CN104612191A - MDOF movable loading mechanism with initiative metamorphism function - Google Patents
MDOF movable loading mechanism with initiative metamorphism function Download PDFInfo
- Publication number
- CN104612191A CN104612191A CN201410769060.XA CN201410769060A CN104612191A CN 104612191 A CN104612191 A CN 104612191A CN 201410769060 A CN201410769060 A CN 201410769060A CN 104612191 A CN104612191 A CN 104612191A
- Authority
- CN
- China
- Prior art keywords
- revolute pair
- connecting rod
- mdof
- large arm
- initiative
- 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
Abstract
The invention discloses an MDOF movable loading mechanism with an initiative metamorphism function. The MDOF movable loading mechanism comprises a movable platform, a rack, a big arm lifting mechanism, a bucket turnover mechanism and two locking devices. The big arm lifting mechanism comprises a big arm and a lifting mechanism body. The bucket turnover mechanism comprises a bucket and a turnover mechanism body. The locking devices are installed on a revolute pair, the initiative metamorphism function can be achieved by locking the revolute pair, and the movement function can be achieved through the movable platform. According to the MDOF movable loading mechanism, a traditional hydraulic transmission mechanism is replaced by a novel connecting rod transmission mechanism, so the defects that a hydraulic system of a hydraulic loading machine is complex, prone to oil leakage, high in requirement for machining precision and the like are overcome. Due to the fact that the locking devices are adopted in the revolute pair, the MDOF movable loading mechanism can perform initiative metamorphism according to different operation conditions, and not only has the flexibility of the hydraulic loading machine, but also can achieve loading operation of two degrees of freedom by utilizing one initiative rod; meanwhile, the MDOF movable loading mechanism has the movement function and an operation function, thereby being suitable for manufacturing various loading machines and other engineering machines.
Description
Technical field
The present invention relates to engineering machinery field, particularly a kind of have the multiple degrees of freedom movable 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 multiple degrees of freedom movable 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 multiple degrees of freedom movable 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, double leval jib, the 5th connecting rod, described large arm is connected with frame by the 6th revolute pair, described double leval jib one end is connected with frame by the tenth revolute pair, the other end is connected with the 5th connecting rod by the 11 revolute pair, and the 5th connecting rod is connected with large arm by the 7th revolute pair.
Described bucket turnover mechanism is made up of the first driving lever, first connecting rod, second connecting rod, third connecting rod, described first driving lever one end is connected with frame by the first revolute pair, the other end is connected with first connecting rod by the second revolute pair, first connecting rod is connected with second connecting rod by the 3rd revolute pair, described third connecting rod one end is connected with large arm by the 8th revolute pair, the other end is connected with second connecting rod by the 4th revolute pair, and second connecting rod is connected with scraper bowl by the 5th revolute pair.
Described two locking devices are arranged in the 11 revolute pair, the 8th 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 multiple degrees of freedom movable loader structure in each Loading conditions operation, during large arm lifting, locking device is opened, 11 revolute pair degree of affranchising, locking device cuts out, and the 8th 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 8th revolute pair degree of affranchising, and locking device is locked, and 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 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 and Fig. 2, of the present invention a kind ofly have the multiple degrees of freedom movable 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 and 12.
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 8, double leval jib 3, the 5th connecting rod 6, described large arm 8 is connected with frame 1 by the 6th revolute pair 14, described double leval jib 3 one end is connected with frame 1 by the tenth revolute pair 2, the other end is connected with the 5th connecting rod 6 by the 11 revolute pair 4, and the 5th connecting rod 6 is connected with large arm 8 by the 7th revolute pair 13.
Contrast Fig. 1, Fig. 3 and Fig. 5, described bucket turnover mechanism is by the first driving lever 16, first connecting rod 18, second connecting rod 21, third connecting rod 11 forms, described first 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 by the second revolute pair 17, first connecting rod 18 is connected with second connecting rod 21 by the 3rd revolute pair 19, described third connecting rod 11 one end is connected with large arm 8 by the 8th revolute pair 7, the other end is connected with second connecting rod 21 by the 4th revolute pair 20, second connecting rod 21 is connected with scraper bowl 10 by the 5th revolute pair 22.
Contrast Fig. 3, described two locking devices 5 and 12 are arranged in the 11 revolute pair 4, the 8th revolute pair 7 respectively, and the operating mode different according to loader mechanism is locked in good time.
