CN104294868A - Multi-freedom-degree controllable loading mechanism with active metamorphic function - Google Patents
Multi-freedom-degree controllable loading mechanism with active metamorphic function Download PDFInfo
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- CN104294868A CN104294868A CN201410632998.7A CN201410632998A CN104294868A CN 104294868 A CN104294868 A CN 104294868A CN 201410632998 A CN201410632998 A CN 201410632998A CN 104294868 A CN104294868 A CN 104294868A
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Abstract
The invention discloses a multi-freedom-degree controllable loading mechanism with an active metamorphic function. The multi-freedom-degree controllable loading mechanism comprises a frame, a big arm lifting mechanism, a bucket turnover mechanism and two locking devices, wherein the big arm lifting mechanism comprises a big arm and a lifting mechanism; the bucket turnover mechanism comprises a bucket and a turnover mechanism; the locking devices are mounted on revolute pairs, and are used for realizing the active metamorphic function through locking the revolute pairs. According to the invention, as a novel connecting rod transmission mechanism is adopted to replace a traditional hydraulic transmission mechanism, the defects of complexity in a hydraulic system of a hydraulic loading machine, easiness in oil leakage and high processing accuracy requirement are overcome; as the locking devices are adopted on the revolute pairs, active metamorphic operation can be performed according to different operation conditions, flexibility of the hydraulic loading machine is realized, and loading operation under two freedom degrees can be realized by utilizing one driving rod, using amount of motors is reduced, the construction cost of the loading mechanism is reduced, and the multi-freedom-degree controllable loading mechanism is suitable for manufacturing of various loading machines and other engineering machinery.
Description
Technical field
The present invention relates to engineering machinery field, particularly a kind of have the multiple degree of freedom controllable loading mechanism initiatively becoming born of the same parents' function.
Background technology
Loader is a kind of common engineering machinery, is widely used in the earthwork construction of the construction projects such as highway, railway, building, water power, harbour, mine.Wherein hydraulic loader is a most widely used class loader, but hydraulic system manufacturing cost is high, easily occurs the problems such as leakage of oil, and these are all the long-standing thorny problems of fluid pressure type loader.
Along with the development of motor technology and the raising of control technology, controllable mechanism is that engineering machinery provides wide development space, by the motor-driven multiple degrees of freedom controllable mechanism of control, not only there is working space large, flexible movements, complicated and variable movement locus can be completed export, also there is low cost of manufacture simultaneously, the advantages such as maintaining is simple, controllable mechanism loader is owing to instead of hydraulic drive with multiple degrees of freedom linkage, avoid hydraulic system requirement on machining accuracy high, maintaining cost is high, the problems such as easy generation leakage of oil, but, existing controllable mechanism loader mainly relies on multivariant linkage work, multiple degrees of freedom linkage was controlled in the past, often need to carry out drived control with the control motor with linkage degree of freedom equivalent amount, not only considerably increase manufacturing cost, and add the complexity of frame transmission system, these shortcomings have certain restriction to multiple degrees of freedom controllable mechanism in the application of engineering machinery field.
Metamorphic mechanisms is the key concept of scholar's proposition in recent years, can the novel mechanism of variable freedom or variable number of components, this kind of mechanism except the height with expandable mechanism can contract and ductile except, also can change topological diagram and cause variable freedom, there is the features such as multi-functional phase change, multiple topology change, multiple degrees of freedom change, can according to the change of functional requirement or environment etc., adapt to different task, flexible Application is in different occasion.
Metamorphic mechanisms is applied to loader design, by metamorphic mechanisms formula loader mechanism 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 and a kind of there is the multiple degree of freedom controllable loading mechanism initiatively becoming born of the same parents' function, 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, also should reduce the usage quantity of driving lever, to reduce controllable motor quantity, reduce loader mechanism manufacturing cost., according to the change of functional requirement or environment etc., can change structure state at the volley, carry out initiatively becoming born of the same parents, make this loader mechanism adapt to different task, flexible Application is in different occasion meanwhile.
The present invention achieves the above object by the following technical programs: a kind of have the multiple degree of freedom controllable loading mechanism initiatively becoming born of the same parents' function, comprises frame, large arm lifting mechanism, bucket turnover mechanism, the first locking device and the second locking device;
Described large arm lifting mechanism comprises large arm, double leval jib and the 5th connecting rod, and described large arm one end is connected with frame by the 6th revolute pair, and the other end is connected with scraper bowl by the 9th revolute pair; Described double leval jib one end is connected with frame by the tenth revolute pair, and the other end is connected with the 5th connecting rod one end by the 11 revolute pair, and the 5th connecting rod other end is connected with large arm by the 7th revolute pair;
Described bucket turnover mechanism comprises driving lever, first connecting rod, second connecting rod and third connecting rod, described driving lever one end is connected with frame by the first revolute pair, the other end is connected with first connecting rod one end by the second revolute pair, the first connecting rod other end is connected with second connecting rod one end by the 3rd revolute pair, and the second connecting rod other end is connected with scraper bowl by the 5th revolute pair; Described third connecting rod one end is connected with large arm by the 8th revolute pair, and the other end is connected with second connecting rod by the 4th revolute pair;
First locking device and the second locking device are arranged in the 11 revolute pair and the 8th revolute pair respectively, can lock according to the operating mode that loader mechanism is different in good time.
