CN103741733B - A kind of multi-freedom-degree controllable mechanism type garbage loader - Google Patents
A kind of multi-freedom-degree controllable mechanism type garbage loader Download PDFInfo
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- CN103741733B CN103741733B CN201310676528.6A CN201310676528A CN103741733B CN 103741733 B CN103741733 B CN 103741733B CN 201310676528 A CN201310676528 A CN 201310676528A CN 103741733 B CN103741733 B CN 103741733B
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Abstract
A kind of multi-freedom-degree controllable mechanism type garbage loader, comprises rubbish Load System, driver's cabin and automobile chassis.Described rubbish Load System comprises multiple degree of freedom controllable loading mechanism, two reducer power source groups and frame.The functions such as described automobile chassis can realize advancing, retreat, turn to, brake, meet garbage loader job requirements.Adopt the present invention can not only complete various flexible, complicated loading action as fluid pressure type loader, overcome again the deficiencies such as hydraulic system manufacturing cost is high, transmission efficiency is low, high, the easy generation leakage of oil of maintaining cost, there is high reliability, the advantage such as energy-efficient, be very applicable to city cleaning operation.
Description
Technical field
The present invention relates to sanitation equipment field, particularly a kind of multi-freedom-degree controllable mechanism type garbage loader.
Background technology
The garbage-cleaning scraper of the occasion such as environmental sanitation, municipal administration, industrial enterprise, property plots, residential block that rubbish is many and concentrated is often by manually having come, labour intensity is large, inefficiency, if employ existing loader to carry out do mechanization operation, then there are problems, first existing loader is mainly for civil works and agriculture field, and thus tonnage is often excessive, energy consumption is high, is not suitable for municipal refuse operation; Secondly existing loader mainly adopts by diesel-driven Hydraulic Power Transmission System, operating noise is large, the course of work easily produces the problems such as leakage of oil, maintaining cost is high, transmission efficiency is low, the waste gas of diesel emission has certain pollution to urban environment, and thus existing loader is difficult to the requirement meeting energy-conserving and environment-protective; Further, city cleaning operation is different from engineering construction operation, often need the frequent transition operation in each corner in city, existing loader transmission efficiency is low, Hydraulic System Reliability is low, maintaining cost is high, due to high-power normal with a large amount of exhaust emissions, is difficult to meet city cleaning operation.
Multiple degrees of freedom controllable mechanism refers to some motion in the input motion of some structure motion parameter in multiple-degree-of-freedom mechanism or mechanism and multiple degrees of freedom closed chain mechanism, these motions can be controlled in real time by microcomputer or carry out the control of many permanent positions in mode manually, flexible complicated track can be realized export, improve kinetic characteristic and the dynamic characteristics of mechanism, advantages such as having compact conformation, cumulative errors are little, precision is high, operating speed is high, dynamic response is good, is well suited for the application of engineering machinery field.But the controlled engineering machinery technology of existing multiple degrees of freedom prematurity, first do not consider the factors such as driving chassis; Secondly multiple degrees of freedom controllable mechanism dead electricity locking relies on turbine worm reducer, causes machinery driving efficiency low, and will make up by increasing power source power, although noiselessness, energy consumption is high, the requirement of discontented sufficient energy-conserving and environment-protective.Therefore, the controlled engineering machinery technology of existing multiple degrees of freedom can not directly meet city cleaning operation equally.
Garbage loader is a kind of garbage shovel dress sanitation equipment, and be mainly used in small volume, action is flexible, can alleviate the labour intensity of personnel.Garbage truck is widely used in environmental sanitation, municipal administration, industrial enterprise, property plots, residential block that rubbish is many and concentrated, is also applicable to rural Cleaning construction, facilitates the loading operation requirement of personnel.Bulky, the described a kind of multi-freedom-degree controllable mechanism type garbage loader of traditional hydraulic loader, environmental protection and energy saving, have higher promotional value.
