CN104047308A - Multi-freedom-degree controllable excavating mechanism with active metamorphic function - Google Patents
Multi-freedom-degree controllable excavating mechanism with active metamorphic function Download PDFInfo
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- CN104047308A CN104047308A CN201410299784.2A CN201410299784A CN104047308A CN 104047308 A CN104047308 A CN 104047308A CN 201410299784 A CN201410299784 A CN 201410299784A CN 104047308 A CN104047308 A CN 104047308A
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Abstract
The invention relates to a multi-freedom-degree controllable excavating mechanism with the active metamorphic function. A movable arm, a first driving rod, a second driving rod and a third driving rod are connected with a rack, the first driving rod is connected with a first connecting rod, and the first connecting rod is connected with the movable arm; the second driving rod, a second connecting rod, a first supporting rod, a third connecting rod, a second supporting rod, a fourth connecting rod, a bucket rod and a bucket are sequentially connected, the third driving rod, a fifth connecting rod, a third supporting rod, a sixth connecting rod, a fourth supporting rod, a seventh connecting rod, a fifth supporting rod, an eighth connecting rod, a tenth connecting rod and the bucket are sequentially connected, the first supporting rod and the third supporting rod are connected with the rack, the second supporting rod, the fourth supporting rod, the fifth supporting rod and the bucket rod are connected with the movable arm, the eighth connecting rod is connected with a ninth connecting rod, the ninth connecting rod is connected with the bucket rod, and two electromagnetic locking devices are installed on a revolute pair. The multi-freedom-degree controllable excavating mechanism is flexible in operation, rapid in action, simple in structure, better in stress and larger in working space.
Description
Technical field
The present invention relates to engineering machinery field, particularly a kind of have a multiple degrees of freedom excavating mechanism of controllable that initiatively becomes born of the same parents' function.
Background technology
Excavator is a kind of common engineering machinery, is mainly used in various earthwork constructions.Wherein hydraulic crawler excavator is a most widely used class excavator, but hydraulic system manufacturing cost is high, is prone to the problems such as leakage of oil, and these are all the long-standing thorny problems of hydraulic excavator.And traditional single-degree-of-freedom mechanical digging machine is commonly called as by " power shovel ", can only realize track output simple and that can not change, therefore can not be in the application of field acquisition widely as hydraulic excavator.
Along with the development of motor technology and the raising of control technology, controllable mechanism provides wide development space for engineering machinery, not only there is working space by the motor-driven multiple degrees of freedom controllable mechanism of control large, flexible movements, can complete complicated and variable movement locus output, also there is low cost of manufacture simultaneously, the advantages such as maintaining is simple, controllable-mechanism type excavator is owing to having replaced hydraulic drive with multiple degrees of freedom linkage, avoid hydraulic system requirement on machining accuracy high, maintaining cost is high, easily produce the problems such as leakage of oil, but, controllable-mechanism type excavator mainly relies on multivariant linkage work, multiple degrees of freedom linkage was driven in the past, often need with many servomotors, each driving lever to be driven respectively, be subject to supply of electric power restriction, the operation of more difficult adaptation field construction, these shortcomings have certain restriction to multiple degrees of freedom controllable mechanism in the application of engineering machinery field.
Summary of the invention
The object of the present invention is to provide a kind of multiple degrees of freedom excavating mechanism of controllable that initiatively becomes born of the same parents' function that has, first should have advantages of that conventional hydraulic excavator working space is large, digging force is large, stressed good, overcome the shortcoming that conventional hydraulic excavator maintenance cost is high, operation noise large, Hydraulic Elements cost is high, reaction is sensitive not, meanwhile, also should avoid that other excavating mechanism of controllable and electric excavation mechanism working space are little, link transmission part is huge, mechanism is complicated, the stressed shortcoming that is difficult to ensure card of each connecting rod.
