CN104074212A - Multi-linkage mechanism with initiative metamorphic function - Google Patents

Multi-linkage mechanism with initiative metamorphic function Download PDF

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Publication number
CN104074212A
CN104074212A CN201410301235.4A CN201410301235A CN104074212A CN 104074212 A CN104074212 A CN 104074212A CN 201410301235 A CN201410301235 A CN 201410301235A CN 104074212 A CN104074212 A CN 104074212A
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China
Prior art keywords
rod
revolute pair
locking
linkage
arm
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Pending
Application number
CN201410301235.4A
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Chinese (zh)
Inventor
蔡敢为
朱凯君
张�林
李智杰
张永文
王龙
王麾
范雨
王少龙
杨旭娟
李岩舟
王湘
王小纯
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Guangxi University
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Guangxi University
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Publication date
Application filed by Guangxi University filed Critical Guangxi University
Priority to CN201410301235.4A priority Critical patent/CN104074212A/en
Publication of CN104074212A publication Critical patent/CN104074212A/en
Pending legal-status Critical Current

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Abstract

Disclosed is a multi-linkage mechanism with an initiative metamorphic function. The multi-linkage mechanism with the initiative metamorphic function comprises a machine frame, a drive rod, a first linkage, a rocker arm, a pull rod, a large arm, a second linkage, a third linkage, a scraper bucket and a locking device, wherein one end of the drive rod is connected with the machine frame, the other end of the drive rod is connected with one end of the first linkage, the other end of the first linkage is connected with one end of the rocker arm, the other two ends of the rocker arm are respectively connected with one end of the pull rod and one end of the large arm, the other end of the pull rod is connected with the scraper bucket, the large arm is respectively connected with the scraper bucket, one end of the second linkage and the machine frame, the other end of the second linkage is connected with one end of the third linkage, the other end of the third linkage is connected with the machine frame, the locking device is installed on a rotation pair, and the locking device can be locked and loosened according to different work conditions so as to complete operation. The multi-linkage mechanism with the initiative metamorphic function uses a linkage mechanism to replace a hydraulic mechanism, can achieve the initiative metamorphic function through the locking device, can achieve two freedom degrees of loading operation only through the one drive rod, and is simple to operate and low in cost.

