CN104074214B - A kind of have the two-freedom controllable mechanism loader structure initiatively becoming born of the same parents' function - Google Patents
A kind of have the two-freedom controllable mechanism loader structure initiatively becoming born of the same parents' function Download PDFInfo
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- CN104074214B CN104074214B CN201410301036.3A CN201410301036A CN104074214B CN 104074214 B CN104074214 B CN 104074214B CN 201410301036 A CN201410301036 A CN 201410301036A CN 104074214 B CN104074214 B CN 104074214B
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Abstract
There is the two-freedom controllable mechanism loader structure initiatively becoming born of the same parents' function, comprise frame, driving lever, the first rocking arm, first connecting rod, pull bar, the second rocking arm, second connecting rod, large arm, scraper bowl and two locking devices.Described driving lever is connected with frame, the other end is connected with the first rocking arm, the first other two ends of rocking arm are connected with pull bar and first connecting rod, and the pull bar other end is connected with scraper bowl, and the first connecting rod other end is connected with the second rocking arm, the second other two ends of rocking arm are connected with second connecting rod and large arm respectively, the second connecting rod other end is connected with frame, and the other two ends of large arm are connected with scraper bowl and frame respectively, and locking device is arranged in revolute pair, loosen according to different operating mode locking, fulfil assignment.The present invention's linkage replacement liquid press mechanism, realize initiatively becoming born of the same parents by locking device, a driving lever realizes two degree of freedom loading operations, simple to operate with low cost.
Description
Technical field
The present invention relates to loader technical field, particularly a kind of have the two-freedom controllable mechanism loader structure initiatively becoming born of the same parents' function.
Background technology
Loader is a kind of restoration in earth-rock construction machinery being 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 make slight shovel to ore, pan soil etc. and dig operation.Now conventional fluid pressure type loader also exists many deficiencies and shortcoming, and such as, Hydraulic Elements requirement on machining accuracy is high, manufacture comparatively difficulty, and in use maintenance cost is higher, and operation easier is comparatively large, and complex structure, efficiency is low.Existing multi-connecting-rod mechanism controls multiple degrees of freedom linkage, often need to carry out drived control with the control motor with linkage degree of freedom equivalent amount, not only considerably 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 the present invention is to provide and a kind of there is the two-freedom controllable mechanism loader structure initiatively becoming born of the same parents' function, first multi link transmission is adopted, overcome hydraulic drive structure complexity, operation easier is large, efficiency is low, high in cost of production shortcoming, have employed initiatively metamorphic mechanisms simultaneously, decrease component and motor quantity, simplify the structure of mechanism, add the reliability of control, also reduce loader mechanism manufacturing cost and maintaining cost.
The present invention reaches above object by the following technical programs: a kind of have the two-freedom controllable mechanism loader structure initiatively becoming born of the same parents' function, comprises frame, driving lever, the first rocking arm, first connecting rod, pull bar, the second rocking arm, second connecting rod, large arm, scraper bowl and two locking devices.Described driving lever one end is connected with frame by the first revolute pair, the other end is connected with the first rocking arm by the second revolute pair, the described first other two ends of rocking arm are connected with pull bar and first connecting rod with the 4th revolute pair respectively by the 3rd revolute pair, the described pull bar other end is connected with scraper bowl by the 5th revolute pair, the described first connecting rod other end is connected with the second rocking arm by the 6th revolute pair, the described second other two ends of rocking arm are connected with second connecting rod and large arm with the 8th revolute pair respectively by the 7th revolute pair, the described second connecting rod other end is connected with frame by the 9th revolute pair, the other two ends of described large arm are connected with scraper bowl and frame with the 11 revolute pair respectively by the tenth revolute pair.
Described two locking devices are arranged in the 4th revolute pair and the 7th revolute pair respectively, by controlling above-mentioned two locking devices, be called the first locking device and the second locking device, according to different operating mode revolute pair in time locked and loosen, thus realize initiatively becoming born of the same parents' function.