Contrast Fig. 1, described first driving lever 16 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 multiple degrees of freedom movable loader structure in each Loading conditions operation, during large arm 8 lifting, locking device 5 is opened, 11 revolute pair 4 degree of affranchising, locking device 12 cuts out, and the 8th revolute pair 7 loses degree of freedom, now, large arm 8 lifting under the first driving lever 16 acts on.When scraper bowl 10 overturns separately, locking device 12 is opened, the 8th revolute pair 7 degree of affranchising, and 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 10 realizes upset under the first driving lever 16 drives.In whole loading operation process, locking device 5,12, according to different working conditions, suitable locking, to be opened, and completes loading operation.
Claims (1)
1. there is the multiple degrees of freedom movable loader structure initiatively becoming born of the same parents' function, comprise moveable platform, frame, large arm lifting mechanism, bucket turnover mechanism and two locking devices, 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, double leval jib, the 5th connecting rod, described large arm is connected with frame by the 6th revolute pair, described double leval jib one end is connected with frame by the tenth revolute pair, the other end is connected with the 5th connecting rod by the 11 revolute pair, and the 5th connecting rod is connected with large arm by the 7th revolute pair;
Described bucket turnover mechanism is made up of the first driving lever, first connecting rod, second connecting rod, third connecting rod, described first driving lever one end is connected with frame by the first revolute pair, the other end is connected with first connecting rod by the second revolute pair, first connecting rod is connected with second connecting rod by the 3rd revolute pair, described third connecting rod one end is connected with large arm by the 8th revolute pair, the other end is connected with second connecting rod by the 4th revolute pair, and second connecting rod is connected with scraper bowl by the 5th revolute pair;
Described two locking devices are arranged in the 11 revolute pair, the 8th 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410769060.XA CN104612191A (en) | 2014-12-12 | 2014-12-12 | MDOF movable loading mechanism with initiative metamorphism function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410769060.XA CN104612191A (en) | 2014-12-12 | 2014-12-12 | MDOF movable loading mechanism with initiative metamorphism function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104612191A true CN104612191A (en) | 2015-05-13 |
Family
ID=53146819
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410769060.XA Pending CN104612191A (en) | 2014-12-12 | 2014-12-12 | MDOF movable loading mechanism with initiative metamorphism function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104612191A (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| CN106607656A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Variable-degree-of-freedom multi-connecting rod welding mechanical arm driven by double servo motors |
| CN106608530A (en) * | 2016-12-05 | 2017-05-03 | 广西大学 | Servo drive type variable-freedom-degree-linkage-mechanism mechanical arm for carrying operation |
| CN106607630A (en) * | 2016-12-07 | 2017-05-03 | 广西大学 | Simple variable-degree-of-freedom gas cutting blanking machine |
| CN106608525A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Variable freedom degree connecting rod type timber grab driven by servo motor |
| CN106607634A (en) * | 2016-12-07 | 2017-05-03 | 广西大学 | Servo driven variable degree-of-freedom multi-connecting mechanism for oxygen-acetylene cutting machine |
| CN106607929A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Double servo drive variable freedom degree multi-rod type mechanical arm used for assembling work |
| 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 |
| CN106625643A (en) * | 2016-11-28 | 2017-05-10 | 广西大学 | Dual servo motor driven variable-freedom-degree multi-connecting-rod timber grab |
| CN106695876A (en) * | 2016-12-05 | 2017-05-24 | 广西大学 | Dual servo drive variable-freedom-degree multi-rod type mechanical arm for handling operation |
| CN106737722A (en) * | 2016-11-29 | 2017-05-31 | 广西大学 | One kind is driven using Dual-Servo Motor can variable freedom multi link painting operation machinery arm |
| CN106737831A (en) * | 2016-11-28 | 2017-05-31 | 广西大学 | One kind is driven using Dual-Servo Motor can variable freedom multi link feed stacking manipulator |
Citations (7)
| 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 |
| CN101906792A (en) * | 2010-08-04 | 2010-12-08 | 广西大学 | Electric loading mechanism with adjustable counterweight |
| DE202011100652U1 (en) * | 2011-05-13 | 2011-07-15 | Ahlmann Baumaschinen Gmbh | wheel loaders |
| US20120055050A1 (en) * | 2010-09-08 | 2012-03-08 | Caterpillar, Inc. | Multi-Function Wheel Loader Linkage Control with Optimized Power Management |
