CN104532888A - Multi-connecting-rod movable type loading mechanism with initiative metamorphic function - Google Patents
Multi-connecting-rod movable type loading mechanism with initiative metamorphic function Download PDFInfo
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- CN104532888A CN104532888A CN201410771085.3A CN201410771085A CN104532888A CN 104532888 A CN104532888 A CN 104532888A CN 201410771085 A CN201410771085 A CN 201410771085A CN 104532888 A CN104532888 A CN 104532888A
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Abstract
The invention discloses a multi-degree-of-freedom multi-connecting-rod controllable mechanism type excavator. The multi-degree-of-freedom multi-connecting-rod controllable mechanism type excavator comprises a moving base plate, a rotary platform and a working device, wherein the working device comprises a large arm swinging mechanism, a bucket rod lifting mechanism and a bucket overturning mechanism; the large arm swinging mechanism comprises a large arm and a swinging mechanism; the bucket rod lifting mechanism comprises a bucket rod and a lifting mechanism; the bucket overturning mechanism comprises a bucket and an overturning mechanism. According to the multi-degree-of-freedom multi-connecting-rod controllable mechanism type excavator, mutual match movement of a movable arm lifting branch chain, a bucket rod swinging branch chain and a bucket overturning branch chain is realized under the matching effect of all driving rod driving states, so that all types of complicated excavation work is finished; the multi-degree-of-freedom multi-connecting-rod controllable mechanism type excavator has the flexibility of the controllable mechanism type excavator and a connecting rod transmission part is simpler; the stress between each rod and the connection part is better and the construction cost of the excavator is reduced; the multi-degree-of-freedom multi-connecting-rod controllable mechanism type excavator is suitable for manufacturing various excavators and other engineering machinery.
Description
Technical field
The present invention relates to engineering machinery field, particularly a kind of have the multi link mobile loader structure 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 multi link mobile loader structure 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 multi link mobile loader structure initiatively becoming born of the same parents' function, comprises moveable platform, frame, large arm lifting mechanism, bucket turnover mechanism and two locking devices.
Described frame is connected with moveable platform by the 12 revolute pair.
Described large arm lifting mechanism is made up of large arm, first connecting rod, second connecting rod, described large arm is connected with frame by the 3rd revolute pair, described first connecting rod one end is connected with frame by the first revolute pair, the other end is connected with second connecting rod by the second revolute pair, and second connecting rod is connected with large arm by the 4th revolute pair.
Described bucket turnover mechanism is made up of the first driving lever, third connecting rod, the first bracing frame, double leval jib, described first driving lever one end is connected with frame by the 11 revolute pair, the other end is connected with third connecting rod by the tenth revolute pair, third connecting rod is connected with the first bracing frame by the 9th revolute pair, described double leval jib one end is connected with the first bracing frame by the 8th revolute pair, the other end is connected with scraper bowl by the 7th revolute pair, and the first bracing frame is connected with large arm by the 5th revolute pair.
Described two locking devices are arranged in the second revolute pair, the 5th revolute pair respectively, and the operating mode different according to loader mechanism is locked in good time.
Described first driving lever is by driven by servomotor.
Described a kind of have initiatively become born of the same parents' function multi link mobile loader structure in each Loading conditions operation, during large arm lifting, locking device is opened, second revolute pair degree of affranchising, locking device is locked, and the 5th revolute pair loses degree of freedom, now, large arm lifting under the first driving lever effect.When scraper bowl overturns separately, locking device is opened, the 5th revolute pair degree of affranchising, and locking device is locked, and the second revolute pair loses degree of freedom, and the relative frame of large arm loses degree of freedom, and now scraper bowl realizes upset under the first driving lever drives.In whole loading operation process, locking device, according to different working conditions, suitable locking, to be opened, and completes 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, component can be reduced, handled easily, this loader mechanism can also lock some revolute pair 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, this invention utilizes a controllable motor can complete two degree of freedom loading operations, not only greatly reduce the cost of controllable loading mechanism, and reducing the complexity of frame transmission system, this invention and technology are more applicable for and manufacture all kinds of loader and other engineering machinery;
3, this novel loader structure 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 structural representation of the present invention.
