CN103741737A - High-flexibility nine-rod two-degree-of-freedom mechanical loading mechanism - Google Patents

High-flexibility nine-rod two-degree-of-freedom mechanical loading mechanism Download PDF

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Publication number
CN103741737A
CN103741737A CN201310690755.4A CN201310690755A CN103741737A CN 103741737 A CN103741737 A CN 103741737A CN 201310690755 A CN201310690755 A CN 201310690755A CN 103741737 A CN103741737 A CN 103741737A
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CN
China
Prior art keywords
revolute pair
rod
loading
branched chain
swing arm
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Pending
Application number
CN201310690755.4A
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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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Application filed by Guangxi University filed Critical Guangxi University
Priority to CN201310690755.4A priority Critical patent/CN103741737A/en
Publication of CN103741737A publication Critical patent/CN103741737A/en
Pending legal-status Critical Current

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Abstract

A high-flexibility nine-rod two-degree-of-freedom mechanical loading mechanism is composed of a rack, a movable arm control branched chain and a scraper bucket control branched chain. The movable arm control branched chain is controlled by a first driving rod and enables a movable arm to ascend or descend. The scraper bucket control branched chain is controlled by a second driving rod and turned over by a scraper bucket. Due to the fact that the movable arm ascending branched chain is matched with the scraper bucket control branched chain, the loading and unloading work of the mechanical loading mechanism can be functionally completed. The rod pieces of the mechanical loading mechanism are all in revolute pair connection, and the defects that a traditional fully-hydraulic loading mechanism comprising a revolute pair is high in manufacturing cost, poor in reliability, high in maintenance cost and the like are avoided; meanwhile, compared with other controllable mechanism type loading mechanisms, the mechanical loading mechanism is compact in structure and large in rigidity, and the brand new structure with the superior kinematic performance and dynamic performance is adopted, so that the loading mechanism is better in reliability and dynamic stability.

Description

A kind of high flexibility ratio nine bar two-freedom mechanical type loader mechanisms
Technical field
The present invention relates to engineering machinery field, particularly a kind of high flexibility ratio 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 compactness, 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, drive loader mechanism operation to become possibility with mechanical drive mode.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 high flexibility ratio 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:
A kind of high flexibility ratio nine bar two-freedom mechanical type loader mechanisms, are comprised of frame, swing arm control side chain, scraper bowl control side chain.
Described swing arm control side chain is by the first driving lever, the first support bar, first connecting rod, swing arm, the second support bar, scraper bowl composition, described first driving lever one end is connected with frame by the first revolute pair, the other end is connected with the first support bar by the second revolute pair, the first support bar is connected with first connecting rod by the 3rd revolute pair, first connecting rod is connected with swing arm by the 4th revolute pair, swing arm is connected with frame by the 5th revolute pair, described second support bar one end is connected with swing arm by the 6th revolute pair, the other end is connected with scraper bowl by the 7th revolute pair, described the second support bar is connected with the first support bar by the 8th revolute pair.
Described scraper bowl control side chain is comprised of the second driving lever, second connecting rod, and described second driving lever one end is connected with frame by the 9th revolute pair, and the other end is connected with second connecting rod by the tenth revolute pair, and second connecting rod is connected with scraper bowl by the 11 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, not only compact conformation, 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, arm lifting mechanism flexibility ratio is high, is suitable for very much manufacturing large, medium and small type loader.
Accompanying drawing explanation
Fig. 1 is the high flexibility ratio nine bar two-freedom mechanical type loader mechanism schematic diagrames of one of the present invention.
Fig. 2 is the high flexibility ratio nine bar two-freedom mechanical type loader mechanism swing arm control side chain schematic diagrames of one of the present invention.
Fig. 3 is the high flexibility ratio nine bar two-freedom mechanical type loader mechanism scraper bowl control side chain schematic diagrames of one of the present invention.
Fig. 4 is the high flexibility ratio nine bar two-freedom mechanical type loader mechanism operation schematic diagrames of one 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 high flexibility ratio nine bar two-freedom mechanical type loader mechanisms, are comprised of frame 1, swing arm control side chain, scraper bowl control side chain.
Contrast Fig. 1, Fig. 2, described swing arm control side chain is by the first driving lever 3, the first support bar 5, first connecting rod 19, swing arm 16, the second support bar 7, scraper bowl 9 forms, described first driving lever 3 one end are connected with frame 1 by the first revolute pair 2, the other end is connected with the first support bar 5 by the second revolute pair 4, the first support bar 5 is connected with first connecting rod 19 by the 3rd revolute pair 17, first connecting rod 19 is connected with swing arm 16 by the 4th revolute pair 18, swing arm 16 is connected with frame 1 by the 5th revolute pair 15, described second support bar 7 one end are connected with swing arm 16 by the 6th revolute pair 20, the other end is connected with scraper bowl 9 by the 7th revolute pair 8, described the second support bar 7 is connected with the first support bar 5 by the 8th revolute pair 6.
Contrast Fig. 1, Fig. 3, described scraper bowl control side chain is comprised of the second driving lever 13, second connecting rod 11, described second driving lever 13 one end are connected with frame 1 by the 9th revolute pair 14, the other end is connected with second connecting rod 11 by the tenth revolute pair 12, and second connecting rod 11 is connected with scraper bowl 9 by the 11 revolute pair 10.
Contrast Fig. 1, Fig. 2, Fig. 3, Fig. 4, the high flexibility ratio nine bar two-freedom mechanical type loader mechanisms of described one can be installed and can be arranged on walking chassis by frame 1, described swing arm control side chain is by the driving control of the first driving lever 3, complete lifting or the down maneuver of swing arm 16, described scraper bowl control side chain is by the driving control of the second driving lever 13, complete the upset operation of scraper bowl 9, according to actual job requirement, by cooperatively interacting of swing arm control side chain and scraper bowl control side chain, jointly complete swing arm 16 liftings, decline, the loading operation tasks such as scraper bowl 9 loadings and discharging.

