CN103726523A - Nine-bar two-degree-of-freedom mechanical loading mechanism - Google Patents

Nine-bar two-degree-of-freedom mechanical loading mechanism Download PDF

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Publication number
CN103726523A
CN103726523A CN201310690463.0A CN201310690463A CN103726523A CN 103726523 A CN103726523 A CN 103726523A CN 201310690463 A CN201310690463 A CN 201310690463A CN 103726523 A CN103726523 A CN 103726523A
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China
Prior art keywords
revolute pair
controlled
bar
branched chain
loading
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Pending
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CN201310690463.0A
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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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Priority to CN201310690463.0A priority Critical patent/CN103726523A/en
Publication of CN103726523A publication Critical patent/CN103726523A/en
Pending legal-status Critical Current

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Abstract

A nine-bar two-degree-of-freedom mechanical loading mechanism is composed of a frame, a movable-arm controlled branched chain and a bucket controlled branched chain. The movable-arm controlled branched chain is controlled through a first driving bar and performs movable-arm ascending and descending operations, the bucket controlled branched chain is controlled through a second driving bar to complete overturn operation of a bucket, and the movable-arm controlled branched chain and the bucket controlled branched chain cooperate with each other to complete loading and unloading operations of the mechanical loading mechanism. Member bars of the mechanical loading mechanism are all connected through revolute pairs, so that the shortcomings that a traditional full-hydraulic loading mechanism using sliding pairs is high in price, poor in reliability, high in maintenance cost and the like are overcome; compared to other mechanical-controllable loading mechanisms, the nine-bar two-degree-of-freedom mechanical loading mechanism which is compact in structure and high in rigidity is a brand new mechanism more superior in performance by adopting principles of kinematics and dynamics, and thereby being better in reliability and dynamic stability.

Description

A kind of nine bar two-freedom mechanical type loader mechanisms
Technical field
The present invention relates to engineering machinery field, particularly a kind of nine bar two-freedom mechanical type loader mechanisms.
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 a kind of nine bar two-freedom mechanical type loader mechanisms, 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:
Nine bar two-freedom mechanical type loader mechanisms, control side chain by frame, swing arm control side chain and scraper bowl and form.
Described swing arm is controlled side chain and is comprised of swing arm, the first driving lever, scraper bowl.Described swing arm one end is connected with frame by the first revolute pair, the other end is connected with scraper bowl by the second revolute pair, described first driving lever one end is connected with frame by the 11 revolute pair, the other end is connected with first connecting rod by the 3rd revolute pair, and the described first connecting rod other end 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, pull bar, rocking arm.Described second driving lever one end is connected with frame by the 5th revolute pair, the other end is connected with second connecting rod by the 6th revolute pair, described second connecting rod is connected with pull bar by the 7th revolute pair, described pull bar is connected with scraper bowl by the 8th revolute pair, described rocking arm one end is connected with swing arm by the 9th revolute pair, and the other end is connected with pull bar by the tenth 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, 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 large, medium and small type loader.
Accompanying drawing explanation
Fig. 1 is a kind of nine bar two-freedom mechanical type loader mechanism schematic diagrames of the present invention.
Fig. 2 is that a kind of nine bar two-freedom mechanical type loader mechanism swing arms of the present invention are controlled side chain schematic diagram.
Fig. 3 is that a kind of nine bar two-freedom mechanical type loader mechanism scraper bowls of the present invention are controlled side chain schematic diagram.
Fig. 4 is a kind of nine bar two-freedom mechanical type loader mechanism operation schematic diagrames of the present invention.
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, a kind of nine bar two-freedom mechanical type loader mechanisms, control side chain by frame 1, swing arm control side chain and scraper bowl and form.
Contrast Fig. 1, Fig. 2, described swing arm is controlled side chain and is comprised of swing arm 7, the first driving lever 3, scraper bowl 9.Described swing arm 7 one end are connected with frame 1 by the first revolute pair 18, the other end is connected with scraper bowl 9 by the second revolute pair 8, described first driving lever 3 one end are connected with frame 1 by the 11 revolute pair 2, the other end is connected with first connecting rod 5 by the 3rd revolute pair 4, and described first connecting rod 5 other ends are connected with swing arm 7 by the 4th revolute pair 19.
Described in contrast Fig. 1, Fig. 3, scraper bowl control side chain is comprised of the second driving lever 16, second connecting rod 14, pull bar 11, rocking arm 20.Described second driving lever 16 one end are connected with frame 1 by the 5th revolute pair 17, the other end is connected with second connecting rod 14 by the 6th revolute pair 15, described second connecting rod 14 is connected with pull bar 11 by the 7th revolute pair 13, described pull bar 11 is connected with scraper bowl 9 by the 8th revolute pair 10, described rocking arm 20 one end are connected with swing arm 7 by the 9th revolute pair 6, and the other end is connected with pull bar 11 by the tenth revolute pair 12.
Contrast Fig. 1, Fig. 2, Fig. 3, Fig. 4, described a kind of nine bar two-freedom mechanical type loader mechanisms 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 16, 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 7 liftings, decline, the loading operation tasks such as scraper bowl 9 loadings and discharging.