Summary of the invention
The object of the present invention is to provide a kind of multi-freedom-degree controllable mechanism type garbage loader, existing fluid pressure type loader equally completes various flexible, complicated loading action; Overcome again hydraulic system required precision high, manufacture and assembly cost is high, reliability is undesirable, the deficiency of easy generation leakage of oil; Reach the full driven by power of city job requirements, the energy-conserving and environment-protective requirement of zero-emission, low noise, low energy consumption, be easy to realize transition operation.
The present invention is achieved the above object by following technology: a kind of multi-freedom-degree controllable mechanism type garbage loader, comprises rubbish Load System, driver's cabin and automobile chassis.
Described rubbish Load System is by frame, upper reducer power source group, lower reducer power source group and multiple degree of freedom controllable loading mechanism are formed, described upper reducer power source group is by the first power source, first reducer composition, described lower reducer power source group is by the second power source, second reducer composition, described multiple degree of freedom controllable loading mechanism comprises lower link, three hole rocking bars, upper connecting rod, upper power arm, two lever arm, scraper bowl, first time power arm, second time power arm, first pushing arm and the second pushing arm, one end of lower link is connected with scraper bowl by the first revolute pair, the other end of lower link is connected with one end of three hole rocking bars by the 4th revolute pair, the other end of three hole rocking bars is connected with one end of upper connecting rod by the 5th revolute pair, three hole rocking bars are connected with two lever arm by the 11 revolute pair, the other end of upper connecting rod is connected with one end of upper power arm by the 6th revolute pair, the other end of upper power arm is connected with the first reducer in upper reducer power source group, first reducer is fixed in frame, two lever arm one end is connected with scraper bowl with the 3rd revolute pair by the second revolute pair, the other end is connected in frame by the 7th revolute pair and the 8th revolute pair, one end of first time power arm is connected with the second reducer, second reducer is connected in frame, the other end of first time power arm is connected with one end of the first pushing arm by the 9th revolute pair, the other end of the first thrust is connected with two lever arm by the tenth revolute pair, one end of second time power arm is connected with the second reducer, the other end is connected with one end of the second pushing arm by the 12 revolute pair, the other end of the second pushing arm is connected with two lever arm by the 13 revolute pair.
Described frame is arranged on automobile chassis, and described driver's cabin is arranged in frame.
Described automobile chassis can conveniently realize advancing, retreat, turn to, the functions such as brake, meet garbage loader job requirements, first reducer in described rubbish Load System, second reducer is used for transmitting the power that the first power source and the second power source export, and underspeed, increase moment, described first power source, second power source is by flange and the first reducer, second reducer connects, first reducer, second reducer is connected with frame, by in rubbish Load System to the first power source, the control of the second power source, and the cooperation of automobile chassis, jointly complete rubbish loading operation, described first power source, second power source is the DC servo motor of strap brake.
Outstanding advantages of the present invention is:
1, multiple degrees of freedom controllable mechanism is adopted, flexible output can be realized, the kinetic characteristic of mechanism and dynamic characteristics good, compare existing hydraulic loader, not only there is existing fluid pressure type loader and equally complete various flexible, complicated loading action, and overcome hydraulic system required precision high, manufacture and the deficiency such as assembly cost is high, reliability is undesirable, easily produce leakage of oil, transmission efficiency is low, there is higher reliability, high transmission efficiency, reduces maintenance cost, improves energy utilization rate.
2, brand-new power drive system is adopted, working speed is reduced to than reducing power source speed by big retarding, adopt the pure machine driving of high transmission efficiency, there is the advantage of high reliability, low power consuming, significantly reduce maintaining expense, simultaneously owing to improve energy utilization rate, significantly reduce energy consumption and exhaust emissions, be very suitable for garbage-cleaning, the special article scraping process of the occasions such as environmental sanitation, municipal administration, industrial enterprise, property plots, residential block that rubbish is many and concentrated.
3, because automobile chassis adopts electric vehicle chassis, the power source of rubbish Load System selects the DC servo motor of strap brake, can realize all-electric, the advantage such as zero-emission, noiselessness, environment-friendly advantage is remarkable, is particularly suitable for the material scraper transporting operation such as workshop, food products factory.
