CN103711156A - Nine-bar two degrees-freedom minitype controllable mechanical loading machine - Google Patents

Nine-bar two degrees-freedom minitype controllable mechanical loading machine Download PDF

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Publication number
CN103711156A
CN103711156A CN201310690807.8A CN201310690807A CN103711156A CN 103711156 A CN103711156 A CN 103711156A CN 201310690807 A CN201310690807 A CN 201310690807A CN 103711156 A CN103711156 A CN 103711156A
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China
Prior art keywords
chain
swing arm
loading
revolute pair
loader
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Pending
Application number
CN201310690807.8A
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Chinese (zh)
Inventor
蔡敢为
张�林
关卓怀
石慧
王麾
范雨
王少龙
杨旭娟
李岩舟
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Guangxi University
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Guangxi University
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Publication date
Application filed by Guangxi University filed Critical Guangxi University
Priority to CN201310690807.8A priority Critical patent/CN103711156A/en
Publication of CN103711156A publication Critical patent/CN103711156A/en
Pending legal-status Critical Current

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Abstract

The invention discloses a nine-bar two degrees-freedom minitype controllable mechanical loading machine. The mechanical loading machine consists of a frame, a movable arm control branched-chain and a bucket control branched-chain, wherein the movable arm control branched-chain is controlled by a first driving rod and lifts or descends a movable arm, the bucket control branched-chain is controlled by a second driving rod and overturns a bucket, and the loading and unloading operation of the mechanical loading mechanism is finished by the interaction between the movable arm control branched-chain and the bucket control branched-chain. The member bars of the mechanical loading machine are connected through revolute pairs, thereby preventing the defects that a traditional full hydraulic loading mechanism containing the movable pairs is high in price, bad in reliability and high in maintenance cost; and compared with other controllable mechanism loading mechanisms, the mechanical loading mechanism is compact in structure and strong in rigidity, and has a brand new configuration with more excellent kinematic and dynamic performances, so that the loading mechanism is better in reliability and dynamic stability.

