CN103132551B - Discrete variable speed and human hybrid driving multi-freedom-degree controllable mechanism type sugarcane loading machine - Google Patents
Discrete variable speed and human hybrid driving multi-freedom-degree controllable mechanism type sugarcane loading machine Download PDFInfo
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- CN103132551B CN103132551B CN201310051721.0A CN201310051721A CN103132551B CN 103132551 B CN103132551 B CN 103132551B CN 201310051721 A CN201310051721 A CN 201310051721A CN 103132551 B CN103132551 B CN 103132551B
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Abstract
The invention provides a discrete variable speed input multi-freedom-degree controllable mechanism type sugarcane loading machine which comprises a combustion motor, a transmission device and a multi-freedom-degree connecting rod mechanism. The transmission device comprises a transfer case, a clutch and a speed reducer. The multi-freedom-degree connecting rod mechanism comprises a movable arm lifting branched chain, a lower fork overturning branched chain and an upper fork overturning branched chain. Driving rods are driven by one combustion motor, starting and stopping of all the driving rods and switching of positive driving and negative driving can be achieved under the control of the clutch and a reversing device of the transmission device, the branched chains are matched mutually to move, an upper fork and a lower fork achieve complicated and variable movement, loading and unloading of goods of sugarcane and the like are completed, and the sugarcane loading machine overcomes the defect that hydraulic elements of a hydraulic loading machine are high in manufacturing cost, complicated in maintenance and the like. The sugarcane loading machine is driven by the combustion motor, overcomes power limit cased by motor driving, achieves field construction conveniently, and improves practicability and convenience.
Description
Technical field
The present invention relates to engineering machinery field, particularly discrete speed change and manpower combination drive multi-freedom-degreecontrollable controllable mechanism type sugar-cane loader.
Background technology
Sugar-cane loader is a kind of a kind of engineering machinery being widely used in numerous occasions such as sugarcane loading and straw handling, timber carrying, changes different grab buckets, realization just can be facilitated to grab sugarcane, grab timber, grabs the operation such as steel pipe, material grasping.Sugar-cane loader kind is more, the maximum fluid pressure type sugar-cane loader operating efficiency of current application is high, can load and unload sugarcane at short notice, significantly improve efficiency, alleviate the labour intensity of people, but, existing sugar-cane loader also also exists shortcomings, owing to adopting hydraulic system, the hydraulic components accuracy of manufacture require high, manufacture and maintaining cost high, hydraulic system is subject to such environmental effects, especially under low temperature or hot environment, easily occurs the situations such as unable or vibration.
Multiple degrees of freedom controllable mechanism can be used for alternative traditional hydraulic system, the many deficiencies avoiding hydraulic system to exist, but multiple degrees of freedom controllable mechanism generally adopts driven by servomotor, there is the restriction of supply of electric power, is not easy to realize field construction.
Summary of the invention
The object of the invention is to prior art Problems existing and discrete speed change and manpower combination drive multi-freedom-degreecontrollable controllable mechanism type sugar-cane loader are provided, under guarantee meets the prerequisite of conventional hydraulic sugar-cane loader job requirements, avoid the hydraulic pressure sugar-cane loader Hydraulic Elements accuracy of manufacture require high, to manufacture and maintaining cost is high, the operating efficiency easily shortcoming such as influenced by ambient temperature.And swing arm lifting mechanism and lower fork switching mechanism are by internal combustion engine drive, and upper fork switching mechanism is driven by manpower, avoids the restriction of supply of electric power, be applicable to the sugarcane car loading operation in field.Meanwhile, because upper fork switching mechanism adopts manpower to drive, significantly simplify machine construction, operation also greatly for convenience.
The present invention achieves the above object by the following technical programs: a kind of discrete speed change and manpower combination drive multi-freedom-degreecontrollable controllable mechanism type sugar-cane loader, comprise frame, swing arm lifting mechanism, lower fork switching mechanism and upper fork switching mechanism, its structure and connected mode are:
Described swing arm lifting mechanism comprises the first driving lever, first connecting rod, swing arm, described swing arm is connected with frame by the 4th revolute pair, described 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 swing arm by the 3rd revolute pair.