Description

A kind of have many connecting-rod loading mechanisms that initiatively become born of the same parents' function
Technical field
The present invention relates to loader technical field, particularly a kind of have many connecting-rod loading mechanisms that initiatively become born of the same parents' function.
Background technology
Loader is a kind of restoration in earth-rock construction machinery that is widely used in the construction projects such as highway, railway, building, water power, harbour, mine, it is mainly used in the bulk materials such as shovel dress soil, sandstone, lime, coal, also can dig operation to the slight shovel of the work such as ore, pan soil.Now conventional fluid pressure type loader exists many deficiencies and shortcoming, and for example, Hydraulic Elements requirement on machining accuracy is high, manufacture comparatively difficulty, and it is higher in use to maintain cost, and operation easier is larger, complex structure, and efficiency is low.The present invention only needs a motor just can complete the task such as shovel dress, upset, lifting, discharging of traditional two-freedom fluid pressure type loader: adopt link transmission mode, can effectively overcome that Hydraulic Elements manufacture that maintenance cost is high, complex structure, efficiency is low, operation easier is large shortcoming.And existing multi-connecting-rod mechanism is controlled multiple degrees of freedom linkage, often need to use the control motor with linkage degree of freedom equivalent amount to drive control, not only greatly increase the complexity of manufacturing cost, frame transmission system, and be difficult to control and accomplish the end in view.
Summary of the invention
The object of patent of the present invention is to provide a kind of many connecting-rod loading mechanisms that initiatively become born of the same parents' function that have, first adopt many link transmissions, overcome hydraulic drive structure complexity, the shortcoming that operation easier is large, efficiency is low, cost is high, adopt initiatively Bian Bao mechanism simultaneously, reduced member and motor quantity, simplified the structure of mechanism, increase the reliability of controlling, also reduced loader mechanism manufacturing cost and maintaining cost.
Patent of the present invention reaches above object by the following technical programs: a kind of have many connecting-rod loading mechanisms that initiatively become born of the same parents' function, comprises frame, driving lever, first connecting rod, rocking arm, pull bar, large arm, second connecting rod, third connecting rod, scraper bowl and locking device.Described driving lever one end is connected with frame, the other end is connected with first connecting rod, the first connecting rod other end is connected with rocking arm; the other two ends of rocking arm are connected with pull bar and large arm respectively; the pull bar other end is connected with scraper bowl, and large arm is connected with scraper bowl, second connecting rod, frame respectively, and the second connecting rod other end is connected with third connecting rod; the third connecting rod other end is connected with frame, and locking device is arranged in revolute pair.
Described 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, first connecting rod is connected with rocking arm by the 3rd revolute pair other end, the other two ends of rocking arm are respectively by the 4th, the 5th revolute pair is connected with pull bar and large arm, the pull bar other end is connected with scraper bowl by the 6th revolute pair, large arm is by the 7th, the 8th, the 9th revolute pair respectively with scraper bowl, second connecting rod, frame connects, the second connecting rod other end is connected with third connecting rod by the tenth revolute pair, the third connecting rod other end is connected with frame by the 11 revolute pair.
Described locking device is two, is arranged on respectively in the 4th revolute pair and the tenth revolute pair.By controlling two locking devices, according to different operating modes, revolute pair is in time locked and loosened, initiatively become born of the same parents' function thereby realize.
Described driving lever is by driven by servomotor.
Operating principle and process:
In each Loading conditions operation, when the first locking device is opened, the 4th revolute pair loses degree of freedom, and the second locking device cuts out simultaneously, and the tenth revolute pair has degree of freedom, now, under the effect of driving lever, realizes the control that the elevate a turnable ladder of scraper bowl is declined; When the first locking device cuts out, the 4th revolute pair degree of affranchising, the second locking device is opened simultaneously, and the tenth revolute pair loses degree of freedom, now, under the effect of driving lever, realizes the upset of scraper bowl; Close when the first locking device and the second locking device, the 4th revolute pair, the tenth revolute pair obtain degree of freedom simultaneously, now, under the effect of driving lever, realize keeping flat of scraper bowl simultaneously.In whole loading operation process, two locking devices are according to different working conditions, suitable locking, open, and jointly complete loading operation.
Outstanding advantages of the present invention is:
1, utilize link transmission to replace hydraulic drive, solved that traditional loader conventional hydraulic loader maintenance cost is high, operation noise large, Hydraulic Elements high in cost of production shortcoming.
2, driving lever type of drive is flexible and changeable, can select the drive form such as driven by servomotor, combination drive, not only environmental protection, and be easy to realize Long-distance Control, reduce the advantages such as labor strength.
3, on linkage, install locking device additional, and allow it and loosen specific revolute pair according to the different operating mode locking of mechanism, reduce the degree of freedom of loader mechanism in good time, realized in the situation that completing expection requirement, reduced usage quantity and the framework quantity of controllable motor, also reduce the complexity of mechanism, reduce the cost of maintenance, repair, increased controllability and the stability of mechanism, improved operating efficiency, the distant control function having, has reduced operation easier.Be applicable to manufacture all kinds of loaders and other engineering machinery.
Brief description of the drawings
Fig. 1 is the structural representation with the many connecting-rod loading mechanisms that initiatively become born of the same parents' function of the present invention.
Fig. 2 is locking device and the revolute pair connection diagram with the many connecting-rod loading mechanisms that initiatively become born of the same parents' function of the present invention.
Fig. 3 is the top view with the many connecting-rod loading mechanisms that initiatively become born of the same parents' function described in patent of the present invention.
Fig. 4 is the stereogram with the many connecting-rod loading mechanisms that initiatively become born of the same parents' function described in patent of the present invention.
Fig. 5 is the locking device structure schematic diagram described in patent 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. 1,2,4, of the present invention have many connecting-rod loading mechanisms that initiatively become born of the same parents' function, comprises frame 1, driving lever 2, first connecting rod 3, Rocker arm 4, pull bar 6, large arm 9, second connecting rod 10, third connecting rod 12, scraper bowl 7, lever pin 8 and the first locking device 5, the second locking device 11.Described driving lever 2 one end are connected with frame 1 by the first revolute pair 13, the other end is connected with first connecting rod 3 by the second revolute pair 14, first connecting rod 3 other ends are connected with Rocker arm 4 by the 3rd revolute pair 15, the other two ends of rocking arm are respectively by the 4th revolute pair 16, the 5th revolute pair 17 is connected with pull bar 6 and large arm 9, pull bar 6 other ends are connected with scraper bowl 7 by the 6th revolute pair 18, other three ends of described large arm are connected with scraper bowl 7 by the 7th revolute pair 19 with lever pin 8, by the 8th revolute pair 20, the 9th revolute pair 23 respectively with second connecting rod 10, frame 1 connects, described second connecting rod 10 other ends are connected with third connecting rod 12 by the tenth revolute pair 21, described third connecting rod 12 other ends are connected with frame 1 by the 11 revolute pair 22.
Contrast Fig. 1,4,5, described the first locking device 5, the second locking device 11 are arranged on respectively in the 4th revolute pair 16 and the tenth revolute pair 21.
Operating principle and process:
In each Loading conditions operation, to open when the first locking device 5, the 4th revolute pair 16 loses degree of freedom, the second locking device 11 cuts out simultaneously, and the tenth revolute pair 21 has degree of freedom, now, under the effect of driving lever 2, realize the control that the elevate a turnable ladder of scraper bowl 7 is declined; When the first locking device 5 cuts out, the 4th revolute pair 16 degree of affranchising, the second locking device 16 is opened simultaneously, and the tenth revolute pair 21 loses degree of freedom, now, under the effect of driving lever 2, realizes the upset of scraper bowl 7; Close when the first locking device 5 and the second locking device 11, the 4th revolute pair 16, the tenth revolute pair 21 obtain degree of freedom simultaneously, now, under the effect of driving lever 2, realize keeping flat of scraper bowl simultaneously.In whole loading operation process, two locking devices are according to different working conditions, suitable locking, open, and jointly complete loading operation.