Described driving link is by driven by servomotor.
Operating principle and process:
In each Loading conditions operation, the first locking device is opened, and the 4th revolute pair loses degree of freedom, and the second locking device cuts out simultaneously, and the 7th revolute pair has degree of freedom, now, under the effect of driving lever, can realize the control declined to the elevate a turnable ladder of scraper bowl; First locking device cuts out, the 4th revolute pair degree of affranchising, and meanwhile, the second locking device is opened, and the 7th revolute pair loses degree of freedom, now, under the effect of driving lever, can realize the upset of scraper bowl; First, second locking device cuts out simultaneously, and the 4th, the 7th revolute pair obtains degree of freedom simultaneously, now under the effect of driving lever, can realize keeping flat of scraper bowl.In whole loading operation process, two locking devices, according to different working conditions, suitable locking, to be opened, and jointly complete loading operation.
Outstanding advantages of the present invention is:
1, utilize link transmission to replace hydraulic drive, solve that high, the operation noise of conventional load machine conventional hydraulic loader maintenance cost is 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 is easy to realize Long-distance Control, reduces the advantages such as labor strength.
3, by installing locking device additional on linkage, and allow it according to the different operating mode locking of mechanism and specific revolute pair can be loosened, the in good time degree of freedom reducing recovery loader mechanism, thus achieve the function that a motor just can complete the two-freedom operation of loader, compare other multiple degree of freedom controllable loading mechanism, reduce the complexity of mechanism, reduce the cost of manufacture, maintenance, repair, also add controllability and the stability of mechanism, improve operating efficiency, the distant control function had, reduces operation easier.This patent of invention and engineering are more applicable for and manufacture all kinds of loader and other engineering machinery.
Accompanying drawing explanation
Fig. 1 is the structural representation with the two-freedom controllable mechanism loader structure initiatively becoming born of the same parents' function of the present invention.
Fig. 2 is the top view with the two-freedom controllable mechanism loader structure initiatively becoming born of the same parents' function of the present invention.
Fig. 3 is the lateral view with the two-freedom controllable mechanism loader structure initiatively becoming born of the same parents' function of the present invention.
Fig. 4 is the locking device structure schematic diagram described in patent of the present invention.
Detailed description of the invention
Below by way of drawings and Examples, technical scheme of the present invention is described further.
Contrast Fig. 1,2,3, of the present invention have the two-freedom controllable mechanism loader structure initiatively becoming born of the same parents' function, comprises frame 1, driving lever 2, first rocking arm 3, first connecting rod 5, pull bar 6, second rocking arm 9, second connecting rod 11, large arm 8, scraper bowl 7 and the first locking device 4, second locking device 10.Described driving lever 2 one end is connected with frame 1 by the first revolute pair 12, the other end is connected with the first rocking arm 3 by the second revolute pair 13, first rocking arm 3 is connected with pull bar 6 and first connecting rod 5 with the 4th revolute pair 14 respectively by the 3rd revolute pair 15 at two ends in addition, pull bar 6 other end is connected with scraper bowl 7 by the 5th revolute pair 17, first connecting rod 5 other end is connected with the second rocking arm 9 by the 6th revolute pair 16, second rocking arm 9 is connected with second connecting rod 11 and large arm 8 with the 8th revolute pair 19 respectively by the 7th revolute pair 20 at two ends in addition, second connecting rod 11 other end is connected with frame 1 by the 9th revolute pair 23, large arm 8 is connected with scraper bowl 7 and frame 1 with the 11 revolute pair 22 respectively by the tenth revolute pair 18 at two ends in addition.
Contrast Fig. 2,3,4, described first locking device 4, second locking device 10 is arranged in the 4th revolute pair 14 and the 7th revolute pair 20 respectively.