Described lower fork switching mechanism is connected by the second driving lever, second connecting rod, rocking bar, pull bar, lower fork, described second driving lever one end is connected with frame by the 7th revolute pair, the other end is connected with second connecting rod one end by the 8th revolute pair, the second connecting rod other end is connected with rocking bar one end by the 9th revolute pair, rocking bar is connected with swing arm by the 5th revolute pair, the rocking bar other end is connected with pull bar one end by the tenth revolute pair, the pull bar other end is connected with lower fork by the 11 revolute pair, and lower fork is connected with swing arm by the 6th revolute pair.
Described upper fork switching mechanism is made up of bracing frame, capstan winch, the 5th connecting rod, third connecting rod, double leval jib, upper fork, pulley, spring, wire rope.Support frame as described above one end is connected with frame by the 4th revolute pair, the other end is by the 14 revolute pair, 15 revolute pair respectively with capstan winch, 5th connecting rod connects, 5th connecting rod is connected with lower fork by the 16 revolute pair, described third connecting rod one end is connected with swing arm by the 6th revolute pair, the other end is by the 17 revolute pair, 13 revolute pair respectively with pulley, double leval jib connects, described double leval jib is connected with upper pitching by the 18 revolute pair, described upper fork is connected on lower fork by the 12 revolute pair, described wire rope one end is connected on bracing frame, the other end is connected with capstan winch by pulley.
The control method of described discrete speed change and manpower combination drive multi-freedom-degreecontrollable controllable mechanism type sugar-cane loader, comprises the steps:
The power inputted by internal combustion engine distributes to the first driving lever of swing arm lifting mechanism, the second driving lever of lower fork switching mechanism through transfer case, by startup and the stopping of first, second driving lever constant speed constant speed actuation movement of Clutch Control, the switching of each driving lever positive and negative direction actuation movement is controlled by reversing arrangement, under the effect that two driving lever positive and negative direction constant speed actuation movement and stopping drive, the motion that cooperatively interacts of swing arm lifting mechanism, lower fork switching mechanism, realize the movement output that it is complicated, variable, the entrucking action of the various sugarcane that namely grabbed bucket.
Described upper fork switching mechanism controls the upset of upper fork, described upper fork compresses lower fork under the effect of spring straining power, now go up fork and be in impaction state, capstan winch is rotated by manpower, upper fork overcomes spring straining power and opens under wire rope drives, and now goes up fork and is in open configuration, when capstan winch rotates backward, then under the effect of spring straining power, upper fork returns to impaction state.
Described first driving lever, the second driving lever are driven by rack-mounted internal combustion engine, internal combustion engine drive systems is made up of first clutch, second clutch, the 3rd clutch, the first reversing arrangement, the second reversing arrangement, reducer, transfer case, and power is distributed to each driving lever by transfer case.During work, according to handling operation requirement, by realizing the control to this Discrete Finite variable speed drives and manually driven combination drive multi-freedom-degreecontrollable controllable mechanism type sugar-cane loader first driving lever, the second driving lever to the operation of second clutch, the 3rd clutch and the first reversing arrangement, the second reversing arrangement, upper fork switching mechanism is controlled by capstan winch by manpower, and then by swing arm lifting mechanism, lower fork switching mechanism, the cooperatively interacting of upper fork switching mechanism, complete sugarcane and other items handling operation.
Outstanding advantages of the present invention is:
1, under guarantee meets the prerequisite of fluid pressure type sugar-cane loader operation, link transmission is adopted to instead of traditional hydraulic drive, not only avoid the Hydraulic Elements accuracy of manufacture and require that high, hydraulic oil temperature influence is serious, hydraulic system failure not easily checks and the shortcoming such as eliminating, and linkage has cheap for manufacturing cost, require low to maintaining.