4, structure is simple, is made up of pure rod member, and manufacture is with maintenance cost is low, reliability is high, easy to utilize.
Accompanying drawing explanation
Fig. 1 is the structural representation of multi-freedom-degree controllable mechanism type garbage loader of the present invention.
Fig. 2 is the multiple degree of freedom controllable loading mechanism top view of multi-freedom-degree controllable mechanism type garbage loader of the present invention.
Fig. 3 is the first working state schematic representation of multi-freedom-degree controllable mechanism type garbage loader of the present invention.
Fig. 4 is the second working state schematic representation of multi-freedom-degree controllable mechanism type garbage loader of the present invention.
Fig. 5 is the third working state schematic representation of multi-freedom-degree controllable mechanism type garbage loader of the present invention.
Fig. 6 is the 4th kind of working state schematic representation of multi-freedom-degree controllable mechanism type garbage loader of the present invention.
Detailed description of the invention
Below in conjunction with drawings and Examples, technical scheme of the present invention is described further.
Contrast Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, multi-freedom-degree controllable mechanism type garbage loader of the present invention, comprises rubbish Load System, driver's cabin 10 and automobile chassis 12.
Contrast Fig. 1, Fig. 2, described rubbish Load System is by frame 18, upper reducer power source group, lower reducer power source group and multiple degree of freedom controllable loading mechanism are formed, described upper reducer power source group is by the first power source 14, first reducer 15 forms, described lower reducer power source group is by the second power source 20, second reducer 21 forms, described multiple degree of freedom controllable loading mechanism comprises lower link 4, three hole rocking bars 6, upper connecting rod 8, upper power arm 13, two lever arm 19, scraper bowl 1, first time power arm 22, second time power arm 29, first pushing arm 24, second pushing arm 11, one end of lower link 4 is connected with scraper bowl 1 by the first revolute pair 3, the other end of lower link 4 is connected with one end of three hole rocking bars 6 by the 4th revolute pair 5, the other end of three hole rocking bars 6 is connected with one end of upper connecting rod 8 by the 5th revolute pair 7, three hole rocking bars 6 are connected with two lever arm 19 by the 11 revolute pair 26, the other end of upper connecting rod 8 is connected with one end of upper power arm 13 by the 6th revolute pair 9, the other end of upper power arm 13 is connected with the first reducer 15 in upper reducer power source group, first reducer 15 is fixed in frame 18, two lever arm 19 one end is connected with scraper bowl 1 with the 3rd revolute pair 27 by the second revolute pair 2, the other end is connected in frame 18 by the 7th revolute pair 16 and the 8th revolute pair 17, one end of first time power arm 22 is connected with the second reducer 21, second reducer 21 is connected in frame 1, the other end of first time power arm 22 is connected with one end of the first pushing arm 24 by the 9th revolute pair 23, the other end of the first thrust 24 is connected with two lever arm 19 by the tenth revolute pair 25, one end of second time power arm 29 is connected with the second reducer 21, the other end is connected with one end of the second pushing arm 11 by the 12 revolute pair 30, the other end of the second pushing arm 11 is connected with two lever arm 19 by the 13 revolute pair 28.
Described frame 18 is arranged on automobile chassis 12, and described driver's cabin 10 is arranged in frame 18.
Contrast Fig. 1, Fig. 2, described automobile chassis 12 can conveniently realize advancing, retreat, turn to, the functions such as brake, meet garbage loader job requirements, first reducer 15 in described rubbish Load System, second reducer 21 is used for transmitting the power that the first power source 14 and the second power source 20 export, and underspeed, increase moment, described first power source 14, second power source 20 is by flange and the first reducer 15, second reducer 21 connects, first reducer 15, second reducer 21 is connected with frame 18, by in rubbish Load System to the first power source 14, the control of the second power source 20, and the cooperation of automobile chassis 12, jointly complete rubbish loading operation, described first power source 14, second power source 20 is the DC servo motor of strap brake.