Claims (3)

1. one kind has the many connecting-rod loading mechanisms that initiatively become born of the same parents' function, comprise frame, driving lever, first connecting rod, rocking arm, pull bar, large arm, second connecting rod, third connecting rod, scraper bowl and locking device, it is characterized in that, described driving lever one end is connected with frame, the other end is connected with first connecting rod, the first connecting rod other end is connected with rocking arm, the other two ends of rocking arm are connected with pull bar and large arm respectively, the pull bar other end is connected with scraper bowl, large arm respectively with scraper bowl, second connecting rod, frame connects, the second connecting rod other end is connected with third connecting rod, the third connecting rod other end is connected with frame, locking device is arranged in revolute pair.
2. according to claim 1 have many connecting-rod loading mechanisms that initiatively become born of the same parents' function, it is characterized in that, described 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, first connecting rod is connected with rocking arm by the 3rd revolute pair other end, the other two ends of rocking arm are respectively by the 4th, the 5th revolute pair is connected with pull bar and large arm, the pull bar other end is connected with scraper bowl by the 6th revolute pair, large arm is by the 7th, the 8th, the 9th revolute pair respectively with scraper bowl, second connecting rod, frame connects, the second connecting rod other end is connected with third connecting rod by the tenth revolute pair, the third connecting rod other end is connected with frame by the 11 revolute pair.
3. according to claim 1 have many connecting-rod loading mechanisms that initiatively become born of the same parents' function, it is characterized in that, described locking device is two, is arranged on respectively in the 4th revolute pair and the tenth revolute pair, when the first locking device is opened, the 4th revolute pair loses degree of freedom, the second locking device cuts out simultaneously, and the tenth revolute pair has degree of freedom, now, under the effect of driving lever, realize the control that the elevate a turnable ladder of scraper bowl is declined; When the first locking device cuts out, the 4th revolute pair degree of affranchising, the second locking device is opened simultaneously, and the tenth revolute pair loses degree of freedom, now, under the effect of driving lever, realizes the upset of scraper bowl; Close when the first locking device and the second locking device, the 4th revolute pair, the tenth revolute pair obtain degree of freedom simultaneously, now, under the effect of driving lever, realize keeping flat of scraper bowl simultaneously.
CN201410301235.4A 2014-06-27 2014-06-27 Multi-linkage mechanism with initiative metamorphic function Pending CN104074212A (en)

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Cited By (21)

