CN104480981A - 12R controllable excavating mechanism capable of realizing big arm swinging through active and alternate metamorphism - Google Patents
12R controllable excavating mechanism capable of realizing big arm swinging through active and alternate metamorphism Download PDFInfo
- Publication number
- CN104480981A CN104480981A CN201410826324.0A CN201410826324A CN104480981A CN 104480981 A CN104480981 A CN 104480981A CN 201410826324 A CN201410826324 A CN 201410826324A CN 104480981 A CN104480981 A CN 104480981A
- Authority
- CN
- China
- Prior art keywords
- revolute pair
- connecting rod
- large arm
- driving lever
- locking device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Earth Drilling (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention discloses a 12R controllable excavating mechanism capable of realizing big arm swinging through active and alternate metamorphism. The 12R controllable excavating mechanism comprises a frame, a big arm swinging mechanism, a bucket rod elevating mechanism, a bucket overturning mechanism and an electromagnetic locking device, wherein the big arm swinging mechanism comprises a big arm and a swinging mechanism; the bucket rod elevating mechanism comprises a bucket rod and an elevating mechanism; the bucket overturning mechanism comprises a bucket and an overturning mechanism; the electromagnetic locking device is arranged on a revolving pair; an active metamorphism function is realized through electromagnetic locking of the revolving pair. The conventional hydraulic transmission is replaced by a connecting rod transmission mechanism, so that the defects of complexity and easiness in oil leakage in a hydraulic system of a hydraulic excavator are overcome; the electromagnetic locking device is arranged on the revolving pair, and active metamorphism can be performed according to different operation conditions, so that the flexibility of the hydraulic excavator is realized; moreover, three-degree-of-freedom excavating operation can be realized through two driving rods, so that the manufacturing cost of the excavating mechanism is reduced. The 12R controllable excavating mechanism is suitable for manufacturing various excavating machines and other engineering machinery.
Description
Technical field
The present invention relates to engineering machinery field, particularly a kind of active alternately becomes the 12R excavating mechanism of controllable that born of the same parents realize large arm swing.
Background technology
Excavator is a kind of common engineering machinery, is mainly used in various earthwork construction.Wherein hydraulic crawler excavator is a most widely used class excavator, 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 hydraulic excavator.And traditional single-degree-of-freedom mechanical digging machine, be commonly called as " power shovel ", can only realize simply and the track that can not change output, therefore can not 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 is that engineering machinery provides wide development space, not only having that working space is large by controlling motor-driven multiple degrees of freedom controllable mechanism, 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 type excavator 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, easily produces the problems such as leakage of oil.But, existing controllable-mechanism type excavator 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 adding 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.
Summary of the invention
A kind of active is the object of the present invention is to provide alternately to become the 12R excavating mechanism of controllable that born of the same parents realize large arm swing, the shortcoming that conventional hydraulic excavator maintenance cost is high, operation noise large, Hydraulic Elements cost is high, reaction is sensitive not can be overcome, simultaneously, the usage quantity of driving lever can also be reduced, to reduce controllable motor quantity, reduce digging mechanism manufacturing cost.
The present invention achieves the above object by the following technical programs: a kind of active alternately becomes the 12R excavating mechanism of controllable that born of the same parents realize large arm swing, comprise frame, large arm swing mechanism, dipper act descending mechanism, bucket turnover mechanism and electromagnetic locking device, concrete structure and connected mode are:
Described large arm swing mechanism is made up of large arm, first connecting rod, second connecting rod and third connecting rod, described first connecting rod is connected with frame by the first revolute pair, described second connecting rod is connected with frame by the second revolute pair, the first connecting rod other end is connected with third connecting rod by the 3rd revolute pair, the second connecting rod other end is connected with third connecting rod by the 4th revolute pair, third connecting rod is connected with large arm by the 5th revolute pair
Described dipper is lifted descending mechanism and is made up of dipper and the first driving lever, and described first driving lever is connected with third connecting rod by the 8th revolute pair, and the first driving lever other end is connected with dipper by the 9th revolute pair, and the dipper other end is connected with bucket by the tenth revolute pair,
Described bucket turnover mechanism is made up of the second driving lever, double leval jib, large arm and scraper bowl, described second driving lever is connected with frame by the 11 revolute pair, the second driving lever other end is connected with double leval jib by the 12 revolute pair, double leval jib is connected with large arm by the 6th revolute pair, the end of described large arm is connected with scraper bowl by the 13 revolute pair
Described electromagnetic locking device is two, be arranged on the 6th revolute pair and the 7th respectively and rotate vice division chief, the operating mode different according to digging mechanism is locked in good time, when large arm swing, the 6th electromagnetic locking device rotating vice division chief is opened, the 6th revolute pair degree of gaining freedom, 7th electromagnetic locking device rotating vice division chief is locked, 7th revolute pair loses degree of freedom, and now, large arm is at the second driving lever effect lower swing.When scraper bowl swings separately, all lock the 6th revolute pair and the 7th revolute pair, the 6th revolute pair and the 7th revolute pair all lose degree of freedom.In whole digging operation process, the electromagnetic locking device at two places, according to different working conditions, suitable locking, to be opened, and jointly completes digging operation,
Described first driving lever, the second driving link are respectively by driven by servomotor.