Described driving lever is by driven by servomotor.
Described a kind of have initiatively become born of the same parents' function multiple degree of freedom controllable loading mechanism in each Loading conditions operation, during large arm lifting, first locking device is opened, 11 revolute pair degree of affranchising, second locking device cuts out, 8th revolute pair loses degree of freedom, now, and large arm lifting under driving lever effect.When scraper bowl overturns separately, the second locking device is opened, the 8th revolute pair degree of affranchising, and the first locking device locking, the 11 revolute pair loses degree of freedom, and the relative frame of large arm loses degree of freedom, and now scraper bowl realizes upset under driving lever drives.In whole loading operation process, the first locking device and the second locking device, according to different working conditions, suitable locking, to be opened, and complete loading operation.
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, the present invention adopts and on linkage, installs locking device additional realize loader mechanism and initiatively become born of the same parents' function, can component be reduced, handled easily, some revolute pair can also be locked according to different operating mode, reduce the degree of freedom of loader mechanism in good time, thus decrease the usage quantity of controllable motor.Compare other multiple degree of freedom controllable loading mechanism, the present invention utilizes a controllable motor can complete two degree of freedom loading operations, not only greatly reduce the cost of controllable loading mechanism, and reduce the complexity of frame transmission system, be more applicable for and manufacture all kinds of loader and other engineering machinery.
3, driving lever type of drive of the present invention is by with driven by servomotor, not only environmental protection, and is easy to realize Long-distance Control, can reduce labor strength.
Accompanying drawing explanation
Fig. 1 of the present inventionly a kind ofly has the multiple degree of freedom controllable loading mechanism schematic diagram initiatively becoming born of the same parents' function.
Fig. 2 is a kind of locking device schematic diagram with the multiple degree of freedom controllable loading mechanism initiatively becoming born of the same parents' function of the present invention.
Fig. 3 is a kind of large arm lifting mechanism schematic diagram with the multiple degree of freedom controllable loading mechanism initiatively becoming born of the same parents' function of the present invention.
Fig. 4 is a kind of bucket turnover mechanism schematic diagram with the multiple degree of freedom controllable loading mechanism initiatively becoming born of the same parents' function of the present invention.
Fig. 5 is a kind of operating diagram with the multiple degree of freedom controllable loading mechanism initiatively becoming born of the same parents' function 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, a kind of have the multiple degree of freedom controllable loading mechanism initiatively becoming born of the same parents' function, comprises frame 1, large arm lifting mechanism, bucket turnover mechanism, the first locking device 5 and the second locking device 12;
Described large arm lifting mechanism comprises large arm 8, double leval jib 3 and the 5th connecting rod 6, and described large arm 8 one end is connected with frame 1 by the 6th revolute pair 14, and the other end is connected with scraper bowl 10 by the 9th revolute pair 9; Described double leval jib 3 one end is connected with frame 1 by the tenth revolute pair 2, and the other end is connected with the 5th connecting rod 6 one end by the 11 revolute pair 4, and the 5th connecting rod 6 other end is connected with large arm 8 by the 7th revolute pair 13;
Described bucket turnover mechanism comprises driving lever 16, first connecting rod 18, second connecting rod 21 and third connecting rod 11, described driving lever 16 one end is connected with frame 1 by the first revolute pair 15, the other end is connected with first connecting rod 18 one end by the second revolute pair 17, first connecting rod 18 other end is connected with second connecting rod 21 one end by the 3rd revolute pair 19, and second connecting rod 21 other end is connected with scraper bowl 10 by the 5th revolute pair 22; Described third connecting rod 11 one end is connected with large arm 8 by the 8th revolute pair 7, and the other end is connected with second connecting rod 21 by the 4th revolute pair 20;
First locking device 5 and the second locking device 12 are arranged in the 11 revolute pair 4 and the 8th revolute pair 7 respectively, can lock according to the operating mode that loader mechanism is different in good time.
Described driving lever 16 is by driven by servomotor.
Operating principle of the present invention is: during large arm 8 lifting, and the first locking device 5 is opened, the 11 revolute pair 4 degree of affranchising, and the second locking device 12 cuts out, and the 8th revolute pair 7 loses degree of freedom, now, and large arm 8 lifting under driving lever 16 acts on.When scraper bowl 10 overturns separately, the second locking device 12 is opened, the 8th revolute pair 7 degree of affranchising, and the first locking device 5 is locked, and the 11 revolute pair 4 loses degree of freedom, and large arm 8 relatively frame 1 loses degree of freedom, and now scraper bowl realizes upset under driving lever 16 drives.In whole loading operation process, the first locking device 5 and the second locking device 12, according to different working conditions, suitable locking, to be opened, and complete loading operation.
