CN104294867A - Loading mechanism adopting MDOF (multiple degree of freedom) controllable connecting rods - Google Patents

Loading mechanism adopting MDOF (multiple degree of freedom) controllable connecting rods Download PDF

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Publication number
CN104294867A
CN104294867A CN201410632976.0A CN201410632976A CN104294867A CN 104294867 A CN104294867 A CN 104294867A CN 201410632976 A CN201410632976 A CN 201410632976A CN 104294867 A CN104294867 A CN 104294867A
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CN
China
Prior art keywords
rod
loading
driving lever
revolute pair
support frame
Prior art date
Application number
CN201410632976.0A
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Chinese (zh)
Inventor
蔡敢为
王麾
张�林
范雨
李智杰
朱凯君
王龙
张永文
王小纯
杨旭娟
李岩舟
温芳
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广西大学
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Application filed by 广西大学 filed Critical 广西大学
Priority to CN201410632976.0A priority Critical patent/CN104294867A/en
Publication of CN104294867A publication Critical patent/CN104294867A/en

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Abstract

The invention discloses a loading mechanism adopting MDOF (multiple degree of freedom) controllable connecting rods. Two ends of a second driving lever of a lifting mechanism are connected with a stander and a first end of a first support frame respectively; two ends of a third connecting rod are connected with the stander and a second end of the first support frame, and a third end of the first support frame is connected with a bucket; two ends of a first driving lever of a bucket turnover mechanism are connected with the stander and one end of a first connecting rod respectively, the other end of the first connecting rod is connected with a first end of a second support frame, a second end of the second support frame is connected with one end of the a second connecting rod, a third end of the second support frame is connected with the second driving lever, and the other end of the second connecting rod is connected with the bucket. The loading mechanism can solve the defects that a traditional hydraulic loading machine is complicated in system, easy to leak oil, high in machining precision requirement and the like, and has the advantages of an MDOF controllable mechanism type loading machine, such as flexibility, rapid action and the like; moreover, a connecting rod transmission part is more simple, each rod and each joint bear force batter, and a work space is larger, so that the loading mechanism is more suitable for manufacturing various loading machines and other engineering machinery.