Description

The miniature controllable mechanical formula of a kind of nine bar two-freedom loader
Technical field
The present invention relates to engineering machinery field, particularly the miniature controllable mechanical formula of a kind of nine bar two-freedom loader.
Background technology
Loader is a kind of restoration in earth-rock construction machinery that is widely used in the construction projects such as road, harbour, mine, railway, and it is mainly used in the loose unpacked materials such as shovel dress soil, sandstone, also can dig operation to the slight shovel of the works such as ore, pan soil.Change that kind of different auxiliary working apparatus also can be bulldozed, the handling operation of lifting and unclassified stores.Loader is the engineering machinery being most widely used, and along with socioeconomic development, loader is more and more in the application of the occasions such as Municipal engineering, garbage-cleaning, construction work.Existing loader is mainly comprised of swing arm lifting mechanism and scraper bowl switching mechanism two parts, by boom cylinder and bucket cylinder, control the action that fulfils assignment respectively, although hydraulic system structure is compact, but hydraulic system is subject to oil overheating impact, mechanical efficiency is low, transmission stability is poor, and Hydraulic System Reliability is poor, maintenance, maintenance complexity and cost are higher.
Along with the development of theory of mechanisms and electromechanical integration, with mechanical drive mode, drive loader mechanism operation to become possibility.Machinery driving efficiency is high, and existing electromechanical integration technology can overcome machine driving and easily transships the shortcomings such as destruction.But existing multiple degrees of freedom controllable type loader mechanism, mostly just existing hydraulic loader structure is carried out to simple modifications, utilize two linkages to replace the hydraulic system in hydraulic loader structure, the consideration of shortage to rod member transmission and hydraulic cylinder transmission dynamic property difference, causes mechanism's poor rigidity, and anti-overload ability is little, the shortcomings such as kinematics and dynamic performance are poor, be difficult to meet actual job needs, although solved the some shortcomings that hydraulic system exists, be difficult to be applicable to loader design and produce.
Summary of the invention
The problem that the object of the invention is to prior art existence provides the miniature controllable mechanical formula of a kind of nine bar two-freedom loader, guaranteeing to meet under traditional loader job requirements and linkage prerequisite simple in structure, not only avoid existing fluid pressure type loader poor reliability, the shortcomings such as transmission efficiency is low, and guarantee that this mechanical type loader mechanism has kinematics, dynamic performance is good, the advantages such as the rigidity of structure is large, and anti-overload ability is strong.
The present invention achieves the above object by technical scheme once:
The miniature controllable mechanical formula of a nine bar two-freedoms loader, is controlled side chain and is formed by frame, swing arm control side chain, scraper bowl.
Described swing arm is controlled side chain and is comprised of swing arm, the first driving lever, first connecting rod, described swing arm is connected with frame by the first revolute pair, described first driving lever one end is connected with frame by the second revolute pair, the other end is connected with first connecting rod by the 3rd revolute pair, and first connecting rod is connected with swing arm by the 4th revolute pair.
Described scraper bowl is controlled side chain and is comprised of the second driving lever, second connecting rod, scraper bowl, described second driving lever one end is connected with swing arm by the 5th revolute pair, the other end is connected with second connecting rod by the 6th revolute pair, second connecting rod is connected with scraper bowl by the 7th revolute pair, and scraper bowl is connected on swing arm by the 8th revolute pair.
Outstanding advantages of the present invention is:
1, this mechanical type loader mechanism is guaranteeing to meet under traditional loader job requirements and linkage prerequisite simple in structure, not only avoided existing fluid pressure type loader poor reliability, the shortcomings such as transmission efficiency is low, by adopting brand-new Designing Linkages, improved the reliability of shaft portion, because the second driving lever is arranged on swing arm, solved the problem of two-degree-of-freedom controllable loading machine structure interlock, reduced the complexity of control system, improved the mechanical property of loader mechanism, be applicable to very much loader design and manufacture.
2, this mechanical type loader mechanism is compared with other controllable-mechanism type loader mechanisms, compact conformation not only, rigidity is large, improved the anti-overload ability of loader mechanism, and adopted the more superior new structure of kinematics and dynamic performance, make this loader mechanism reliability and dynamic stability performance better, be suitable for very much manufacturing microminiature loader.
Accompanying drawing explanation
Fig. 1 is the miniature controllable mechanical formula of a kind of nine bar two-freedom of the present invention loader schematic diagram.
Fig. 2 is that the miniature controllable mechanical formula of a kind of nine bar two-freedom of the present invention loading arm is controlled side chain schematic diagram.
Fig. 3 is that the miniature controllable mechanical formula of a kind of nine bar two-freedom of the present invention loading shovel is controlled side chain schematic diagram.
Fig. 4 is the miniature controllable mechanical formula of a kind of nine bar two-freedom of the present invention loader operation schematic diagram.
The specific embodiment
By accompanying drawing, technical scheme of the present invention is described further below.
Contrast Fig. 1, Fig. 2, Fig. 3, Fig. 4, the miniature controllable mechanical formula of a kind of nine bar two-freedom loader, is controlled side chain and is formed by frame 1, swing arm control side chain, scraper bowl.
Contrast Fig. 1, Fig. 2, described swing arm is controlled side chain and is comprised of swing arm 6, the first driving lever 3, first connecting rod 5, described swing arm 6 is connected with frame 1 by the first revolute pair 14, described first driving lever 3 one end are connected with frame 1 by the second revolute pair 2, the other end is connected with first connecting rod 5 by the 3rd revolute pair 4, and first connecting rod 5 is connected with swing arm 6 by the 4th revolute pair 15.
Contrast Fig. 1, Fig. 3, described scraper bowl is controlled side chain and is comprised of the second driving lever 12, second connecting rod 10, scraper bowl 8, described second driving lever 12 one end are connected with swing arm 6 by the 5th revolute pair 13, the other end is connected with second connecting rod 10 by the 6th revolute pair 11, second connecting rod 10 is connected with scraper bowl 8 by the 7th revolute pair 9, and scraper bowl 8 is connected on swing arm 6 by the 8th revolute pair 7.
Contrast Fig. 1, Fig. 2, Fig. 3, Fig. 4, the miniature controllable mechanical formula of described a kind of nine bar two-freedom loader can be installed and can be arranged on walking chassis by frame 1, described swing arm is controlled side chain and is controlled by the driving of the first driving lever 3, complete lifting or the down maneuver of swing arm, described scraper bowl is controlled side chain and is controlled by the driving of the second driving lever 12, complete the upset operation of scraper bowl, according to actual job requirement, by swing arm, control cooperatively interacting of side chain and scraper bowl control side chain, jointly complete swing arm 6 liftings, decline, the loading operation tasks such as scraper bowl 8 loadings and discharging.