Fig. 2 is moveable platform structural representation of the present invention.
Fig. 3 is locking device schematic diagram of the present invention.
Fig. 4 is large arm lifting mechanism schematic diagram of the present invention.
Fig. 5 is bucket turnover mechanism schematic diagram of the present invention.
Fig. 6 is operating diagram 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, Fig. 2 and Fig. 3, of the present invention a kind ofly have the multi link mobile loader structure initiatively becoming born of the same parents' function, comprises moveable platform 23, frame 1, large arm lifting mechanism, bucket turnover mechanism and two locking devices 5,22.
Contrast Fig. 1 and Fig. 2, described frame 1 is connected with moveable platform 23 by the 12 revolute pair 24.
Contrast Fig. 1, Fig. 3 and Fig. 4, described large arm lifting mechanism is made up of large arm 20, first connecting rod 3, second connecting rod 6, described large arm 20 is connected with frame 1 by the 3rd revolute pair 19, described first connecting rod 3 one end is connected with frame 1 by the first revolute pair 2, the other end is connected with second connecting rod 6 by the second revolute pair 4, and second connecting rod 6 is connected with large arm 20 by the 4th revolute pair 21.
Contrast Fig. 1, Fig. 3 and Fig. 5, described bucket turnover mechanism is by the first driving lever 17, third connecting rod 15, first bracing frame 13, double leval jib 11 forms, described first driving lever 17 one end is connected with frame 1 by the 11 revolute pair 18, the other end is connected with third connecting rod 15 by the tenth revolute pair 16, third connecting rod 15 is connected with the first bracing frame 13 by the 9th revolute pair 14, described double leval jib 11 one end is connected with the first bracing frame 12 by the 8th revolute pair 12, the other end is connected with scraper bowl 9 by the 7th revolute pair 10, first bracing frame 13 is connected with large arm 20 by the 5th revolute pair 7.
Contrast Fig. 3, described two locking devices 5,22 are arranged in the second revolute pair 4, the 5th revolute pair 7, and the operating mode different according to loader mechanism is locked in good time.
Contrast Fig. 1, described first driving lever 17 is by driven by servomotor.
Contrast Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 and Fig. 6, described a kind of have initiatively become born of the same parents' function multi link mobile loader structure in each Loading conditions operation, during large arm 20 lifting, locking device 5 is opened, second revolute pair 4 degree of affranchising, locking device 22 is locked, and the 5th revolute pair 7 loses degree of freedom, now, large arm 20 lifting under the first driving lever 17 acts on.When scraper bowl 9 overturns separately, locking device 22 is opened, the 5th revolute pair 7 degree of affranchising, and locking device 5 is locked, and the second revolute pair 4 loses degree of freedom, and large arm 20 relatively frame 1 loses degree of freedom, and now scraper bowl 9 realizes upset under the first driving lever 17 drives.In whole loading operation process, locking device 5,22, according to different working conditions, suitable locking, to be opened, and completes loading operation.