Description

The controlled connecting-rod loading mechanism of a kind of multiple degrees of freedom
Technical field
The present invention relates to engineering machinery field, particularly the controlled connecting-rod loading mechanism of a kind of multiple degrees of freedom.
Background technology
Now in engineering machinery field, loader is one of topmost engineering machinery, and it is all-hydraulic full circle swinging loader that current loader occupies most.Full hydraulic loader also carries out updating and control mode innovation, makes that loader develops into hydraulic operation, air-operated control by simple lever control, hydraulic servo handles and electrical control, wireless remotecontrol, electronic computer synthesizer control.But hydraulic loader also has many deficiencies and shortcoming, first, Hydraulic Elements requirement on machining accuracy is high, and cost is high, and matching requirements are strict, and manufacture comparatively difficulty, technology is more highly difficult larger to use middle maintenance to require; Secondly, hydraulic oil temperature influence is large, and gross efficiency is low, sometimes has noise and vibration; Further, hydraulic loader is owing to adopting hydraulic drive, the shortcoming such as respond sensitive not, is unfavorable for the development of wireless remote control.
Along with motor integration technology and control technology, computer technology, the raising of artificial intelligence technology, controllable mechanism is the research field that theory of mechanisms is new, controllable mechanism only needs the kinematic parameter suitably regulating driving element, fast reaction can be made according to the change of functional requirement, controllable mechanism is owing to having traveling mechanism good rigidly, the speed of service is fast, supporting capacity is strong, the advantage such as flexible, broad development is obtained in every field, also occurred that some substitute hydraulicdriven application with controllable mechanism in engineering machinery field, but, linkage or too simple, be difficult to meet the requirement of engineering machinery to working space, in order to pursue operating flexibility and work large space, shaft portion is too complicated, even if motor is contained in frame, each bar of running part stressed being still difficult to ensures.
Controllable mechanism is applied in the design of loader mechanism, by controllable mechanism loader structure novel for generation one class, makes its function of the larger performance of loader.
Summary of the invention
The object of the present invention is to provide the controlled connecting-rod loading mechanism of a kind of multiple degrees of freedom, first should have that conventional hydraulic loader working space is large, holding power is large, the stressed advantage such as good, overcome the shortcomings such as conventional hydraulic loader maintenance cost is high, operation noise large, Hydraulic Elements cost is high, reaction is sensitive not, meanwhile, solve other controllable loading mechanisms, electric loading mechanism working space is little, link transmission part is huge, mechanism is complicated, each connecting rod is stressed is difficult to ensure the weak points such as card.
The present invention achieves the above object by the following technical programs: the controlled connecting-rod loading mechanism of a kind of multiple degrees of freedom, comprises frame, lifting mechanism and bucket turnover mechanism;
Described lifting mechanism comprises the second driving lever, third connecting rod and the first bracing frame, and described second driving lever one end is connected with frame by the second revolute pair, and the other end is connected with the first end of the first bracing frame by the 3rd revolute pair; Described third connecting rod one end is connected with frame by the tenth revolute pair, and the other end is connected with the second end of the first bracing frame by the first revolute pair, and the 3rd end of the first bracing frame is connected with scraper bowl by the 4th revolute pair;
Described bucket turnover mechanism comprises the first driving lever, first connecting rod, the second bracing frame and second connecting rod, described first driving lever one end is connected with frame by the 9th revolute pair, the other end is connected with first connecting rod one end by the 8th revolute pair, the first connecting rod other end is connected with the first end of the second bracing frame by the 7th revolute pair, second end of the second bracing frame is connected with second connecting rod one end by the 6th revolute pair, 3rd end of the second bracing frame is connected with the second driving lever by the 3rd revolute pair, and the second connecting rod other end is connected with scraper bowl by the 5th revolute pair.
Described first driving lever and the second driving lever are respectively by driven by servomotor.
Outstanding advantages of the present invention is:
1, the present invention utilizes link transmission to substitute hydraulic drive, solves conventional load machine cost of upkeep high, the shortcomings such as Hydraulic Elements cost is high, and operation noise is large.
2, owing to adopting novel multi-connecting-rod mechanism, simplify link transmission part, the advantage such as not only there is the flexibility of other multi-freedom-degreecontrollable controllable mechanism type loaders, be swift in motion, and owing to simplifying link transmission part, and apply bracing frame, therefore also there is each bar and junction better stressed, working space is larger, is more applicable for and manufactures the advantage such as all kinds of loader and other engineering machinery.
3, driving lever type of drive of the present invention is flexible and changeable, can select driven by servomotor, the drive forms such as combination drive, not only environmental protection, and is easy to realize Long-distance Control, can reduce labor strength.
Accompanying drawing explanation
Fig. 1 is the controlled connecting-rod loading mechanism schematic diagram of a kind of multiple degrees of freedom of the present invention.
Fig. 2 is the lifting mechanism schematic diagram of the controlled connecting-rod loading mechanism of a kind of multiple degrees of freedom of the present invention.
Fig. 3 is the bucket turnover mechanism schematic diagram of the controlled connecting-rod loading mechanism of a kind of multiple degrees of freedom of the present invention.
Fig. 4 is the charging schematic diagram of the controlled connecting-rod loading mechanism of a kind of multiple degrees of freedom of the present invention.
Fig. 5 is the discharging schematic diagram of the controlled connecting-rod loading mechanism of a kind of multiple degrees of freedom 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.
As Figure 1-Figure 5, the controlled connecting-rod loading mechanism of a kind of multiple degrees of freedom, comprises frame 1, lifting mechanism and bucket turnover mechanism;
Described lifting mechanism comprises the second driving lever 18, third connecting rod 3 and the first bracing frame 5, and described second driving lever 18 one end is connected with frame 1 by the second revolute pair 17, and the other end is connected with the first end of the first bracing frame 5 by the 3rd revolute pair 19; Described third connecting rod 3 one end is connected with frame 1 by the tenth revolute pair 2, and the other end is connected with the second end of the first bracing frame 5 by the first revolute pair 4, and the 3rd end of the first bracing frame 5 is connected with scraper bowl 7 by the 4th revolute pair 6;
Described bucket turnover mechanism comprises the first driving lever 15, first connecting rod 13, second bracing frame 11 and second connecting rod 9, described first driving lever 15 one end is connected with frame 1 by the 9th revolute pair 16, the other end is connected with first connecting rod 13 one end by the 8th revolute pair 14, first connecting rod 13 other end is connected with the first end of the second bracing frame 11 by the 7th revolute pair 12, second end of the second bracing frame 11 is connected with second connecting rod 9 one end by the 6th revolute pair 10, 3rd end of the second bracing frame 11 is connected with the second driving lever 18 by the 3rd revolute pair 19, second connecting rod 9 other end is connected with scraper bowl 7 by the 5th revolute pair 8.
Described first driving lever 15 and the second driving lever 18 are respectively by driven by servomotor.