Claims (1)

1. high flexibility ratio nine bar two-freedom mechanical type loader mechanisms, are comprised of frame, swing arm control side chain, scraper bowl control side chain, it is characterized in that:
Described swing arm control side chain is by the first driving lever, the first support bar, first connecting rod, swing arm, the second support bar, scraper bowl composition, described first driving lever one end is connected with frame by the first revolute pair, the other end is connected with the first support bar by the second revolute pair, the first support bar is connected with first connecting rod by the 3rd revolute pair, first connecting rod is connected with swing arm by the 4th revolute pair, swing arm is connected with frame by the 5th revolute pair, described second support bar one end is connected with swing arm by the 6th revolute pair, the other end is connected with scraper bowl by the 7th revolute pair, described the second support bar is connected with the first support bar by the 8th revolute pair,
Described scraper bowl control side chain is comprised of the second driving lever, second connecting rod, and described second driving lever one end is connected with frame by the 9th revolute pair, and the other end is connected with second connecting rod by the tenth revolute pair, and second connecting rod is connected with scraper bowl by the 11 revolute pair.
CN201310690755.4A 2013-12-16 2013-12-16 High-flexibility nine-rod two-degree-of-freedom mechanical loading mechanism Pending CN103741737A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201310690755.4A CN103741737A (en) 2013-12-16 2013-12-16 High-flexibility nine-rod two-degree-of-freedom mechanical loading mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201310690755.4A CN103741737A (en) 2013-12-16 2013-12-16 High-flexibility nine-rod two-degree-of-freedom mechanical loading mechanism

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CN103741737A true CN103741737A (en) 2014-04-23

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104532887A (en) * 2014-12-12 2015-04-22 广西大学 Multi-degree of freedom controllable connecting rod mobile type loading mechanism
CN106607632A (en) * 2016-12-07 2017-05-03 广西大学 Gas cutting blanking machine adopting two-range of motion connecting rod mechanism
CN106607634A (en) * 2016-12-07 2017-05-03 广西大学 Servo driven variable degree-of-freedom multi-connecting mechanism for oxygen-acetylene cutting machine
CN106607895A (en) * 2016-12-05 2017-05-03 广西大学 Two-degree-of-motion connection rod mechanism maniacal arm for carrying operation
CN108080838A (en) * 2016-11-21 2018-05-29 广西大学 A kind of two mobility linkage spot welding manipulators
CN108081252A (en) * 2016-11-21 2018-05-29 广西大学 A kind of two mobility linkage make-up machinery arms

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09302706A (en) * 1996-05-15 1997-11-25 Hitachi Constr Mach Co Ltd Working machine
CN101892680A (en) * 2010-07-15 2010-11-24 广西大学 Mechanical two-degree-of-freedom controllable loading machine
CN101899846A (en) * 2010-08-04 2010-12-01 广西大学 Planer multiple degree of freedom controllable loading mechanism
CN102085659A (en) * 2010-12-16 2011-06-08 广西大学 Space-controlled five degree of freedom twelve-rod welding robot mechanism

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09302706A (en) * 1996-05-15 1997-11-25 Hitachi Constr Mach Co Ltd Working machine
CN101892680A (en) * 2010-07-15 2010-11-24 广西大学 Mechanical two-degree-of-freedom controllable loading machine
CN101899846A (en) * 2010-08-04 2010-12-01 广西大学 Planer multiple degree of freedom controllable loading mechanism
CN102085659A (en) * 2010-12-16 2011-06-08 广西大学 Space-controlled five degree of freedom twelve-rod welding robot mechanism

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104532887A (en) * 2014-12-12 2015-04-22 广西大学 Multi-degree of freedom controllable connecting rod mobile type loading mechanism
CN108080838A (en) * 2016-11-21 2018-05-29 广西大学 A kind of two mobility linkage spot welding manipulators
CN108081252A (en) * 2016-11-21 2018-05-29 广西大学 A kind of two mobility linkage make-up machinery arms
CN106607895A (en) * 2016-12-05 2017-05-03 广西大学 Two-degree-of-motion connection rod mechanism maniacal arm for carrying operation
CN106607632A (en) * 2016-12-07 2017-05-03 广西大学 Gas cutting blanking machine adopting two-range of motion connecting rod mechanism
CN106607634A (en) * 2016-12-07 2017-05-03 广西大学 Servo driven variable degree-of-freedom multi-connecting mechanism for oxygen-acetylene cutting machine

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Application publication date: 20140423

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