The present invention achieves the above object by the following technical programs: a kind of have a multiple degrees of freedom excavating mechanism of controllable that initiatively becomes born of the same parents' function, comprises that frame, large arm swing mechanism, dipper lift descending mechanism, scraper bowl switching mechanism, the first electromagnetic locking device and the second electromagnetic locking device;
Described large arm swing mechanism comprises swing arm, the first driving lever and first connecting rod, swing arm is connected with frame by the first revolute pair, 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 the first connecting rod other end is connected with swing arm by the 4th revolute pair;
Described dipper is lifted descending mechanism and is comprised the second driving lever, second connecting rod, the first support bar, third connecting rod, the second support bar, the 4th connecting rod and dipper, second driving lever one end is connected with frame by the 7th revolute pair, the other end is connected with second connecting rod by the 8th revolute pair, the second connecting rod other end is connected with the first support bar by the 9th revolute pair, the first support bar is connected with frame by the first revolute pair, the first support bar other end is connected with third connecting rod by the tenth revolute pair, the third connecting rod other end is connected with the second support bar by the 11 revolute pair, the second support bar is connected with swing arm by the 5th revolute pair, the second support bar other end is connected with the 4th connecting rod by the 12 revolute pair, the 4th connecting rod other end is connected with dipper by the 13 revolute pair, dipper is connected with swing arm by the 6th revolute pair, the dipper other end is connected with scraper bowl by the 15 revolute pair,
Described scraper bowl switching mechanism comprises the 3rd driving lever, the 5th connecting rod, the 3rd support bar, the 6th connecting rod, the 4th support bar, seven-link assembly, the 5th support bar, the 8th connecting rod, the 9th connecting rod and the tenth connecting rod, the 3rd driving lever one end is connected with frame by the 17 revolute pair, the other end is connected with the 5th connecting rod by the 18 revolute pair, the 5th connecting rod other end is connected with the 3rd support bar by the 19 revolute pair, the 3rd support bar is connected with frame by the first revolute pair, the 3rd support bar other end is connected with the 6th connecting rod by the 20 revolute pair, the 6th connecting rod other end is connected with the 4th support bar by the 21 revolute pair, the 4th support bar is connected with swing arm by the 5th revolute pair, the 4th support bar other end is connected with seven-link assembly by the 22 revolute pair, the seven-link assembly other end is connected with the 5th support bar by the 23 revolute pair, the 5th support bar is connected with swing arm by the 6th revolute pair, the 5th support bar other end is connected with the 8th connecting rod by the 24 revolute pair, the 8th connecting rod other end is connected with the 9th connecting rod and the tenth connecting rod by the 25 revolute pair, the 9th connecting rod other end is connected with dipper by the 14 revolute pair, the tenth connecting rod other end is connected with scraper bowl by the 16 revolute pair,
The first electromagnetic locking device and the second electromagnetic locking device are arranged on respectively in the 3rd revolute pair and the 25 revolute pair, initiatively become born of the same parents for realizing digging mechanism;
Described the first driving lever, the second driving lever and the 3rd driving lever are respectively by driven by servomotor.
Outstanding advantages of the present invention is:
The shortcomings such as 1, the present invention utilizes link transmission to substitute hydraulic drive, has solved traditional excavator cost of upkeep high, and Hydraulic Elements cost is high, and operation noise is large;
2, owing to adopting novel multi-connecting-rod mechanism, simplify link transmission part, not only have advantages of other multiple degrees of freedom controllable-mechanism type excavators flexibility, be swift in motion, and owing to having simplified link transmission part, and applied support bar, and be all connected on large arm, each bar and junction therefore also there is stressed better, working space is larger, is more applicable for the advantage of manufacturing all kinds of excavators and other engineering machinery;
3, driving link type of drive of the present invention is flexible and changeable, can select the drive forms such as driven by servomotor, combination drive, not only environmental protection, and be easy to realize Long-distance Control, reduce labor strength.
Brief description of the drawings
Fig. 1 is the multiple degrees of freedom excavating mechanism of controllable schematic diagram that initiatively becomes born of the same parents' function that has of the present invention.
Fig. 2 is the large arm swing structural scheme of mechanism of multiple degrees of freedom excavating mechanism of controllable that initiatively becomes born of the same parents' function that has of the present invention.
Fig. 3 is the multiple degrees of freedom excavating mechanism of controllable dipper act descending mechanism schematic diagram that initiatively becomes born of the same parents' function that has of the present invention.
Fig. 4 is the multiple degrees of freedom excavating mechanism of controllable scraper bowl switching mechanism schematic diagram that initiatively becomes born of the same parents' function that has of the present invention.
Fig. 5 is the stereogram with the multiple degrees of freedom excavating mechanism of controllable that initiatively becomes born of the same parents' function of the present invention.
Detailed description of the invention
By drawings and Examples, technical scheme of the present invention is described further below.
Contrast Fig. 1 and Fig. 5, a kind of multiple degrees of freedom excavating mechanism of controllable that initiatively becomes born of the same parents' function that has of the present invention, comprises that frame 1, large arm swing mechanism, dipper lift descending mechanism, scraper bowl switching mechanism, the first electromagnetic locking device 3 and the second electromagnetic locking device 10.
Contrast Fig. 1 and Fig. 2, described large arm swing mechanism comprises swing arm 5, the first driving lever 2 and first connecting rod 4, described swing arm 5 is connected with frame 1 by the first revolute pair 30, described first driving lever 2 one end are connected with frame 1 by the second revolute pair 25, the other end is connected with first connecting rod 4 by the 3rd revolute pair 26, and first connecting rod 4 is connected with swing arm 5 by the 4th revolute pair 27.
