-08-19 2014-12-24 广西大学 Multi-DOF (Degree Of Freedom) controllable mechanism type digging machine driven by two motors
CN104153408A (en) * 2014-08-26 2014-11-19 广西大学 Mechanical dual-driving electric excavator
CN104153407A (en) * 2014-08-26 2014-11-19 广西大学 Mechanical electric-locking type dual-driving electric excavator
CN104153408B (en) * 2014-08-26 2016-06-29 广西大学 The dynamic electric excavator of a kind of mechanical type double-drive
CN104608116A (en) * 2014-12-17 2015-05-13 广西大学 Mobile mechanical arm with seven-connecting-rod five-freedom-degree controllable mechanism
CN104594409A (en) * 2014-12-25 2015-05-06 广西大学 Multi-working-angle seven-rod two-degree-of-freedom controllable mechanism type loading mechanism
CN104674873A (en) * 2015-03-18 2015-06-03 广西大学 Metamorphic mechanism type dumping excavator
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CN111042235A (en) * 2019-12-19 2020-04-21 中国地质大学（武汉） Face shovel excavating and loading device capable of increasing driving force and stroke of bucket
CN111042235B (en) * 2019-12-19 2021-04-09 中国地质大学（武汉） Face shovel excavating and loading device capable of increasing driving force and stroke of bucket

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