Claims (3)
1. a multi-freedom-degree controllable mechanism type garbage loader, comprises rubbish Load System, driver's cabin, automobile chassis, it is characterized in that,
Described rubbish Load System is by frame, upper reducer power source group, lower reducer power source group and multiple degree of freedom controllable loading mechanism are formed, described upper reducer power source group is by the first power source, first reducer composition, described lower reducer power source group is by the second power source, second reducer composition, described multiple degree of freedom controllable loading mechanism comprises lower link, three hole rocking bars, upper connecting rod, upper power arm, two lever arm, scraper bowl, first time power arm, second time power arm, first pushing arm and the second pushing arm, lower link one end is connected with scraper bowl by the first revolute pair, the lower link other end is connected with one end of three hole rocking bars by the 4th revolute pair, the three hole rocking bar other ends are connected with one end of upper connecting rod by the 5th revolute pair, three hole rocking bars are connected with two lever arm by the 11 revolute pair, the upper connecting rod other end is connected with one end of upper power arm by the 6th revolute pair, the upper power arm other end is connected with the first reducer in upper reducer power source group, first reducer is fixed in frame, two lever arm one end is connected with scraper bowl with the 3rd revolute pair by the second revolute pair, the other end is connected in frame by the 7th revolute pair and the 8th revolute pair, first time power arm one end is connected with the second reducer, second reducer is connected in frame, first time the power arm other end is connected with one end of the first pushing arm by the 9th revolute pair, the first pushing arm other end is connected with two lever arm by the tenth revolute pair, second time power arm one end is connected with the second reducer, the other end is connected with second pushing arm one end by the 12 revolute pair, the second pushing arm other end is connected with two lever arm by the 13 revolute pair,
Described frame is arranged on automobile chassis, and described driver's cabin is arranged in frame.
2. multi-freedom-degree controllable mechanism type garbage loader according to claim 1, it is characterized in that: described first power source, the second power source are connected with the first reducer, the second reducer by flange, the first reducer, the second reducer are connected with frame.
3. a kind of multi-freedom-degree controllable mechanism type garbage loader according to claim 1, is characterized in that: described first power source, the second power source are the DC servo motor of strap brake.
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| CN201310676528.6A CN103741733B (en) | 2013-12-07 | 2013-12-07 | A kind of multi-freedom-degree controllable mechanism type garbage loader |
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| CN103741733B true CN103741733B (en) | 2015-10-28 |
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| CN104047320A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | High-reliability loading mechanism with active metamorphic function |
| CN104074215A (en) * | 2014-06-27 | 2014-10-01 | 广西大学 | Multi-linkage mechanism with initiative metamorphic function |
| CN104074212A (en) * | 2014-06-27 | 2014-10-01 | 广西大学 | Multi-linkage mechanism with initiative metamorphic function |
| CN106120901A (en) * | 2016-06-24 | 2016-11-16 | 山东交通学院 | A kind of multiple-unit connecting rod drives 15 bar three mobility controllable loading mechanisms |
| CN106088182A (en) * | 2016-06-24 | 2016-11-09 | 山东交通学院 | A kind of multiple-unit connecting rod drives plane three mobility to load robot |
| CN106013285A (en) * | 2016-06-24 | 2016-10-12 | 山东交通学院 | Multi-unit-linear-driven loading robot with three planar ranges of motion |
| CN105951903A (en) * | 2016-06-24 | 2016-09-21 | 山东交通学院 | Multi-unit linkage-drive planar 3-acitivity face-shovel loading robot |
| CN105951906A (en) * | 2016-06-24 | 2016-09-21 | 山东交通学院 | Multi-unit linear-drive 15-bar 3-acitivity loading robot |
| CN106013284A (en) * | 2016-06-24 | 2016-10-12 | 山东交通学院 | Electro-hydraulic hybrid type light loading robot with planar three freedom degrees |
| CN106917424A (en) * | 2017-03-22 | 2017-07-04 | 山东交通学院 | A kind of single-degree-of-freedom numerical control is digged pit robot mechanism |
| CN114914601A (en) * | 2022-05-30 | 2022-08-16 | 卡米特泰州新能源智能装备有限公司 | Power battery system bracket assembly for pure electric loader |
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