Claims (1)

1. the controlled connecting-rod loading mechanism of multiple degrees of freedom, comprises frame, lifting mechanism and bucket turnover mechanism; It is characterized in that:
Described lifting mechanism comprises the second driving lever, third connecting rod and the first bracing frame, and described second driving lever one end is connected with frame by the second revolute pair, and the other end is connected with the first end of the first bracing frame by the 3rd revolute pair; Described third connecting rod one end is connected with frame by the tenth revolute pair, and the other end is connected with the second end of the first bracing frame by the first revolute pair, and the 3rd end of the first bracing frame is connected with scraper bowl by the 4th revolute pair;
Described bucket turnover mechanism comprises the first driving lever, first connecting rod, the second bracing frame and second connecting rod, described first driving lever one end is connected with frame by the 9th revolute pair, the other end is connected with first connecting rod one end by the 8th revolute pair, the first connecting rod other end is connected with the first end of the second bracing frame by the 7th revolute pair, second end of the second bracing frame is connected with second connecting rod one end by the 6th revolute pair, 3rd end of the second bracing frame is connected with the second driving lever by the 3rd revolute pair, and the second connecting rod other end is connected with scraper bowl by the 5th revolute pair;
Described first driving lever and the second driving lever are respectively by driven by servomotor.
CN201410632976.0A 2014-11-11 2014-11-11 Loading mechanism adopting MDOF (multiple degree of freedom) controllable connecting rods CN104294867A (en)

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CN201410632976.0A CN104294867A (en) 2014-11-11 2014-11-11 Loading mechanism adopting MDOF (multiple degree of freedom) controllable connecting rods

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Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106082037A (en) * 2016-06-24 2016-11-09 山东交通学院 A kind of multiple-unit linear drives four mobility electro-hydraulic mechanism type fork wood machine
CN106607636A (en) * 2016-12-07 2017-05-03 广西大学 Servo motor drive multi-motion-degree connecting rod mechanism for oxygen-acetylene cutting machine
CN106607875A (en) * 2016-12-05 2017-05-03 广西大学 Servo drive type variable-motion-degree-linkage-mechanism mechanical arm for carrying operation
CN106607885A (en) * 2016-11-28 2017-05-03 广西大学 Multi-freedom-degree connecting rod mechanism fodder stacking mechanical arm driven by servo motors
CN106671132A (en) * 2016-12-05 2017-05-17 广西大学 Double-servo-drive multi-rod type mechanical arm for carrying operation
CN106671130A (en) * 2016-11-28 2017-05-17 广西大学 Double-servo-drive multi-rod mechanical arm for assembling work
CN106695822A (en) * 2016-11-30 2017-05-24 广西大学 Method for grabbing industrial wastes by dual-servo motor drive multi-linkage mechanism
CN106737719A (en) * 2016-11-28 2017-05-31 广西大学 One kind drives multi link electroplating equipment wielding machine arm using Dual-Servo Motor
CN106759567A (en) * 2016-11-28 2017-05-31 广西大学 One kind drives multiple degrees of freedom linkage timber grab using servomotor
CN106735717A (en) * 2016-12-07 2017-05-31 广西大学 A kind of Dual-Servo Motor for oxygen-acetylene cutting machine drives multi-connecting-rod mechanism
CN106799323A (en) * 2016-11-29 2017-06-06 广西大学 One kind drives multi link painting operation machinery arm using Dual-Servo Motor
CN108115646A (en) * 2016-11-28 2018-06-05 广西大学 It is a kind of that multi link feed stacking manipulator is driven using Dual-Servo Motor
CN108118731A (en) * 2016-11-30 2018-06-05 广西大学 It is a kind of that dress operational method is grabbed using servomotor driving Three-freedom-degree connection rod mechanism progress industrial waste
CN108130924A (en) * 2016-11-30 2018-06-08 广西大学 It is a kind of that Three-freedom-degree connection rod mechanism is driven using servo motor
CN108161170A (en) * 2016-12-07 2018-06-15 广西大学 A kind of servo motor driving Three-freedom-degree connection rod mechanism for novel oxygen-acetylene cutting machine