Claims (1)
1. there is the multiple degree of freedom controllable loading mechanism initiatively becoming born of the same parents' function, comprise frame, large arm lifting mechanism, bucket turnover mechanism, the first locking device and the second locking device; It is characterized in that,
Described large arm lifting mechanism comprises large arm, double leval jib and the 5th connecting rod, and described large arm one end is connected with frame by the 6th revolute pair, and the other end is connected with scraper bowl by the 9th revolute pair; Described double leval jib one end is connected with frame by the tenth revolute pair, and the other end is connected with the 5th connecting rod one end by the 11 revolute pair, and the 5th connecting rod other end is connected with large arm by the 7th revolute pair;
Described bucket turnover mechanism comprises driving lever, first connecting rod, second connecting rod and third connecting rod, described driving lever one end is connected with frame by the first revolute pair, the other end is connected with first connecting rod one end by the second revolute pair, the first connecting rod other end is connected with second connecting rod one end by the 3rd revolute pair, and the second connecting rod other end is connected with scraper bowl by the 5th revolute pair; Described third connecting rod one end is connected with large arm by the 8th revolute pair, and the other end is connected with second connecting rod by the 4th revolute pair;
First locking device and the second locking device are arranged in the 11 revolute pair and the 8th revolute pair respectively, can lock according to the operating mode that loader mechanism is different in good time;
Described driving lever is by driven by servomotor.
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| CN201410632998.7A CN104294868A (en) | 2014-11-11 | 2014-11-11 | Multi-freedom-degree controllable loading mechanism with active metamorphic function |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104875201A (en) * | 2015-06-08 | 2015-09-02 | 广西大学 | Variable-configuration large-space robot palletizer mechanism |
| CN104912131A (en) * | 2015-06-04 | 2015-09-16 | 广西大学 | Multi-degree-of-freedom controllable excavation mechanism |
| CN104929167A (en) * | 2015-06-04 | 2015-09-23 | 广西大学 | Active metamorphic mechanism type controllable excavating mechanism |
| CN106607657A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Connecting rod type variable-freedom-degree welding mechanical arm driven by servo motor |
| CN106609522A (en) * | 2016-11-30 | 2017-05-03 | 广西大学 | A double servo motor-driven variable-degree of freedom multi-connecting rod mechanism |
| CN106607633A (en) * | 2016-12-07 | 2017-05-03 | 广西大学 | A movable two-degree-of-freedom closed-chain structure gas cutting blanking machine |
| CN106609525A (en) * | 2016-11-30 | 2017-05-03 | 广西大学 | Method of carrying out industrial waste seizing and loading operation by adopting dual-servo motor driven variable-degree-of-freedom multi-link mechanism |
| CN106607637A (en) * | 2016-12-07 | 2017-05-03 | 广西大学 | Dual servo motor driven variable degree-of-freedom multi-linkage mechanism for gas cutting blanking machine |
| CN106671130A (en) * | 2016-11-28 | 2017-05-17 | 广西大学 | Double-servo-drive multi-rod mechanical arm for assembling work |
| CN106703094A (en) * | 2016-11-28 | 2017-05-24 | 广西大学 | Servo motor driven connecting-rod degree-of-freedom-variable simple timber grab |
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| CN104929167A (en) * | 2015-06-04 | 2015-09-23 | 广西大学 | Active metamorphic mechanism type controllable excavating mechanism |
| CN104875201A (en) * | 2015-06-08 | 2015-09-02 | 广西大学 | Variable-configuration large-space robot palletizer mechanism |
| CN104875201B (en) * | 2015-06-08 | 2016-05-18 | 广西大学 | One allosteric state large space robot palletizer mechanism |
| CN106607657A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Connecting rod type variable-freedom-degree welding mechanical arm driven by servo motor |
| CN106671130A (en) * | 2016-11-28 | 2017-05-17 | 广西大学 | Double-servo-drive multi-rod mechanical arm for assembling work |
| CN106703094A (en) * | 2016-11-28 | 2017-05-24 | 广西大学 | Servo motor driven connecting-rod degree-of-freedom-variable simple timber grab |
| CN106609522A (en) * | 2016-11-30 | 2017-05-03 | 广西大学 | A double servo motor-driven variable-degree of freedom multi-connecting rod mechanism |
| CN106609525A (en) * | 2016-11-30 | 2017-05-03 | 广西大学 | Method of carrying out industrial waste seizing and loading operation by adopting dual-servo motor driven variable-degree-of-freedom multi-link mechanism |
| CN106607633A (en) * | 2016-12-07 | 2017-05-03 | 广西大学 | A movable two-degree-of-freedom closed-chain structure gas cutting blanking machine |
| CN106607637A (en) * | 2016-12-07 | 2017-05-03 | 广西大学 | Dual servo motor driven variable degree-of-freedom multi-linkage mechanism for gas cutting blanking machine |
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