Claims (1)
1. there is the multi link mobile loader structure initiatively becoming born of the same parents' function, comprise moveable platform, frame, large arm lifting mechanism, bucket turnover mechanism and a locking device, it is characterized in that:
Described frame is connected with moveable platform by the 12 revolute pair;
Described large arm lifting mechanism is made up of large arm, first connecting rod, second connecting rod, described large arm is connected with frame by the 3rd revolute pair, described first connecting rod one end is connected with frame by the first revolute pair, the other end is connected with second connecting rod by the second revolute pair, and second connecting rod is connected with large arm by the 4th revolute pair;
Described bucket turnover mechanism is made up of the first driving lever, third connecting rod, the first bracing frame, double leval jib, described first driving lever one end is connected with frame by the 11 revolute pair, the other end is connected with third connecting rod by the tenth revolute pair, third connecting rod is connected with the first bracing frame by the 9th revolute pair, described double leval jib one end is connected with the first bracing frame by the 8th revolute pair, the other end is connected with scraper bowl by the 7th revolute pair, and the first bracing frame is connected with large arm by the 5th revolute pair;
Described two locking devices are arranged in the second revolute pair, the 5th revolute pair respectively, and the operating mode different according to loader mechanism is locked in good time;
Described first driving lever is by driven by servomotor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410771085.3A CN104532888A (en) | 2014-12-12 | 2014-12-12 | Multi-connecting-rod movable type loading mechanism with initiative metamorphic function |
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| CN201410771085.3A CN104532888A (en) | 2014-12-12 | 2014-12-12 | Multi-connecting-rod movable type loading mechanism with initiative metamorphic function |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104514233A (en) * | 2014-12-12 | 2015-04-15 | 广西大学 | Mobile controllable loading mechanism with active metamorphic function |
| CN106049573A (en) * | 2016-06-24 | 2016-10-26 | 山东交通学院 | Multiunit connecting rod driving plane electro-hydraulic controllable sliding wood forking machine |
| CN106088184A (en) * | 2016-06-24 | 2016-11-09 | 山东交通学院 | A kind of multiple-unit connecting rod drives three mobilities electro-hydraulic wheel type excavator device people |
| CN106609520A (en) * | 2016-11-30 | 2017-05-03 | 广西大学 | Variable-activity connecting rod mechanism driven by servo motor |
| CN106677238A (en) * | 2016-11-30 | 2017-05-17 | 广西大学 | Method for performing industrial waste grabbing-loading operation by adopting mobility-variable linkage mechanism driven by servo motors |
| CN106759567A (en) * | 2016-11-28 | 2017-05-31 | 广西大学 | One kind drives multiple degrees of freedom linkage timber grab using servomotor |
| CN106759565A (en) * | 2016-11-28 | 2017-05-31 | 广西大学 | A kind of servomotor drives can variable freedom multi link timber grab |
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| DE202011100652U1 (en) * | 2011-05-13 | 2011-07-15 | Ahlmann Baumaschinen Gmbh | wheel loaders |
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| CN103726525A (en) * | 2013-12-16 | 2014-04-16 | 广西大学 | Eleven-rod two-degree-of-freedom controllable mechanical-type loading mechanism |
| CN103741736A (en) * | 2013-12-16 | 2014-04-23 | 广西大学 | Mechanical loading mechanism of nine-rod two-freedom-degree forward-turning bucket |
| CN104074212A (en) * | 2014-06-27 | 2014-10-01 | 广西大学 | Multi-linkage mechanism with initiative metamorphic function |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| AU6552901A (en) * | 2000-10-16 | 2002-04-18 | Caterpillar Inc. | Loader linkage with rack stops |
| DE202011100652U1 (en) * | 2011-05-13 | 2011-07-15 | Ahlmann Baumaschinen Gmbh | wheel loaders |
| CN102296649A (en) * | 2011-07-07 | 2011-12-28 | 广西大学 | Multi-connecting-rod loading mechanism |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104514233A (en) * | 2014-12-12 | 2015-04-15 | 广西大学 | Mobile controllable loading mechanism with active metamorphic function |
| CN106049573A (en) * | 2016-06-24 | 2016-10-26 | 山东交通学院 | Multiunit connecting rod driving plane electro-hydraulic controllable sliding wood forking machine |
| CN106088184A (en) * | 2016-06-24 | 2016-11-09 | 山东交通学院 | A kind of multiple-unit connecting rod drives three mobilities electro-hydraulic wheel type excavator device people |
| CN106759567A (en) * | 2016-11-28 | 2017-05-31 | 广西大学 | One kind drives multiple degrees of freedom linkage timber grab using servomotor |
| CN106759565A (en) * | 2016-11-28 | 2017-05-31 | 广西大学 | A kind of servomotor drives can variable freedom multi link timber grab |
| CN106609520A (en) * | 2016-11-30 | 2017-05-03 | 广西大学 | Variable-activity connecting rod mechanism driven by servo motor |
| CN106677238A (en) * | 2016-11-30 | 2017-05-17 | 广西大学 | Method for performing industrial waste grabbing-loading operation by adopting mobility-variable linkage mechanism driven by servo motors |
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Application publication date: 20150422 |