CN102995674A - Miniature multi-freedom-degree controllable mechanical type crowd shovel excavating loading mechanism - Google Patents

Miniature multi-freedom-degree controllable mechanical type crowd shovel excavating loading mechanism Download PDF

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Publication number
CN102995674A
CN102995674A CN2012105829977A CN201210582997A CN102995674A CN 102995674 A CN102995674 A CN 102995674A CN 2012105829977 A CN2012105829977 A CN 2012105829977A CN 201210582997 A CN201210582997 A CN 201210582997A CN 102995674 A CN102995674 A CN 102995674A
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China
Prior art keywords
miniature
branch chain
excavating
loading
chain
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Pending
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CN2012105829977A
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Chinese (zh)
Inventor
蔡敢为
张�林
黄院星
于腾
胥刚
王小纯
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Guangxi University
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Guangxi University
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Priority to CN2012105829977A priority Critical patent/CN102995674A/en
Publication of CN102995674A publication Critical patent/CN102995674A/en
Pending legal-status Critical Current

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Abstract

A miniature multi-freedom-degree controllable mechanical type crowd shovel excavating loading mechanism comprises a machine frame, a first branch chain, a second branch chain, a third branch chain and a bucket. The first branch chain, the second branch chain and the third branch chain are driven by a servo motor installed on the machine frame, and actions of excavating, shoveling, discharging and the like are achieved through mutual matching of the first branch chain, the second branch chain and the third branch chain to jointly finish the excavating loading operations. The excavating loading mechanism has the working space and flexibility of a traditional loader, meets the loading requirements, further can perform excavating operation, meets certain excavating requirements and avoids the shortcomings of high manufacture cost, complex maintenance and the like of a hydraulic element of the hydraulic loader. By adopting the servo motor for driving, automation and numerical control can be achieved easily, and compared with other excavating loading mechanisms, the miniature multi-freedom-degree controllable mechanical type crowd shovel excavating loading mechanism is simple in structure, low in manufacture cost, easy to maintain and particularly suitable for manufacturing miniature excavating loading all-in-one machines.