Claims (1)

1. the miniature controllable mechanical formula of a nine bar two-freedoms loader, is controlled side chain and is formed by frame, swing arm control side chain, scraper bowl, it is characterized in that:
Described swing arm is controlled side chain and is comprised of swing arm, the first driving lever, first connecting rod, described swing arm is connected with frame by the first revolute pair, described first driving lever one end is connected with frame by the second revolute pair, the other end is connected with first connecting rod by the 3rd revolute pair, first connecting rod is connected with swing arm by the 4th revolute pair
Described scraper bowl is controlled side chain and is comprised of the second driving lever, second connecting rod, scraper bowl, described second driving lever one end is connected with swing arm by the 5th revolute pair, the other end is connected with second connecting rod by the 6th revolute pair, second connecting rod is connected with scraper bowl by the 7th revolute pair, and scraper bowl is connected on swing arm by the 8th revolute pair.
CN201310690807.8A 2013-12-16 2013-12-16 Nine-bar two degrees-freedom minitype controllable mechanical loading machine Pending CN103711156A (en)

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CN201310690807.8A CN103711156A (en) 2013-12-16 2013-12-16 Nine-bar two degrees-freedom minitype controllable mechanical loading machine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201310690807.8A CN103711156A (en) 2013-12-16 2013-12-16 Nine-bar two degrees-freedom minitype controllable mechanical loading machine

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105501543A (en) * 2016-01-21 2016-04-20 湘潭大学 Inner box opening mechanism for ampoule penicillin bottle packaging carton
CN105951906A (en) * 2016-06-24 2016-09-21 山东交通学院 Multi-unit linear-drive 15-bar 3-acitivity loading robot
CN106120886A (en) * 2016-06-24 2016-11-16 山东交通学院 A kind of multiple-unit linear drives plane three mobility crowd shovel loads robot
CN106737728A (en) * 2016-12-05 2017-05-31 广西大学 A kind of mobility linkage Simple mechanical arm of servo-drive two for transport operation

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2209886C1 (en) * 2001-11-28 2003-08-10 Всероссийский научно-исследовательский институт гидротехники и мелиорации им. А.Н. Костякова Hydraulic loader working equipment
RU2225481C1 (en) * 2002-10-10 2004-03-10 ОАО "Научно-исследовательский институт строительного и дорожного машиностроения" Quick-release coupling of loaders working member
CN2880927Y (en) * 2006-01-13 2007-03-21 山东临工工程机械有限公司 Link mechanism of loading machine operating device
CN201288344Y (en) * 2008-10-18 2009-08-12 王佳 Simple high-strength agricultural loader
WO2010104278A2 (en) * 2009-03-11 2010-09-16 Yoon Byung Hun Locking device for exchanging ancillary devices on heavy equipment
CN102605810A (en) * 2012-01-12 2012-07-25 广西大学 Controllable mechanism type low loader
CN202559403U (en) * 2012-01-12 2012-11-28 广西大学 Controllable mechanism type light-duty loading machine
CN103174178A (en) * 2013-02-08 2013-06-26 广西大学 Branch-chain stop control type multiple degrees of freedom link mechanism form loading machine

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2209886C1 (en) * 2001-11-28 2003-08-10 Всероссийский научно-исследовательский институт гидротехники и мелиорации им. А.Н. Костякова Hydraulic loader working equipment
RU2225481C1 (en) * 2002-10-10 2004-03-10 ОАО "Научно-исследовательский институт строительного и дорожного машиностроения" Quick-release coupling of loaders working member
CN2880927Y (en) * 2006-01-13 2007-03-21 山东临工工程机械有限公司 Link mechanism of loading machine operating device
CN201288344Y (en) * 2008-10-18 2009-08-12 王佳 Simple high-strength agricultural loader
WO2010104278A2 (en) * 2009-03-11 2010-09-16 Yoon Byung Hun Locking device for exchanging ancillary devices on heavy equipment
CN102605810A (en) * 2012-01-12 2012-07-25 广西大学 Controllable mechanism type low loader
CN202559403U (en) * 2012-01-12 2012-11-28 广西大学 Controllable mechanism type light-duty loading machine
CN103174178A (en) * 2013-02-08 2013-06-26 广西大学 Branch-chain stop control type multiple degrees of freedom link mechanism form loading machine

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105501543A (en) * 2016-01-21 2016-04-20 湘潭大学 Inner box opening mechanism for ampoule penicillin bottle packaging carton
CN105951906A (en) * 2016-06-24 2016-09-21 山东交通学院 Multi-unit linear-drive 15-bar 3-acitivity loading robot
CN106120886A (en) * 2016-06-24 2016-11-16 山东交通学院 A kind of multiple-unit linear drives plane three mobility crowd shovel loads robot
CN106737728A (en) * 2016-12-05 2017-05-31 广西大学 A kind of mobility linkage Simple mechanical arm of servo-drive two for transport operation

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Application publication date: 20140409