Claims (1)

1. nine bar two-freedom mechanical type loader mechanisms, control side chain by frame, swing arm control side chain and scraper bowl and form, and it is characterized in that:
Described swing arm is controlled side chain and is comprised of swing arm, the first driving lever, scraper bowl.Described swing arm one end is connected with frame by the first revolute pair, the other end is connected with scraper bowl by the second revolute pair, described first driving lever one end is connected with frame by the 11 revolute pair, the other end is connected with first connecting rod by the 3rd revolute pair, the described first connecting rod other end 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, pull bar, rocking arm.Described second driving lever one end is connected with frame by the 5th revolute pair, the other end is connected with second connecting rod by the 6th revolute pair, described second connecting rod is connected with pull bar by the 7th revolute pair, described pull bar is connected with scraper bowl by the 8th revolute pair, described rocking arm one end is connected with swing arm by the 9th revolute pair, and the other end is connected with pull bar by the tenth revolute pair.
CN201310690463.0A 2013-12-16 2013-12-16 Nine-bar two-degree-of-freedom mechanical loading mechanism Pending CN103726523A (en)

Priority Applications (1)

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CN201310690463.0A CN103726523A (en) 2013-12-16 2013-12-16 Nine-bar two-degree-of-freedom mechanical loading mechanism

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Application Number Priority Date Filing Date Title
CN201310690463.0A CN103726523A (en) 2013-12-16 2013-12-16 Nine-bar two-degree-of-freedom mechanical loading mechanism

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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104294868A (en) * 2014-11-11 2015-01-21 广西大学 Multi-freedom-degree controllable loading mechanism with active metamorphic function
CN104532889A (en) * 2014-12-25 2015-04-22 广西大学 Seven-rod eight-pair controllable mechanism type loading mechanism capable of working at multiple angles
CN104594410A (en) * 2014-12-25 2015-05-06 广西大学 Seven-rod eight-pair controllable mechanism type loading mechanism
CN104612193A (en) * 2014-12-12 2015-05-13 广西大学 Movable and controllable loading mechanism with initiative metamorphism function
CN104612191A (en) * 2014-12-12 2015-05-13 广西大学 MDOF movable loading mechanism with initiative metamorphism function
CN104612192A (en) * 2014-12-12 2015-05-13 广西大学 Controllable loading mechanism with initiative metamorphism function
CN106049568A (en) * 2016-06-24 2016-10-26 山东交通学院 Multi-unit linearly-driven planar four-degree-of-freedom heavy loading robot
CN106044190A (en) * 2016-06-24 2016-10-26 山东交通学院 Sliding-type multi-unit linearly-driven electro-hydraulic controllable wood grasping machine
CN106608543A (en) * 2016-11-28 2017-05-03 广西大学 Two-freedom-degree connecting rod mechanism simple fodder stacking mechanical arm driven by servo motors
CN106609524A (en) * 2016-11-30 2017-05-03 广西大学 Method of carrying out industrial waste seizing and loading operation by adopting servo motor driven two-degree-of-freedom simple link mechanism

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010104278A2 (en) * 2009-03-11 2010-09-16 Yoon Byung Hun Locking device for exchanging ancillary devices on heavy equipment
CN101892680A (en) * 2010-07-15 2010-11-24 广西大学 Mechanical two-degree-of-freedom controllable loading machine
CN102535546A (en) * 2012-01-12 2012-07-04 广西大学 Controllable loader with high load capacity
CN102995674A (en) * 2012-12-28 2013-03-27 广西大学 Miniature multi-freedom-degree controllable mechanical type crowd shovel excavating loading mechanism

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010104278A2 (en) * 2009-03-11 2010-09-16 Yoon Byung Hun Locking device for exchanging ancillary devices on heavy equipment
CN101892680A (en) * 2010-07-15 2010-11-24 广西大学 Mechanical two-degree-of-freedom controllable loading machine
CN102535546A (en) * 2012-01-12 2012-07-04 广西大学 Controllable loader with high load capacity
CN102995674A (en) * 2012-12-28 2013-03-27 广西大学 Miniature multi-freedom-degree controllable mechanical type crowd shovel excavating loading mechanism

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104294868A (en) * 2014-11-11 2015-01-21 广西大学 Multi-freedom-degree controllable loading mechanism with active metamorphic function
CN104612193A (en) * 2014-12-12 2015-05-13 广西大学 Movable and controllable loading mechanism with initiative metamorphism function
CN104612191A (en) * 2014-12-12 2015-05-13 广西大学 MDOF movable loading mechanism with initiative metamorphism function
CN104612192A (en) * 2014-12-12 2015-05-13 广西大学 Controllable loading mechanism with initiative metamorphism function
CN104532889A (en) * 2014-12-25 2015-04-22 广西大学 Seven-rod eight-pair controllable mechanism type loading mechanism capable of working at multiple angles
CN104594410A (en) * 2014-12-25 2015-05-06 广西大学 Seven-rod eight-pair controllable mechanism type loading mechanism
CN106049568A (en) * 2016-06-24 2016-10-26 山东交通学院 Multi-unit linearly-driven planar four-degree-of-freedom heavy loading robot
CN106044190A (en) * 2016-06-24 2016-10-26 山东交通学院 Sliding-type multi-unit linearly-driven electro-hydraulic controllable wood grasping machine
CN106608543A (en) * 2016-11-28 2017-05-03 广西大学 Two-freedom-degree connecting rod mechanism simple fodder stacking mechanical arm driven by servo motors
CN106609524A (en) * 2016-11-30 2017-05-03 广西大学 Method of carrying out industrial waste seizing and loading operation by adopting servo motor driven two-degree-of-freedom simple link mechanism

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