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CN101892680A (en) * 2010-07-15 2010-11-24 广西大学 Mechanical two-degree-of-freedom controllable loading machine
DE202011100652U1 (en) * 2011-05-13 2011-07-15 Ahlmann Baumaschinen Gmbh wheel loaders
CN103147476A (en) * 2013-03-05 2013-06-12 燕山大学 Loading machine mechanism with anti-lock device
WO2013102343A1 (en) * 2012-01-04 2013-07-11 江苏柳工机械有限公司 Forward rotation eight-link operating device at loading end of excavator-loader
CN103726531A (en) * 2013-12-16 2014-04-16 广西大学 High-flexibility mechanical loading mechanism with eleven rods and two degrees of freedom
CN104074212A (en) * 2014-06-27 2014-10-01 广西大学 Multi-linkage mechanism with initiative metamorphic function

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101892680A (en) * 2010-07-15 2010-11-24 广西大学 Mechanical two-degree-of-freedom controllable loading machine
DE202011100652U1 (en) * 2011-05-13 2011-07-15 Ahlmann Baumaschinen Gmbh wheel loaders
WO2013102343A1 (en) * 2012-01-04 2013-07-11 江苏柳工机械有限公司 Forward rotation eight-link operating device at loading end of excavator-loader
CN103147476A (en) * 2013-03-05 2013-06-12 燕山大学 Loading machine mechanism with anti-lock device
CN103726531A (en) * 2013-12-16 2014-04-16 广西大学 High-flexibility mechanical loading mechanism with eleven rods and two degrees of freedom
CN104074212A (en) * 2014-06-27 2014-10-01 广西大学 Multi-linkage mechanism with initiative metamorphic function

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106082037A (en) * 2016-06-24 2016-11-09 山东交通学院 A kind of multiple-unit linear drives four mobility electro-hydraulic mechanism type fork wood machine
CN106671130A (en) * 2016-11-28 2017-05-17 广西大学 Double-servo-drive multi-rod mechanical arm for assembling work
CN108115646A (en) * 2016-11-28 2018-06-05 广西大学 It is a kind of that multi link feed stacking manipulator is driven using Dual-Servo Motor
CN106759567A (en) * 2016-11-28 2017-05-31 广西大学 One kind drives multiple degrees of freedom linkage timber grab using servomotor
CN106607885A (en) * 2016-11-28 2017-05-03 广西大学 Multi-freedom-degree connecting rod mechanism fodder stacking mechanical arm driven by servo motors
CN106737719A (en) * 2016-11-28 2017-05-31 广西大学 One kind drives multi link electroplating equipment wielding machine arm using Dual-Servo Motor
CN106799323A (en) * 2016-11-29 2017-06-06 广西大学 One kind drives multi link painting operation machinery arm using Dual-Servo Motor
CN106695822A (en) * 2016-11-30 2017-05-24 广西大学 Method for grabbing industrial wastes by dual-servo motor drive multi-linkage mechanism
CN108130924A (en) * 2016-11-30 2018-06-08 广西大学 It is a kind of that Three-freedom-degree connection rod mechanism is driven using servo motor
CN108118731A (en) * 2016-11-30 2018-06-05 广西大学 It is a kind of that dress operational method is grabbed using servomotor driving Three-freedom-degree connection rod mechanism progress industrial waste
CN106607875A (en) * 2016-12-05 2017-05-03 广西大学 Servo drive type variable-motion-degree-linkage-mechanism mechanical arm for carrying operation
CN106671132A (en) * 2016-12-05 2017-05-17 广西大学 Double-servo-drive multi-rod type mechanical arm for carrying operation
CN106735717A (en) * 2016-12-07 2017-05-31 广西大学 A kind of Dual-Servo Motor for oxygen-acetylene cutting machine drives multi-connecting-rod mechanism
CN106607636A (en) * 2016-12-07 2017-05-03 广西大学 Servo motor drive multi-motion-degree connecting rod mechanism for oxygen-acetylene cutting machine
CN108161170A (en) * 2016-12-07 2018-06-15 广西大学 A kind of servo motor driving Three-freedom-degree connection rod mechanism for novel oxygen-acetylene cutting machine

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