Contrast Fig. 1 and Fig. 3, described dipper is lifted descending mechanism and is comprised the second driving lever 23, second connecting rod 20, the first support bar 24, third connecting rod 17, the second support bar 16, the 4th connecting rod 14 and dipper 6, described second driving lever 23 one end are connected with frame 1 by the 7th revolute pair 31, the other end is connected with second connecting rod 20 by the 8th revolute pair 32, described second connecting rod 20 is connected with the first support bar 24 by the 9th revolute pair 33, the first support bar 24 is connected with frame 1 by the first revolute pair 30, described the first support bar 24 is connected with third connecting rod 17 by the tenth revolute pair 34, third connecting rod 17 is connected with the second support bar 16 by the 11 revolute pair 35, the second support bar 16 is connected with swing arm 5 by the 5th revolute pair 29, described the second support bar 16 is connected with the 4th connecting rod 14 by the 12 revolute pair 36, the 4th connecting rod 14 is connected with dipper 6 by the 13 revolute pair 37, dipper 6 is connected with swing arm 5 by the 6th revolute pair 28, described dipper 6 is connected with scraper bowl 8 by the 15 revolute pair 39.
Contrast Fig. 1 and Fig. 4, described scraper bowl switching mechanism comprises the 3rd driving lever 22, the 5th connecting rod 21, the 3rd support bar 19, the 6th connecting rod 18, the 4th support bar 15, seven-link assembly 13, the 5th support bar 12, the 8th connecting rod 11, the 9th connecting rod 7 and the tenth connecting rod 9, described the 3rd driving lever 22 one end are connected with frame 1 by the 17 revolute pair 41, the other end is connected with the 5th connecting rod 21 by the 18 revolute pair 42, the 5th connecting rod 21 is connected with the 3rd support bar 19 by the 19 revolute pair 43, the 3rd support bar 19 is connected with frame 1 by the first revolute pair 30, described the 3rd support bar 19 is connected with the 6th connecting rod 18 by the 20 revolute pair 44, described the 6th connecting rod 18 is connected with the 4th support bar 15 by the 21 revolute pair 45, the 4th support bar 15 is connected with swing arm 5 by the 5th revolute pair 29, described the 4th support bar 15 is connected with seven-link assembly 13 by the 22 revolute pair 46, seven-link assembly 13 is connected with the 5th support bar 12 by the 23 revolute pair 47, the 5th support bar 12 is connected with swing arm 5 by the 6th revolute pair 28, described the 5th support bar 12 is connected with the 8th connecting rod 11 by the 24 revolute pair 48, the 8th connecting rod 11 is connected with the 9th connecting rod 7 and the tenth connecting rod 9 by the 25 revolute pair 49, the 9th connecting rod 7 is connected with dipper 6 by the 14 revolute pair 38, the tenth connecting rod 9 is connected with scraper bowl 8 by the 16 revolute pair 40.
The first electromagnetic locking device 3 and the second electromagnetic locking device 10 are arranged on respectively in the 3rd revolute pair the 26 and the 25 revolute pair 49, realize and initiatively become born of the same parents.
Described the first driving lever 2, the second driving lever 23, the 3rd driving lever 22 are respectively by driven by servomotor.
Claims (1)
1. there is a multiple degrees of freedom excavating mechanism of controllable that initiatively becomes born of the same parents' function, comprise that frame, large arm swing mechanism, dipper lift descending mechanism, scraper bowl switching mechanism, the first electromagnetic locking device and the second electromagnetic locking device, it is characterized in that:
Described large arm swing mechanism comprises swing arm, the first driving lever and first connecting rod, swing arm is connected with frame by the first revolute pair, 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 the first connecting rod other end is connected with swing arm by the 4th revolute pair;
Described dipper is lifted descending mechanism and is comprised the second driving lever, second connecting rod, the first support bar, third connecting rod, the second support bar, the 4th connecting rod and dipper, second driving lever one end is connected with frame by the 7th revolute pair, the other end is connected with second connecting rod by the 8th revolute pair, the second connecting rod other end is connected with the first support bar by the 9th revolute pair, the first support bar is connected with frame by the first revolute pair, the first support bar other end is connected with third connecting rod by the tenth revolute pair, the third connecting rod other end is connected with the second support bar by the 11 revolute pair, the second support bar is connected with swing arm by the 5th revolute pair, the second support bar other end is connected with the 4th connecting rod by the 12 revolute pair, the 4th connecting rod other end is connected with dipper by the 13 revolute pair, dipper is connected with swing arm by the 6th revolute pair, the dipper other end is connected with scraper bowl by the 15 revolute pair,
