CN103758164B - A kind of plane multi-freedom-degree controllable mechanism type face-shovel excavator - Google Patents
A kind of plane multi-freedom-degree controllable mechanism type face-shovel excavator Download PDFInfo
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- CN103758164B CN103758164B CN201310675194.0A CN201310675194A CN103758164B CN 103758164 B CN103758164 B CN 103758164B CN 201310675194 A CN201310675194 A CN 201310675194A CN 103758164 B CN103758164 B CN 103758164B
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Abstract
A kind of plane multi-freedom-degree controllable mechanism type face-shovel excavator, comprise frame, swing arm lifting mechanism and bucket turnover mechanism, swing arm lifting mechanism controls the first swing arm and the second swing arm landing, and bucket turnover mechanism reaches the object controlling scraper bowl upset by the motion of control the 3rd driving lever.The present invention replaces the hydraulic system of common forward shovel with linkage, swing arm lifting mechanism and bucket turnover mechanism can be controlled by driven by servomotor, also constant-seed motor or internal combustion engine drive can be utilized, controlled by clutch and reversing arrangement, by cooperatively interacting of swing arm lifting mechanism and bucket turnover mechanism, complete excacation, the shortcoming such as can avoid the easy oil leakage of common forward shovel hydraulic system, Hydraulic Elements manufacturing cost is high, maintaining is complicated; When adopting internal combustion engine drive, the supply of electric power restriction because adopting servomotor to cause can also being avoided, conveniently carrying out field construction, significantly improving the reliability of excavator.
Description
Technical field
The present invention relates to engineering machinery field, particularly a kind of plane multi-freedom-degree controllable mechanism type face-shovel excavator.
Background technology
Forward shovel is a kind of excavator that can excavate the soil in more than shutdown face.The shovel soil action form of forward shovel, is characterized in " advance upwards, force to cut soil ".Crowd shovel digging force is large, should be used for the dry foundation ditch that excavation height is greater than 2m.The bucket of crowd shovel is larger than the bucket with the excavator of the backhoe of equivalent, can excavate one to the three class soil that water content is not more than 27%, and coordinate whole excavation hauling operation with dump truck, can also excavate large-scale dry foundation ditch and mound etc.The digging mode of face shovel is different according to the relative position of excavation route and haulage vehicle, cuts the earth and the mode of unloading soil has following two kinds: forward shoveling, and side direction unloads soil; Forward is cut the earth, and oppositely unloads soil.At present, the execution that most of forward shovel excavates action adopts hydraulic system more, although hydraulic system transmission amount is large, is easy to transmit and configuration, also there is many shortcomings.Such as, 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.
Summary of the invention
The object of the invention is to for prior art Problems existing, provide that a kind of working space is large, structure is simple, maintaining is easy to plane multi-freedom-degree controllable mechanism type face-shovel excavator.
The present invention achieves the above object by the following technical programs:
A kind of plane multi-freedom-degree controllable mechanism type face-shovel excavator, comprises frame, swing arm lifting mechanism and bucket turnover mechanism;
Described swing arm lifting mechanism comprises the first driving lever, first connecting rod, first swing arm, second driving lever, second connecting rod and the second swing arm, first driving lever one end is connected with frame by the first revolute pair, the other end is connected with first connecting rod by the second revolute pair, the first connecting rod other end is connected with the first swing arm by the 3rd revolute pair, first swing arm one end is connected with frame by the 4th revolute pair, the first swing arm other end is connected with the second swing arm by the 5th revolute pair, second driving lever one end is connected with frame by the 6th revolute pair, the second driving lever other end is connected with second connecting rod one end by the 7th revolute pair, the second connecting rod other end is connected with the second swing arm by the 8th revolute pair.Described swing arm lifting mechanism controls the first swing arm and the second swing arm landing.
Described bucket turnover mechanism comprises the 3rd driving lever, third connecting rod, tripod, double leval jib, 5th connecting rod, six-bar linkage and scraper bowl, described 3rd driving lever one end is connected with frame by the tenth revolute pair, the 3rd driving lever other end is connected with third connecting rod one end by the 11 revolute pair, the third connecting rod other end is connected with tripod by the 12 revolute pair, tripod is connected with the first swing arm by the 13 revolute pair, tripod is connected with double leval jib one end by the 14 revolute pair, the double leval jib other end is connected with the 5th connecting rod one end by the 15 revolute pair, 5th connecting rod is connected with the second swing arm by the 16 revolute pair, the 5th connecting rod other end is connected with six-bar linkage one end by the 17 revolute pair, the six-bar linkage other end is connected with scraper bowl by the 18 revolute pair, scraper bowl is connected with the second swing arm by the 9th revolute pair.Described bucket turnover mechanism reaches the object controlling scraper bowl upset by the motion of control the 3rd driving lever.