2, under the prerequisite meeting handling operation, adopt discrete speed change and manually driven combination drive, by the control of clutch and reversing arrangement, realize the discrete speed change input of multiple degrees of freedom linkage driving lever, do not need continuously variable transmission, structure is simple, easy to operate.And utilize manual operation capstan winch to control the folding that upper fork switching mechanism is pitched by assembly pulley, not only reduce connecting rod usage quantity, the deadweight of shaft portion, and operate more convenient.
3, adopt internal combustion engine drive and manpower to drive, controlled by the mechanical device such as clutch and reversing arrangement, overcome motor and drive and the supply of electric power restriction that causes, be easy to realize field construction.
Accompanying drawing explanation
Fig. 1 is the front view of discrete speed change of the present invention and manpower combination drive multi-freedom-degreecontrollable controllable mechanism type sugar-cane loader.
Fig. 2 is the swing arm lifting mechanism schematic diagram of discrete speed change of the present invention and manpower combination drive multi-freedom-degreecontrollable controllable mechanism type sugar-cane loader.
Fig. 3 is the lower fork switching mechanism schematic diagram of discrete speed change of the present invention and manpower combination drive multi-freedom-degreecontrollable controllable mechanism type sugar-cane loader.
Fig. 4 is the capstan winch support schematic diagram of discrete speed change of the present invention and manpower combination drive multi-freedom-degreecontrollable controllable mechanism type sugar-cane loader.
Fig. 5 is the upper fork switching mechanism schematic diagram of discrete speed change of the present invention and manpower combination drive multi-freedom-degreecontrollable controllable mechanism type sugar-cane loader.
Fig. 6 is the crotch schematic diagram of discrete speed change of the present invention and manpower combination drive multi-freedom-degreecontrollable controllable mechanism type sugar-cane loader.
Fig. 7 is the drive system schematic diagram of discrete speed change of the present invention and manpower combination drive multi-freedom-degreecontrollable controllable mechanism type sugar-cane loader.
Fig. 8 is the front view of discrete speed change of the present invention and manpower combination drive multi-freedom-degreecontrollable controllable mechanism type sugar-cane loader.
Fig. 9 is the lateral view of discrete speed change of the present invention and manpower combination drive multi-freedom-degreecontrollable controllable mechanism type sugar-cane loader.
Detailed description of the invention
Below by way of drawings and Examples, technical scheme of the present invention is described further.
Contrast Fig. 1, discrete speed change of the present invention and manpower combination drive multi-freedom-degreecontrollable controllable mechanism type sugar-cane loader, be made up of frame 1, swing arm lifting mechanism, lower fork switching mechanism, upper fork switching mechanism.
Contrast Fig. 1, Fig. 2, described swing arm lifting mechanism comprises the first driving lever 2, first connecting rod 3, swing arm 6, described swing arm 6 is connected with frame 1 by the 4th revolute pair 24, described first driving lever 2 one end is connected with frame 1 by the first revolute pair 19, the other end is connected with first connecting rod 3 one end by the second revolute pair 20, and first connecting rod 3 other end is connected with swing arm 6 by the 3rd revolute pair 21.Described swing arm lifting mechanism controls swing arm 6 landing.
Contrast Fig. 1, Fig. 3, Fig. 8, described lower fork switching mechanism is by the second driving lever 16, second connecting rod 15, rocking bar 4, pull bar 5, lower fork 8 connects, described second driving lever 16 one end is connected with frame 1 by the 7th revolute pair 25, the other end is connected with second connecting rod 15 one end by the 8th revolute pair 26, second connecting rod 15 other end is connected with rocking bar 4 one end by the 9th revolute pair 27, rocking bar 4 is connected with swing arm 6 by the 5th revolute pair 23, rocking bar 4 other end is connected with pull bar 5 one end by the tenth revolute pair 28, pull bar 5 other end is connected with lower fork 8 by the 11 revolute pair 29, lower fork 8 is connected with swing arm 6 by the 6th revolute pair 22, described lower fork switching mechanism controls lower fork 8 and overturns.