Outstanding advantages of the present invention is:
1, utilize link transmission to substitute hydraulic drive, solve conventional excavators cost of upkeep high, Hydraulic Elements cost is high, the shortcoming that operation noise is large;
2, adopt and on linkage, to install electromagnetic locking device additional realize digging mechanism and initiatively become born of the same parents' function, make this digging mechanism lock some revolute pair according to different operating mode, reduce the degree of freedom of digging mechanism in good time, thus decrease the usage quantity of controllable motor.Compare other multiple degrees of freedom excavating mechanism of controllable, utilize two controllable motors can complete Three Degree Of Freedom digging operation, not only reduce the cost of excavating mechanism of controllable, and reduce the complexity of frame transmission system, be more applicable for and manufacture all kinds of excavator and other engineering machinery;
3, this digging mechanism driving link type of drive is flexible and changeable, can select driven by servomotor, the drive forms such as combination drive, not only environmental protection, and be easy to realize Long-distance Control, reduces the advantages such as labor strength.
Accompanying drawing explanation
Fig. 1 is the structural representation that active of the present invention alternately becomes that born of the same parents realize the 12R excavating mechanism of controllable of large arm swing.
Fig. 2 is the large arm swing mechanism schematic diagram that active of the present invention alternately becomes that born of the same parents realize the 12R excavating mechanism of controllable of large arm swing.
Fig. 3 is the dipper act descending mechanism schematic diagram that active of the present invention alternately becomes that born of the same parents realize the 12R excavating mechanism of controllable of large arm swing.
Fig. 4 is the bucket turnover mechanism schematic diagram that active of the present invention alternately becomes that born of the same parents realize the 12R excavating mechanism of controllable of large arm swing.
Fig. 5 is the stereogram that active of the present invention alternately becomes that born of the same parents realize the 12R excavating mechanism of controllable of large arm swing.
Detailed description of the invention
Below by way of drawings and Examples, technical scheme of the present invention is described further.
Contrast Fig. 1, active of the present invention alternately becomes the 12R excavating mechanism of controllable that born of the same parents realize large arm swing, comprises frame 1, large arm swing mechanism, dipper act descending mechanism, bucket turnover mechanism and electromagnetic locking device.
Contrast Fig. 1 and Fig. 2, described large arm swing mechanism is made up of large arm 8, first connecting rod 23, second connecting rod 18 and third connecting rod 20, described first connecting rod 23 is connected with frame 1 by the first revolute pair 24, second connecting rod 18 is even connect with frame 1 by the second revolute pair 17, first connecting rod 23 other end is connected with third connecting rod 20 by the 3rd revolute pair 21, second connecting rod 18 other end is connected with third connecting rod 20 by the 4th revolute pair 19, and third connecting rod 2 is connected with large arm 8 by the 5th revolute pair 90.
Contrast Fig. 1 and Fig. 3, described dipper is lifted descending mechanism and is made up of dipper 13 and the first driving lever 15, described first driving lever 15 is connected with third connecting rod 20 by the 8th revolute pair 16, the other end of the first driving lever 15 is connected with dipper 13 by the 9th revolute pair 14, and the other end of dipper 13 is connected with bucket 11 by the tenth revolute pair 15.
Contrast Fig. 1 and Fig. 4, described bucket turnover mechanism is made up of the second driving lever 3, double leval jib 5, large arm 8 and scraper bowl 11, described second driving lever 3 is connected with frame 1 by the 11 revolute pair 2, second driving lever 3 other end is connected with double leval jib 5 by the 12 revolute pair 4, double leval jib 5 is connected with large arm 8 by the 6th revolute pair 6, and the end of described large arm 8 is connected by the 13 revolute pair 10 with scraper bowl 11.