Description

A kind of miniature multiple degrees of freedom controllable-mechanism type crowd shovel loader-digger structure
Technical field
The present invention relates to engineering machinery field, particularly a kind of miniature multiple degrees of freedom controllable-mechanism type crowd shovel loader-digger structure.
Background technology
The single device that loader-digger is comprised of three building implementss.A loader-digger has comprised: power assembly, load terminal, digging end.Every equipment all designs for the work of particular type.On typical building site, the excavator operator need to use all these three ingredients just can finish the work usually.Because loading operation is different to the requirement of equipment degree of freedom with digging operation, when carrying out loading operation, needs control to load to bring in and finish, when needs carry out mining task, then need to excavate to bring in to finish, loader-digger is because of system complex, reliability is lower, and the maintaining cost is higher.
Along with the development of motor technology and the raising of control technology, the multiple degrees of freedom controllable mechanism provides wide development space for engineering machinery, the linkage low cost of manufacture, reliability and durability, control system is simple, can finish comparatively complicated action, small-sized miniature engineering machinery, because of supporting capacity little, linkage is stressed little, the controllable mechanism practicality is stronger, owing to replaced hydraulic drive with linkage, when driving lever during by driven by servomotor, realize easily automation, numerical control control, but the miniature loader-digger structure of multiple degrees of freedom controllable-mechanism type class of establishment is also few at present, and certain structures is complicated, is difficult to be applied in the engineering reality.
Summary of the invention
The problem that the object of the invention is to the prior art existence provides a kind of miniature multiple degrees of freedom controllable-mechanism type crowd shovel loader-digger structure, satisfy under traditional loader job requirements prerequisite in assurance, it is as far as possible simple to make this loader-digger structure have structure, cheap, practical, maintaining is simple, high reliability, simultaneously certain loading operation can be satisfied, also simple digging operation can be finished.
The present invention achieves the above object by technical scheme once:
A kind of miniature multiple degrees of freedom controllable-mechanism type crowd shovel loader-digger structure comprises frame, the first side chain, the second side chain, the 3rd side chain, scraper bowl.
Described the first side chain is comprised of the first driving lever, first connecting rod, described the first driving lever one end is connected with frame by the first revolute pair, the other end is connected with first connecting rod one end by the second revolute pair, and the first connecting rod other end is connected with scraper bowl by the 3rd revolute pair.
Described the second side chain is comprised of the second driving lever, second connecting rod, described the second driving lever one end is connected with frame by the 4th revolute pair, the other end is connected with second connecting rod one end by the 5th revolute pair, and the second connecting rod other end is connected with scraper bowl by the 6th revolute pair.
Described the 3rd side chain is comprised of the 3rd driving lever, third connecting rod, described the 3rd driving lever one end is connected with frame by the 7th revolute pair, the other end is connected with third connecting rod one end by the 8th revolute pair, and the third connecting rod other end is connected with scraper bowl by the 9th revolute pair.
Described the first driving lever, the second driving lever, the 3rd driving lever are by rack-mounted driven by servomotor, by the servomotor on the first side chain, the second side chain, the 3rd side chain is controlled, cooperate the excavation loading operation of finishing the loader-digger structure.
Outstanding advantages of the present invention is:
1, this loader-digger structure can satisfy loading operation, can satisfy again certain excavation, shovel and dig operation, and shovel digs, loading operation finishes under an equipment, and is simple in structure, reliability is high, satisfy equipment shovel dig, under the prerequisite that the loading operation degree of freedom requires, connecting rod quantity is used few, not only save cost, and significantly reduced the weight of loader mechanism shaft portion, improved the reliability of shaft portion.
2, the miniature crowd shovel loader-digger of this multiple degrees of freedom controllable-mechanism type structure has replaced the conventional hydraulic transmission by the linkage that servomotor drives, avoided hydraulic system structure complicated, maintaining high in cost of production shortcoming, because each driving lever is driven by servomotor, control system is simple, not only is easy to programming Control, and is easy to realize equipment automation, numerical control.
3, because miniature engineering machinery supporting capacity is little, each rod member is stressed less in the multiple degrees of freedom controllable mechanism, so the miniature crowd shovel loader-digger of this multiple degrees of freedom controllable-mechanism type structure practicality is stronger, more can need by satisfying the market.
Description of drawings
Fig. 1 is a kind of miniature multiple degrees of freedom controllable-mechanism type crowd shovel loader-digger structure schematic diagram of the present invention.
Fig. 2 is a kind of miniature multiple degrees of freedom controllable-mechanism type crowd shovel loader-digger structure the first side chain schematic diagram of the present invention.
Fig. 3 is a kind of miniature multiple degrees of freedom controllable-mechanism type crowd shovel loader-digger structure scraper bowl schematic diagram of the present invention.
Fig. 4 is a kind of miniature multiple degrees of freedom controllable-mechanism type crowd shovel loader-digger structure the second side chain schematic diagram of the present invention.
Fig. 5 is a kind of miniature multiple degrees of freedom controllable-mechanism type crowd shovel loader-digger structure the 3rd side chain schematic diagram of the present invention.
Fig. 6 is a kind of miniature multiple degrees of freedom controllable-mechanism type crowd shovel loader-digger structure operation schematic diagram of the present invention.
Fig. 7 is a kind of miniature multiple degrees of freedom controllable-mechanism type crowd shovel loader-digger schematic diagram of the present invention
The specific embodiment
Below by accompanying drawing technical scheme of the present invention is described further.
Contrast Fig. 1, a kind of miniature multiple degrees of freedom controllable-mechanism type crowd shovel loader-digger structure comprises frame 1, the first side chain, the second side chain, the 3rd side chain, scraper bowl 8.
Contrast Fig. 1, Fig. 2, Fig. 3, described the first side chain is comprised of the first driving lever 3, first connecting rod 5, described the first driving lever 3 one ends are connected with frame 1 by the first revolute pair 2, the other end is connected with first connecting rod 5 one ends by the second revolute pair 4, and first connecting rod 5 other ends are connected with scraper bowl 8 by the 3rd revolute pair 7.
Contrast Fig. 1, Fig. 3, Fig. 4, described the second side chain is comprised of the second driving lever 6, second connecting rod 12, described the second driving lever 6 one ends are connected with frame 1 by the 4th revolute pair 17, the other end is connected with second connecting rod 12 1 ends by the 5th revolute pair 13, and second connecting rod 12 other ends are connected with scraper bowl 8 by the 6th revolute pair 10.
Contrast Fig. 1, Fig. 3, Fig. 5, described the 3rd side chain is comprised of the 3rd driving lever 15, third connecting rod 11, described the 3rd driving lever 15 1 ends are connected with frame 1 by the 7th revolute pair 16, the other end is connected with third connecting rod 11 1 ends by the 8th revolute pair 14, and third connecting rod 11 other ends are connected with scraper bowl 8 by the 9th revolute pair 9.
Contrast Fig. 1, Fig. 6, Fig. 7, described the first driving lever 3, the second driving lever 6, the 3rd driving lever 15 are by the driven by servomotor that is installed on the frame 1, by the servomotor on the first side chain, the second side chain, the 3rd side chain is controlled, cooperate the excavation loading operation of finishing the loader-digger structure.