First driving lever of the present invention, the second driving lever and the 3rd driving lever carry out drived control by rack-mounted motor or internal combustion engine.When internal combustion engine controls, give each driving lever with transfer case by power transmission; Be responsible for disconnecting or connecting the power being assigned to each driving lever with arrangement of clutch, realize each driving lever motion start and stop arbitrarily as required; Be responsible for switching the rotation direction being assigned to each driving lever power with reversing arrangement, realize each driving lever both forward and reverse directions and to move any switching laws as required; Reduce rotating speed with reducer, increase the moment of torsion distributing to each driving lever power.
Outstanding advantages of the present invention is:
1. ensureing to meet under the prerequisite that forward shovel normally works, 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, therefore, controllable-mechanism type forward shovel has higher reliability.
2. each driving lever of the present invention is when adopting motor to drive, and mechanism easily realizes automation, NC postprocessing controls, and noise is low, pollution-free, can well meet digging operation.When adopting internal combustion engine drive, being controlled by the mechanical device such as clutch and reversing arrangement, not only increasing the reliability of control system, and reduce cost, overcome motor to drive and the power limitation that causes, be easy to realize field construction, there are good market prospects.
Accompanying drawing explanation
Fig. 1 is a kind of plane multi-freedom-degree controllable mechanism type face-shovel excavator structural representation of the present invention.
Fig. 2 is a kind of plane multi-freedom-degree controllable mechanism type face-shovel excavator stereogram of the present invention.
Fig. 3 is a kind of plane multi-freedom-degree controllable mechanism type face-shovel excavator swing arm lifting mechanism schematic diagram of the present invention.
Fig. 4 is a kind of plane multi-freedom-degree controllable mechanism type face-shovel excavator swing arm lifting mechanism stereogram of the present invention.
Fig. 5 is a kind of plane multi-freedom-degree controllable mechanism type face-shovel excavator bucket turnover mechanism schematic diagram of the present invention.
Fig. 6 is a kind of plane multi-freedom-degree controllable mechanism type face-shovel excavator drive system schematic block diagram of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, technical scheme of the present invention is described further.
Contrast Fig. 1 and Fig. 2, a kind of plane multi-freedom-degree controllable mechanism type face-shovel excavator is made up of frame 1, swing arm lifting mechanism and bucket turnover mechanism.
Contrast Fig. 1, Fig. 2, Fig. 3 and Fig. 4, described swing arm lifting mechanism comprises the first driving lever 3, first connecting rod 5, first swing arm 10, second driving lever 12, second connecting rod 14 and the second swing arm 8, first driving lever 3 one end is connected with frame 1 by the first revolute pair 2, the other end is connected with first connecting rod 5 by the second revolute pair 4, first connecting rod 5 other end is connected with the first swing arm 10 by the 3rd revolute pair 6, first swing arm 10 one end is connected with frame 1 by the 4th revolute pair 9, first swing arm 10 other end is connected with the second swing arm 8 by the 5th revolute pair 7, second driving lever 12 one end is connected with frame 1 by the 6th revolute pair 11, second driving lever 12 other end is connected with second connecting rod 14 one end by the 7th revolute pair 13, second connecting rod 14 other end is connected with the second swing arm 8 by the 8th revolute pair 15, second swing arm 8 is connected with scraper bowl 32 by the 9th revolute pair 16, described swing arm lifting mechanism controls the first swing arm 10 and the second swing arm 8 landing.
Contrast Fig. 1, Fig. 2 and Fig. 5, described bucket turnover mechanism comprises the 3rd driving lever 18, third connecting rod 20, tripod 22, double leval jib 25, 5th connecting rod 27, six-bar linkage 30 and scraper bowl 32, 3rd driving lever 18 one end is connected with frame 1 by the tenth revolute pair 17, 3rd driving lever 18 other end is connected with third connecting rod 20 one end by the 11 revolute pair 19, third connecting rod 20 other end is connected with tripod 22 by the 12 revolute pair 21, tripod 22 is connected with the first swing arm 10 by the 13 revolute pair 23, tripod 22 is connected with double leval jib 25 one end by the 14 revolute pair 24, double leval jib 25 other end is connected with the 5th connecting rod 27 one end by the 15 revolute pair 26, 5th connecting rod 27 is connected with the second swing arm 8 by the 16 revolute pair 28, 5th connecting rod 27 other end is connected with six-bar linkage 30 one end by the 17 revolute pair 29, six-bar linkage 30 other end is connected with scraper bowl 32 by the 18 revolute pair 31.Described bucket turnover mechanism reaches the object controlling scraper bowl 32 and overturn by the motion of control the 3rd driving lever 18.