Described electromagnetic locking device is two, and the first electromagnetic locking device 7 and the second electromagnetic locking device 22 are arranged on the 6th revolute pair 6 and the 7th revolute pair 21 place respectively, and the operating mode different according to digging mechanism is locked in good time.When large arm 8 swings, the electromagnetic locking device at the 6th revolute pair 6 place is opened, the 6th revolute pair 6 degree of gaining freedom, and the electromagnetic locking device locking at the 7th revolute pair 21 place, the 7th revolute pair 21 loses degree of freedom, and now, large arm 8 acts on lower swing at the second driving lever 3.When scraper bowl 11 swings separately, all lock the 6th revolute pair 6 and the 7th revolute pair 21, the 6th revolute pair 6 and the 7th revolute pair 21 all lose degree of freedom.In whole digging operation process, the electromagnetic locking device at two places, according to different working conditions, suitable locking, to be opened, and jointly completes digging operation.
Described first driving lever 15, second driving link 3 is respectively by driven by servomotor.
Claims (1)
1. active alternately becomes the 12R excavating mechanism of controllable that born of the same parents realize large arm swing, and comprise frame, large arm swing mechanism, dipper act descending mechanism, bucket turnover mechanism and electromagnetic locking device, it is characterized in that, concrete structure and connected mode are:
Described large arm swing mechanism is made up of large arm, first connecting rod, second connecting rod and third connecting rod, described first connecting rod is connected with frame by the first revolute pair, described second connecting rod is connected with frame by the second revolute pair, the first connecting rod other end is connected with third connecting rod by the 3rd revolute pair, the second connecting rod other end is connected with third connecting rod by the 4th revolute pair, third connecting rod is connected with large arm by the 5th revolute pair
Described dipper is lifted descending mechanism and is made up of dipper and the first driving lever, and described first driving lever is connected with third connecting rod by the 8th revolute pair, and the first driving lever other end is connected with dipper by the 9th revolute pair, and the dipper other end is connected with bucket by the tenth revolute pair,
Described bucket turnover mechanism is made up of the second driving lever, double leval jib, large arm and scraper bowl, described second driving lever is connected with frame by the 11 revolute pair, the second driving lever other end is connected with double leval jib by the 12 revolute pair, double leval jib is connected with large arm by the 6th revolute pair, the end of described large arm is connected with scraper bowl by the 13 revolute pair
Described electromagnetic locking device is two, be arranged on the 6th revolute pair and the 7th respectively and rotate vice division chief, the operating mode different according to digging mechanism is locked in good time, when large arm swing, the 6th electromagnetic locking device rotating vice division chief is opened, the 6th revolute pair degree of gaining freedom, 7th electromagnetic locking device rotating vice division chief is locked, 7th revolute pair loses degree of freedom, and now, large arm is at the second driving lever effect lower swing.When scraper bowl swings separately, all lock the 6th revolute pair and the 7th revolute pair, the 6th revolute pair and the 7th revolute pair all lose degree of freedom.In whole digging operation process, the electromagnetic locking device at two places, according to different working conditions, suitable locking, to be opened, and jointly completes digging operation,
Described first driving lever, the second driving link are respectively by driven by servomotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410826324.0A CN104480981A (en) | 2014-12-25 | 2014-12-25 | 12R controllable excavating mechanism capable of realizing big arm swinging through active and alternate metamorphism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410826324.0A CN104480981A (en) | 2014-12-25 | 2014-12-25 | 12R controllable excavating mechanism capable of realizing big arm swinging through active and alternate metamorphism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104480981A true CN104480981A (en) | 2015-04-01 |
Family
ID=52755579
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410826324.0A Pending CN104480981A (en) | 2014-12-25 | 2014-12-25 | 12R controllable excavating mechanism capable of realizing big arm swinging through active and alternate metamorphism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104480981A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104594407A (en) * | 2014-12-25 | 2015-05-06 | 广西大学 | 8R-4R controllable excavation mechanism with automatic and alternate metamorphosis function |