Claims (2)

1. a miniature multiple degrees of freedom controllable-mechanism type crowd shovel loader-digger structure comprises frame, the first side chain, the second side chain, the 3rd side chain, scraper bowl, it is characterized in that:
Described the first side chain is comprised of the first driving lever, first connecting rod, described the first driving lever one end is connected with frame by the first revolute pair, the other end is connected with first connecting rod one end by the second revolute pair, and the first connecting rod other end is connected with scraper bowl by the 3rd revolute pair
Described the second side chain is comprised of the second driving lever, second connecting rod, described the second driving lever one end is connected with frame by the 4th revolute pair, the other end is connected with second connecting rod one end by the 5th revolute pair, and the second connecting rod other end is connected with scraper bowl by the 6th revolute pair
Described the 3rd side chain is comprised of the 3rd driving lever, third connecting rod, described the 3rd driving lever one end is connected with frame by the 7th revolute pair, the other end is connected with third connecting rod one end by the 8th revolute pair, and the third connecting rod other end is connected with scraper bowl by the 9th revolute pair.
2. according to claim 1, described a kind of miniature multiple degrees of freedom controllable-mechanism type crowd shovel loader-digger structure, it is characterized in that: described the first driving lever, the second driving lever, the 3rd driving lever are by rack-mounted driven by servomotor.
CN2012105829977A 2012-12-28 2012-12-28 Miniature multi-freedom-degree controllable mechanical type crowd shovel excavating loading mechanism Pending CN102995674A (en)

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Application Number Priority Date Filing Date Title
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103711159A (en) * 2013-12-16 2014-04-09 广西大学 High-load capacity nine-lever and two-freedom degree mechanical loading mechanism
CN103726523A (en) * 2013-12-16 2014-04-16 广西大学 Nine-bar two-degree-of-freedom mechanical loading mechanism
CN103726528A (en) * 2013-12-16 2014-04-16 广西大学 Simple mechanical loading mechanism with nine rods and two degrees of freedom
CN103741735A (en) * 2013-12-16 2014-04-23 广西大学 High-reliability nine-rod two-degree-of-freedom mechanical loading mechanism

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* Cited by examiner, † Cited by third party
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
CN101020316A (en) * 2007-01-31 2007-08-22 哈尔滨工业大学深圳研究生院 Planar parallel three-freedom robot mechanism
CN102108717A (en) * 2010-12-10 2011-06-29 广西大学 Loading mechanism with metamorphic function and implementation mechanism thereof
CN102619241A (en) * 2012-01-12 2012-08-01 广西大学 Space-controllable mechanism type loader
CN203008006U (en) * 2012-12-28 2013-06-19 广西大学 Mini-type multi-freedom-degree controllably-mechanism-type crowd shovel excavating and loading mechanism

Patent Citations (5)

* Cited by examiner, † Cited by third party
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
CN101020316A (en) * 2007-01-31 2007-08-22 哈尔滨工业大学深圳研究生院 Planar parallel three-freedom robot mechanism
CN102108717A (en) * 2010-12-10 2011-06-29 广西大学 Loading mechanism with metamorphic function and implementation mechanism thereof
CN102619241A (en) * 2012-01-12 2012-08-01 广西大学 Space-controllable mechanism type loader
CN203008006U (en) * 2012-12-28 2013-06-19 广西大学 Mini-type multi-freedom-degree controllably-mechanism-type crowd shovel excavating and loading mechanism

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103711159A (en) * 2013-12-16 2014-04-09 广西大学 High-load capacity nine-lever and two-freedom degree mechanical loading mechanism
CN103726523A (en) * 2013-12-16 2014-04-16 广西大学 Nine-bar two-degree-of-freedom mechanical loading mechanism
CN103726528A (en) * 2013-12-16 2014-04-16 广西大学 Simple mechanical loading mechanism with nine rods and two degrees of freedom
CN103741735A (en) * 2013-12-16 2014-04-23 广西大学 High-reliability nine-rod two-degree-of-freedom mechanical loading mechanism

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Application publication date: 20130327