Operating principle and process:
In each Loading conditions operation, when the first locking device 4 is opened, the 4th revolute pair 14 loses degree of freedom, second locking device 10 cuts out simultaneously, and the 7th revolute pair 20 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 4 cuts out, the 4th revolute pair 14 degree of affranchising, the second locking device 10 is opened, and the 7th revolute pair 20 loses degree of freedom, now, under the effect of driving lever 2, realizes the upset of scraper bowl; When the first locking device 4, second locking device 10 cuts out simultaneously, the 4th revolute pair 14, the 7th revolute pair 20 obtain degree of freedom simultaneously, now, under the effect of driving lever 2, realize keeping flat of scraper bowl.In whole loading operation process, two locking devices, according to different working conditions, suitable locking, to be opened, and jointly complete loading operation.
Claims (3)
1. one kind has the two-freedom controllable mechanism loader structure initiatively becoming born of the same parents' function, comprise frame, driving lever, first rocking arm, first connecting rod, pull bar, second rocking arm, second connecting rod, large arm, scraper bowl and two locking devices, it is characterized in that, described driving lever is connected with frame, the other end is connected with the first rocking arm, the first other two ends of rocking arm are connected with pull bar and first connecting rod, the pull bar other end is connected with scraper bowl, the first connecting rod other end is connected with the second rocking arm, the second other two ends of rocking arm are connected with second connecting rod and large arm respectively, the second connecting rod other end is connected with frame, the other two ends of large arm are connected with scraper bowl and frame respectively, locking device is arranged in revolute pair.
2. according to claim 1 have the two-freedom controllable mechanism loader structure initiatively becoming 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 the first rocking arm by the second revolute pair, the first other two ends of rocking arm are connected with pull bar and first connecting rod with the 4th revolute pair respectively by the 3rd revolute pair, the pull bar other end is connected with scraper bowl by the 5th revolute pair, the first connecting rod other end is connected with the second rocking arm by the 6th revolute pair, the second other two ends of rocking arm are connected with second connecting rod and large arm with the 8th revolute pair respectively by the 7th revolute pair, the second connecting rod other end is connected with frame by the 9th revolute pair, the other two ends of large arm are connected with scraper bowl and frame with the 11 revolute pair respectively by the tenth revolute pair.
3. according to claim 1 have the two-freedom controllable mechanism loader structure initiatively becoming born of the same parents' function, it is characterized in that, described locking device is two, be divided into the first locking device (4) and the second locking device (10), first locking device (4) is arranged in the 4th revolute pair (14), and the second locking device (10) is arranged in the 7th revolute pair (20).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410301036.3A CN104074214B (en) | 2014-06-27 | 2014-06-27 | A kind of have the two-freedom controllable mechanism loader structure initiatively becoming born of the same parents' function |
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| CN201410301036.3A CN104074214B (en) | 2014-06-27 | 2014-06-27 | A kind of have the two-freedom controllable mechanism loader structure initiatively becoming born of the same parents' function |
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| CN104074214B true CN104074214B (en) | 2016-04-06 |
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| CN104817024A (en) * | 2015-04-27 | 2015-08-05 | 侯学志 | Six-freedom-degree crane having metamorphic function |
| CN104828712A (en) * | 2015-04-27 | 2015-08-12 | 侯学志 | Space crane with six degree of freedom |
| CN106120913A (en) * | 2016-06-24 | 2016-11-16 | 山东交通学院 | A kind of multiple-unit linear drives four mobility heavy type high capacity loads robot |
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| JPH11343631A (en) * | 1998-06-01 | 1999-12-14 | Maruma Technica Kk | Parallel link device for wheel loader |
| CN102108717B (en) * | 2010-12-10 | 2012-06-06 | 广西大学 | Loading mechanism with metamorphic function and implementation method thereof |
| TW201302446A (en) * | 2011-07-08 | 2013-01-16 | Metal Ind Res & Dev Ct | Linkage type punch |
| CN103168570B (en) * | 2013-04-11 | 2015-04-01 | 广西大学 | Human-driven cane loader with metamorphic function |
| CN103302660B (en) * | 2013-07-03 | 2015-05-27 | 上海交通大学 | Two-degree-of-freedom metamorphic mechanism |
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