| CN106671130A (en) * | 2016-11-28 | 2017-05-17 | 广西大学 | Double-servo-drive multi-rod mechanical arm for assembling work |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104032779A (en) * | 2014-06-27 | 2014-09-10 | 广西大学 | Multi-connecting-rod controllable mining mechanism with variable cell function |
| CN104032781A (en) * | 2014-06-27 | 2014-09-10 | 广西大学 | Electromagnetically-braked actively-metamorphic multi-link controllable excavation mechanism |
| CN104047316A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Multi-freedom-degree controllable excavating mechanism with driving metamorphism function |
| CN104480983A (en) * | 2014-12-25 | 2015-04-01 | 广西大学 | 12R controllable excavating mechanism with actively and alternatively metamorphic big arm |
| CN104594407A (en) * | 2014-12-25 | 2015-05-06 | 广西大学 | 8R-4R controllable excavation mechanism with automatic and alternate metamorphosis function |
-
2014
- 2014-12-25 CN CN201410826324.0A patent/CN104480981A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104032779A (en) * | 2014-06-27 | 2014-09-10 | 广西大学 | Multi-connecting-rod controllable mining mechanism with variable cell function |
| CN104032781A (en) * | 2014-06-27 | 2014-09-10 | 广西大学 | Electromagnetically-braked actively-metamorphic multi-link controllable excavation mechanism |
| CN104047316A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Multi-freedom-degree controllable excavating mechanism with driving metamorphism function |
| CN104480983A (en) * | 2014-12-25 | 2015-04-01 | 广西大学 | 12R controllable excavating mechanism with actively and alternatively metamorphic big arm |
| CN104594407A (en) * | 2014-12-25 | 2015-05-06 | 广西大学 | 8R-4R controllable excavation mechanism with automatic and alternate metamorphosis function |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104594407A (en) * | 2014-12-25 | 2015-05-06 | 广西大学 | 8R-4R controllable excavation mechanism with automatic and alternate metamorphosis function |
| CN106671130A (en) * | 2016-11-28 | 2017-05-17 | 广西大学 | Double-servo-drive multi-rod mechanical arm for assembling work |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104032781B (en) | A kind of electromagnetic braking actively becomes the multi link excavating mechanism of controllable of born of the same parents | |
| CN104612189A (en) | Rotatable type multi-freedom-degree controllable excavating mechanism with active cell changing function | |
| CN104032779A (en) | Multi-connecting-rod controllable mining mechanism with variable cell function | |
| CN104594400A (en) | Rotatable multiple-connecting-rod controllable excavating mechanism having metamorphic function | |
| CN104452840B (en) | Multiple degrees of freedom containing parallelogram scraper bowl maintaining body becomes born of the same parents' excavating mechanism of controllable | |
| CN104047316A (en) | Multi-freedom-degree controllable excavating mechanism with driving metamorphism function | |
| CN104594406A (en) | Electromagnetic metamorphism multi-closed-chain connecting rod controllable excavating mechanism with bucket holding mechanism | |
| CN103132550B (en) | Discrete limited variable-speed input multiple-freedom-degree controllable mechanism type excavator | |
| CN104631524A (en) | Multi-connecting-rod controllable excavation mechanism based on electromagnetic initiative metamorphism | |
| CN104047318B (en) | Electromagnetic braking actively becomes born of the same parents' multi link excavating mechanism of controllable | |
| CN104047315A (en) | Loading mechanism with active metamorphic function | |
| CN104047309A (en) | Controllable multi-connecting-rod loading machine with active metamorphic function | |
| CN104294868A (en) | Multi-freedom-degree controllable loading mechanism with active metamorphic function | |
| CN104612191A (en) | MDOF movable loading mechanism with initiative metamorphism function | |
| CN104047308A (en) | Multi-freedom-degree controllable excavating mechanism with active metamorphic function | |
| CN104047313A (en) | Multi-connecting-rod controllable excavating mechanism with active metamorphic function | |
| CN104612193A (en) | Movable and controllable loading mechanism with initiative metamorphism function | |
| CN104532888A (en) | Multi-connecting-rod movable type loading mechanism with initiative metamorphic function | |
| CN104047311A (en) | Simple loading mechanism with active metamorphic function | |
| CN104047312A (en) | Simple multi-connecting-rod controllable loader with active metamorphic function | |
| CN104452845A (en) | Multi-closed-chain controllable excavation mechanism for keeping posture of bucket through metamorphism | |
| CN104594412A (en) | Multi-closed-chain connecting rod controllable excavating mechanism with double parallelogram mechanism | |
| CN104612192A (en) | Controllable loading mechanism with initiative metamorphism function | |
| CN104480983A (en) | 12R controllable excavating mechanism with actively and alternatively metamorphic big arm | |
| CN104594405A (en) | Controllable excavating mechanism capable of keeping posture of big arm through active metamorphic function |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150401 |
|
| WD01 | Invention patent application deemed withdrawn after publication |