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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
CN104294867A (en) * 2014-11-11 2015-01-21 广西大学 Loading mechanism adopting MDOF (multiple degree of freedom) controllable connecting rods
CN104452841A (en) * 2014-11-11 2015-03-25 广西大学 Multi-connecting-rod controllable loading mechanism with active metamorphic function
CN104514233A (en) * 2014-12-12 2015-04-15 广西大学 Mobile controllable loading mechanism with active metamorphic function
CN104532888A (en) * 2014-12-12 2015-04-22 广西大学 Multi-connecting-rod movable type loading mechanism with initiative metamorphic function
CN104532887A (en) * 2014-12-12 2015-04-22 广西大学 Multi-degree of freedom controllable connecting rod mobile type loading mechanism
CN104612189A (en) * 2014-12-25 2015-05-13 广西大学 Rotatable type multi-freedom-degree controllable excavating mechanism with active cell changing 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
CN106607928A (en) * 2016-11-28 2017-05-03 广西大学 Servo drive variable freedom degree connecting rod mechanism mechanical arm for assembling work
CN106609523A (en) * 2016-11-30 2017-05-03 广西大学 Multi-connecting-rod mechanism driven by double servo motors
CN106625560A (en) * 2016-11-29 2017-05-10 广西大学 Connection rod type coating mechanical arm driven by servo motors and having variable degree of freedom
CN106677237A (en) * 2016-11-30 2017-05-17 广西大学 Method for adopting servo motor driving variable-mobility multi-connecting-rod mechanism for conducting industrial waste grabbing and loading work
CN106737836A (en) * 2016-12-05 2017-05-31 广西大学 One kind is used for the variable linkage mechanical arm of the simple free degree of transport operation
CN106737575A (en) * 2016-11-28 2017-05-31 广西大学 One kind is driven using servomotor can variable freedom link-type feed stacking machine arm
CN106759567A (en) * 2016-11-28 2017-05-31 广西大学 One kind drives multiple degrees of freedom linkage timber grab using servomotor
CN106737837A (en) * 2016-12-05 2017-05-31 广西大学 One kind is used for the variable linkage mechanical arm of the transport operation free degree
CN106825849A (en) * 2016-12-07 2017-06-13 广西大学 A kind of servomotor for oxygen-acetylene cutting machine drives variable active degree linkage
CN108080842A (en) * 2016-11-21 2018-05-29 广西大学 It is a kind of to use the variable linkage spot welding manipulator of degree of freedom
CN108081253A (en) * 2016-11-21 2018-05-29 广西大学 It is a kind of to use the variable linkage make-up machinery arm of degree of freedom
CN108118729A (en) * 2016-11-28 2018-06-05 广西大学 It is a kind of that multi link timber grab is driven using Dual-Servo Motor
CN110670648A (en) * 2019-09-02 2020-01-10 芜湖职业技术学院 Spring metamorphic excavating mechanism

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Cited By (21)

* 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
CN104294867A (en) * 2014-11-11 2015-01-21 广西大学 Loading mechanism adopting MDOF (multiple degree of freedom) controllable connecting rods
CN104452841A (en) * 2014-11-11 2015-03-25 广西大学 Multi-connecting-rod controllable loading mechanism with active metamorphic function
CN104514233A (en) * 2014-12-12 2015-04-15 广西大学 Mobile controllable loading mechanism with active metamorphic function
CN104532888A (en) * 2014-12-12 2015-04-22 广西大学 Multi-connecting-rod movable type loading mechanism with initiative metamorphic function
CN104532887A (en) * 2014-12-12 2015-04-22 广西大学 Multi-degree of freedom controllable connecting rod mobile type loading mechanism
CN104612189A (en) * 2014-12-25 2015-05-13 广西大学 Rotatable type multi-freedom-degree controllable excavating mechanism with active cell changing 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
CN108080842A (en) * 2016-11-21 2018-05-29 广西大学 It is a kind of to use the variable linkage spot welding manipulator of degree of freedom
CN108081253A (en) * 2016-11-21 2018-05-29 广西大学 It is a kind of to use the variable linkage make-up machinery arm of degree of freedom
CN106759567A (en) * 2016-11-28 2017-05-31 广西大学 One kind drives multiple degrees of freedom linkage timber grab using servomotor
CN108118729A (en) * 2016-11-28 2018-06-05 广西大学 It is a kind of that multi link timber grab is driven using Dual-Servo Motor
CN106607928A (en) * 2016-11-28 2017-05-03 广西大学 Servo drive variable freedom degree connecting rod mechanism mechanical arm for assembling work
CN106737575A (en) * 2016-11-28 2017-05-31 广西大学 One kind is driven using servomotor can variable freedom link-type feed stacking machine arm
CN106625560A (en) * 2016-11-29 2017-05-10 广西大学 Connection rod type coating mechanical arm driven by servo motors and having variable degree of freedom
CN106677237A (en) * 2016-11-30 2017-05-17 广西大学 Method for adopting servo motor driving variable-mobility multi-connecting-rod mechanism for conducting industrial waste grabbing and loading work
CN106609523A (en) * 2016-11-30 2017-05-03 广西大学 Multi-connecting-rod mechanism driven by double servo motors
CN106737837A (en) * 2016-12-05 2017-05-31 广西大学 One kind is used for the variable linkage mechanical arm of the transport operation free degree
CN106737836A (en) * 2016-12-05 2017-05-31 广西大学 One kind is used for the variable linkage mechanical arm of the simple free degree of transport operation
CN106825849A (en) * 2016-12-07 2017-06-13 广西大学 A kind of servomotor for oxygen-acetylene cutting machine drives variable active degree linkage
CN110670648A (en) * 2019-09-02 2020-01-10 芜湖职业技术学院 Spring metamorphic excavating mechanism

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Application publication date: 20141001