Contrast Fig. 1, Fig. 4, Fig. 5, Fig. 6, Fig. 8, Fig. 9, described upper fork switching mechanism is made up of bracing frame 17, capstan winch 14, the 5th connecting rod 13, third connecting rod 7, double leval jib 10, upper fork 9, pulley 11, spring 18, wire rope 12.Support frame as described above 17 one end is connected with frame 1 by the 4th revolute pair 24, the other end is by the 14 revolute pair 33, 15 revolute pair 32 respectively with capstan winch 14, 5th connecting rod 13 connects, 5th connecting rod 13 is connected with lower fork 8 by the 16 revolute pair 34, described third connecting rod 7 one end is connected with swing arm 6 by the 6th revolute pair 22, the other end is by the 17 revolute pair 35, 13 revolute pair 31 respectively with pulley 11, double leval jib 10 connects, described double leval jib 10 is connected with upper fork 9 by the 18 revolute pair 36, described upper fork 9 is connected on lower fork 8 by the 12 revolute pair 30, described wire rope 12 one end is connected on bracing frame 17, the other end is connected with capstan winch 14 by pulley 11, described upper fork switching mechanism controls the upset of upper fork 9, described upper fork 9 compresses lower fork 8 under the effect of spring 18 tightening force, now go up fork 9 and be in impaction state, capstan winch 14 is rotated by manpower, upper fork 9 overcomes spring 18 tightening force and opens under wire rope 12 drives, now go up fork 9 and be in open configuration, when capstan winch rotates backward, then under the effect of spring 18 tightening force, upper fork 9 returns to impaction state.
Contrast Fig. 1, Fig. 2, Fig. 3, Fig. 5, Fig. 7, Fig. 8, Fig. 9, described discrete speed change and manpower combination drive multi-freedom-degreecontrollable controllable mechanism type sugar-cane loader, the first driving lever 2, second driving lever 16 carries out drived control by rack-mounted constant-seed motor or internal combustion engine 37, and when adopting internal combustion engine 37 to drive, internal combustion engine 37 drive system is by first clutch 38, second clutch 41, 3rd clutch 43, first reversing arrangement 42, second reversing arrangement 44, reducer 39, transfer case 40 forms, and power is distributed to each driving lever by transfer case 40, during the work of this multi-freedom-degreecontrollable controllable mechanism type sugar-cane loader, according to handling operation requirement, by second clutch 41, 3rd clutch 43 and the first reversing arrangement 42, the operation of the second reversing arrangement 44 realizes this discrete speed change and manually driven combination drive multi-freedom-degreecontrollable controllable mechanism type sugar-cane loader first driving lever 2, the control of the second driving lever 16, upper fork switching mechanism is controlled by capstan winch 14 by manpower, and then by swing arm lifting mechanism, lower fork switching mechanism, cooperatively interacting of upper fork switching mechanism, completes sugarcane and other items handling operation.
Claims (2)
1. discrete speed change and manpower combination drive multi-freedom-degreecontrollable controllable mechanism type sugar-cane loader, comprise internal combustion engine, transmission device, multiple degrees of freedom linkage, multiple degrees of freedom linkage comprises frame, swing arm lifting mechanism, lower fork switching mechanism and upper fork switching mechanism, it is characterized in that:
Described swing arm lifting mechanism comprises the first driving lever, first connecting rod, swing arm, described swing arm is connected with frame by the 4th revolute pair, described 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, the first connecting rod other end is connected with swing arm by the 3rd revolute pair
Described lower fork switching mechanism is by the second driving lever, second connecting rod, rocking bar, pull bar, lower fork, described second driving lever one end is connected with frame by the 7th revolute pair, the other end is connected with second connecting rod one end by the 8th revolute pair, the second connecting rod other end is connected with rocking bar one end by the 9th revolute pair, rocking bar is connected with swing arm by the 5th revolute pair, the rocking bar other end is connected with pull bar one end by the tenth revolute pair, the pull bar other end is connected with lower fork by the 11 revolute pair, lower fork is connected with swing arm by the 6th revolute pair