Described scraper bowl switching mechanism comprises the 3rd driving lever, the 5th connecting rod, the 3rd support bar, the 6th connecting rod, the 4th support bar, seven-link assembly, the 5th support bar, the 8th connecting rod, the 9th connecting rod and the tenth connecting rod, the 3rd driving lever one end is connected with frame by the 17 revolute pair, the other end is connected with the 5th connecting rod by the 18 revolute pair, the 5th connecting rod other end is connected with the 3rd support bar by the 19 revolute pair, the 3rd support bar is connected with frame by the first revolute pair, the 3rd support bar other end is connected with the 6th connecting rod by the 20 revolute pair, the 6th connecting rod other end is connected with the 4th support bar by the 21 revolute pair, the 4th support bar is connected with swing arm by the 5th revolute pair, the 4th support bar other end is connected with seven-link assembly by the 22 revolute pair, the seven-link assembly other end is connected with the 5th support bar by the 23 revolute pair, the 5th support bar is connected with swing arm by the 6th revolute pair, the 5th support bar other end is connected with the 8th connecting rod by the 24 revolute pair, the 8th connecting rod other end is connected with the 9th connecting rod and the tenth connecting rod by the 25 revolute pair, the 9th connecting rod other end is connected with dipper by the 14 revolute pair, the tenth connecting rod other end is connected with scraper bowl by the 16 revolute pair,
The first electromagnetic locking device and the second electromagnetic locking device are arranged on respectively in the 3rd revolute pair and the 25 revolute pair, initiatively become born of the same parents for realizing digging mechanism;
Described the first driving lever, the second driving lever and the 3rd driving lever are respectively by driven by servomotor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410299784.2A CN104047308A (en) | 2014-06-27 | 2014-06-27 | Multi-freedom-degree controllable excavating mechanism with active metamorphic function |
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| CN201410299784.2A CN104047308A (en) | 2014-06-27 | 2014-06-27 | Multi-freedom-degree controllable excavating mechanism with active metamorphic function |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104594406A (en) * | 2014-12-25 | 2015-05-06 | 广西大学 | Electromagnetic metamorphism multi-closed-chain connecting rod controllable excavating mechanism with bucket holding mechanism |
| CN104594401A (en) * | 2014-12-25 | 2015-05-06 | 广西大学 | Novel multi-freedom-degree controllable mechanical type excavating mechanism |
| CN104594403A (en) * | 2014-12-25 | 2015-05-06 | 广西大学 | Electromagnetic type active metamorphic multi-closed-chain connecting rod controllable excavation mechanism |
| CN104612190A (en) * | 2014-12-12 | 2015-05-13 | 广西大学 | Multi-freedom-degree multi-connecting-rod controllable mechanism type excavator |
| CN104863192A (en) * | 2015-06-05 | 2015-08-26 | 广西大学 | Movable arm telescopic excavating mechanism with crank block controlling to expand excavating radius |
| CN105887950A (en) * | 2016-06-01 | 2016-08-24 | 广西大学 | Initiative metamorphic multi-link controllable mechanism type backhoe excavator |
| CN106607631A (en) * | 2016-12-07 | 2017-05-03 | 广西大学 | Variable-degree of freedom multi-connecting rod gas cutting blanking machine |
| CN106965149A (en) * | 2017-03-24 | 2017-07-21 | 广西大学 | One kind automation large space two structure state becomes the training of cell type trees and cut down trees robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104612190A (en) * | 2014-12-12 | 2015-05-13 | 广西大学 | Multi-freedom-degree multi-connecting-rod controllable mechanism type excavator |
| CN104594406A (en) * | 2014-12-25 | 2015-05-06 | 广西大学 | Electromagnetic metamorphism multi-closed-chain connecting rod controllable excavating mechanism with bucket holding mechanism |
| CN104594401A (en) * | 2014-12-25 | 2015-05-06 | 广西大学 | Novel multi-freedom-degree controllable mechanical type excavating mechanism |
| CN104594403A (en) * | 2014-12-25 | 2015-05-06 | 广西大学 | Electromagnetic type active metamorphic multi-closed-chain connecting rod controllable excavation mechanism |
| CN104863192A (en) * | 2015-06-05 | 2015-08-26 | 广西大学 | Movable arm telescopic excavating mechanism with crank block controlling to expand excavating radius |
| CN105887950A (en) * | 2016-06-01 | 2016-08-24 | 广西大学 | Initiative metamorphic multi-link controllable mechanism type backhoe excavator |
| CN106607631A (en) * | 2016-12-07 | 2017-05-03 | 广西大学 | Variable-degree of freedom multi-connecting rod gas cutting blanking machine |
| CN106965149A (en) * | 2017-03-24 | 2017-07-21 | 广西大学 | One kind automation large space two structure state becomes the training of cell type trees and cut down trees robot |
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Application publication date: 20140917 |