Described plane multi-freedom-degree controllable mechanism type face-shovel excavator first driving lever 3, second driving lever 12 and the 3rd driving lever 18 carry out drived control by the motor be arranged in frame 1 or internal combustion engine.When internal combustion engine controls, give each driving lever with transfer case by power transmission; Be responsible for disconnecting or connecting the power being assigned to each driving lever with arrangement of clutch, realize each driving lever motion start and stop arbitrarily as required; Be responsible for switching the rotation direction being assigned to each driving lever power with reversing arrangement, realize each driving lever both forward and reverse directions and to move any switching laws as required; Reduce rotating speed with reducer, increase the moment of torsion distributing to each driving lever power.
Claims (1)
1. a plane multi-freedom-degree controllable mechanism type face-shovel excavator, comprises frame, swing arm lifting mechanism and bucket turnover mechanism; It is characterized in that:
Described swing arm lifting mechanism comprises the first driving lever, first connecting rod, first swing arm, second driving lever, second connecting rod and the second swing arm, first driving lever one end is connected with frame by the first revolute pair, the other end is connected with first connecting rod by the second revolute pair, the first connecting rod other end is connected with the first swing arm by the 3rd revolute pair, first swing arm one end is connected with frame by the 4th revolute pair, the first swing arm other end is connected with the second swing arm by the 5th revolute pair, second driving lever one end is connected with frame by the 6th revolute pair, the second driving lever other end is connected with second connecting rod one end by the 7th revolute pair, the second connecting rod other end is connected with the second swing arm by the 8th revolute pair,
Described bucket turnover mechanism comprises the 3rd driving lever, third connecting rod, tripod, double leval jib, 5th connecting rod, six-bar linkage and scraper bowl, described 3rd driving lever one end is connected with frame by the tenth revolute pair, the 3rd driving lever other end is connected with third connecting rod one end by the 11 revolute pair, the third connecting rod other end is connected with tripod by the 12 revolute pair, tripod is connected with the first swing arm by the 13 revolute pair, tripod is connected with double leval jib one end by the 14 revolute pair, the double leval jib other end is connected with the 5th connecting rod one end by the 15 revolute pair, 5th connecting rod is connected with the second swing arm by the 16 revolute pair, the 5th connecting rod other end is connected with six-bar linkage one end by the 17 revolute pair, the six-bar linkage other end is connected with scraper bowl by the 18 revolute pair, scraper bowl is connected with the second swing arm by the 9th revolute pair.
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| CN201310675194.0A CN103758164B (en) | 2013-12-07 | 2013-12-07 | A kind of plane multi-freedom-degree controllable mechanism type face-shovel excavator |
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| CN201310675194.0A CN103758164B (en) | 2013-12-07 | 2013-12-07 | A kind of plane multi-freedom-degree controllable mechanism type face-shovel excavator |
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| CN103758164A CN103758164A (en) | 2014-04-30 |
| CN103758164B true CN103758164B (en) | 2016-01-20 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104032781B (en) * | 2014-06-27 | 2016-06-15 | 广西大学 | A kind of electromagnetic braking actively becomes the multi link excavating mechanism of controllable of born of the same parents |
| CN104626104A (en) * | 2014-12-23 | 2015-05-20 | 广西大学 | Six-freedom-degree movable link mechanism |
| CN104626199A (en) * | 2014-12-23 | 2015-05-20 | 广西大学 | MDOF rocker arm type connection rod mechanism |
| CN104674873B (en) * | 2015-03-18 | 2016-10-26 | 广西大学 | A kind of metamorphic mechanisms formula can casting excavator |
| CN115142488A (en) * | 2021-03-31 | 2022-10-04 | 纳博特斯克有限公司 | Construction machine, drive system, and drive device |
| CN113897892B (en) * | 2021-10-27 | 2023-07-25 | 苏州高之仙自动化科技有限公司 | Single-drive double-output water adding and draining workstation |
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| RU2209885C1 (en) * | 2002-05-31 | 2003-08-10 | Волгоградская государственная сельскохозяйственная академия | Single-bucket hydraulic excavator |
| CN202401493U (en) * | 2012-01-12 | 2012-08-29 | 广西大学 | Three-degree-of-freedom controllable mechanism type excavator |
| CN203080568U (en) * | 2013-02-08 | 2013-07-24 | 广西大学 | Discrete limited variable speed input multi-freedom degree mechanism type excavator |
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- 2013-12-07 CN CN201310675194.0A patent/CN103758164B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2209885C1 (en) * | 2002-05-31 | 2003-08-10 | Волгоградская государственная сельскохозяйственная академия | Single-bucket hydraulic excavator |
| CN202401493U (en) * | 2012-01-12 | 2012-08-29 | 广西大学 | Three-degree-of-freedom controllable mechanism type excavator |
| CN203080568U (en) * | 2013-02-08 | 2013-07-24 | 广西大学 | Discrete limited variable speed input multi-freedom degree mechanism type excavator |
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