Described upper fork switching mechanism is by bracing frame, capstan winch, 5th connecting rod, third connecting rod, double leval jib, upper fork, pulley, spring, wire rope forms, support frame as described above one end is connected with frame by the 4th revolute pair, the other end is connected with capstan winch by the 14 revolute pair, be connected with the 5th connecting rod by the 15 revolute pair, 5th connecting rod is connected with lower fork by the 16 revolute pair, described third connecting rod one end is connected with swing arm by the 6th revolute pair, the other end is connected with pulley by the 17 revolute pair, be connected with double leval jib by the 13 revolute pair, described double leval jib is connected with upper pitching by the 18 revolute pair, described upper fork is connected on lower fork by the 12 revolute pair, described wire rope one end is connected on bracing frame, the other end is connected with capstan winch by pulley,
Described first driving lever, second driving lever is driven by rack-mounted internal combustion engine, internal combustion engine drive systems is by first clutch, second clutch, 3rd clutch, first reversing arrangement, second reversing arrangement, reducer, transfer case forms, power is distributed to each driving lever by transfer case, by to second clutch, 3rd clutch and the first reversing arrangement, the operation of the second reversing arrangement realizes this Discrete Finite variable speed drives and manually driven combination drive multi-freedom-degreecontrollable controllable mechanism type sugar-cane loader first driving lever, the control of the second driving lever, upper fork switching mechanism is controlled by capstan winch by manpower, and then by swing arm lifting mechanism, lower fork switching mechanism, cooperatively interacting of upper fork switching mechanism, complete sugarcane handling operation.
2. the control method of discrete speed change and manpower combination drive multi-freedom-degreecontrollable controllable mechanism type sugar-cane loader according to claim 1, is characterized in that, comprise the steps:
The power inputted by internal combustion engine distributes to the first driving lever of swing arm lifting mechanism, the second driving lever of lower fork switching mechanism through transfer case, by startup and the stopping of first, second driving lever constant speed actuation movement of Clutch Control, the switching of each driving lever positive and negative direction actuation movement is controlled by reversing arrangement, under the effect that two driving lever positive and negative direction constant speed actuation movement and stopping drive, the motion that cooperatively interacts of swing arm lifting mechanism, lower fork switching mechanism, realize the movement output that it is complicated, variable, namely to have grabbed bucket the entrucking action of various sugarcane
The capstan winch of upper fork switching mechanism is driven by manpower, by wire rope, upper fork is rotated, and complete the work of clamping sugarcane together with lower fork, spring makes fork, lower fork separately unloads sugarcane,
Clutch, reversing arrangement are controlled according to working condition manual operation by operator,
Reducer selection has auto-lock function, and when disconnecting to prevent clutch, swing arm lifting mechanism, lower fork switching mechanism move under Gravitative Loads, can not keep inactive state.
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| CN201310051721.0A CN103132551B (en) | 2013-02-08 | 2013-02-08 | Discrete variable speed and human hybrid driving multi-freedom-degree controllable mechanism type sugarcane loading machine |
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| CN201310051721.0A CN103132551B (en) | 2013-02-08 | 2013-02-08 | Discrete variable speed and human hybrid driving multi-freedom-degree controllable mechanism type sugarcane loading machine |
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| CN103132551B true CN103132551B (en) | 2015-01-07 |
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| CN106703095A (en) * | 2016-11-30 | 2017-05-24 | 广西大学 | Method for grabbing and loading industrial waste through variable-freedom-degree linkage mechanism |
| CN108130925A (en) * | 2016-11-30 | 2018-06-08 | 广西大学 | It is a kind of that dress operational method is grabbed using the simple link mechanism progress industrial waste of servo motor driving multiple degrees of freedom |
| CN106759571A (en) * | 2016-11-30 | 2017-05-31 | 广西大学 | One kind using servomotor drive can variable freedom multi-connecting-rod mechanism carry out industrial waste and grab dress operational method |
| CN111467041A (en) * | 2020-04-02 | 2020-07-31 | 深圳亿维锐创科技股份有限公司 | High degree of freedom platform truck of formula of being convenient for to accomodate |
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| US6960056B2 (en) * | 2003-10-17 | 2005-11-01 | Deere & Company | Geometry for a sugar cane loader boom including a top-supported swivel mast |
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