| CN103726523A (en) * | 2013-12-16 | 2014-04-16 | 广西大学 | Nine-bar two-degree-of-freedom mechanical loading mechanism |
| CN104047314A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Controllable mechanism type loading machine with active metamorphic function |
| CN104047315A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Loading mechanism with active metamorphic function |
-
2014
- 2014-12-12 CN CN201410769060.XA patent/CN104612191A/en active Pending
Patent Citations (7)
| 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 |
| CN101906792A (en) * | 2010-08-04 | 2010-12-08 | 广西大学 | Electric loading mechanism with adjustable counterweight |
| US20120055050A1 (en) * | 2010-09-08 | 2012-03-08 | Caterpillar, Inc. | Multi-Function Wheel Loader Linkage Control with Optimized Power Management |
| DE202011100652U1 (en) * | 2011-05-13 | 2011-07-15 | Ahlmann Baumaschinen Gmbh | wheel loaders |
| CN103726523A (en) * | 2013-12-16 | 2014-04-16 | 广西大学 | Nine-bar two-degree-of-freedom mechanical loading mechanism |
| CN104047314A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Controllable mechanism type loading machine with active metamorphic function |
| CN104047315A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Loading mechanism with active metamorphic function |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN106607656A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Variable-degree-of-freedom multi-connecting rod welding mechanical arm driven by double servo motors |
| CN106737831A (en) * | 2016-11-28 | 2017-05-31 | 广西大学 | One kind is driven using Dual-Servo Motor can variable freedom multi link feed stacking manipulator |
| CN106608525A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Variable freedom degree connecting rod type timber grab driven by servo motor |
| CN106607929A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Double servo drive variable freedom degree multi-rod type mechanical arm used for assembling work |
| CN106625643A (en) * | 2016-11-28 | 2017-05-10 | 广西大学 | Dual servo motor driven variable-freedom-degree multi-connecting-rod timber grab |
| CN106737722A (en) * | 2016-11-29 | 2017-05-31 | 广西大学 | One kind is driven using Dual-Servo Motor can variable freedom multi link painting operation machinery arm |
| 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 |
| CN106695876A (en) * | 2016-12-05 | 2017-05-24 | 广西大学 | Dual servo drive variable-freedom-degree multi-rod type mechanical arm for handling operation |
| CN106608530A (en) * | 2016-12-05 | 2017-05-03 | 广西大学 | Servo drive type variable-freedom-degree-linkage-mechanism mechanical arm for carrying operation |
| CN106607634A (en) * | 2016-12-07 | 2017-05-03 | 广西大学 | Servo driven variable degree-of-freedom multi-connecting mechanism for oxygen-acetylene cutting 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 |
| CN106607630A (en) * | 2016-12-07 | 2017-05-03 | 广西大学 | Simple variable-degree-of-freedom gas cutting blanking machine |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104612191A (en) | MDOF movable loading mechanism with initiative metamorphism function | |
| CN104612193A (en) | Movable and controllable loading mechanism with initiative metamorphism function | |
| CN104032781B (en) | A kind of electromagnetic braking actively becomes the multi link excavating mechanism of controllable of born of the same parents | |
| CN104294868A (en) | Multi-freedom-degree controllable loading mechanism with active metamorphic function | |
| 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 | |
| CN104532888A (en) | Multi-connecting-rod movable type loading mechanism with initiative metamorphic function | |
| CN104047315A (en) | Loading mechanism with active metamorphic function | |
| CN104047316A (en) | Multi-freedom-degree controllable excavating mechanism with driving metamorphism function | |
| CN104452840B (en) | Multiple degrees of freedom containing parallelogram scraper bowl maintaining body becomes born of the same parents' excavating mechanism of controllable | |
| CN104047314A (en) | Controllable mechanism type loading machine with active metamorphic function | |
| CN104047309A (en) | Controllable multi-connecting-rod loading machine with active metamorphic function | |
| CN104612192A (en) | Controllable loading mechanism with initiative metamorphism function | |
| CN104047311A (en) | Simple loading mechanism with active metamorphic function | |
| CN104594406A (en) | Electromagnetic metamorphism multi-closed-chain connecting rod controllable excavating mechanism with bucket holding mechanism | |
| CN104047318B (en) | Electromagnetic braking actively becomes born of the same parents' multi link excavating mechanism of controllable | |
| CN104047310A (en) | Multi-connecting-rod loading mechanism with active metamorphic function | |
| CN104047320A (en) | High-reliability loading mechanism with active metamorphic function | |
| CN104047312A (en) | Simple multi-connecting-rod controllable loader with active metamorphic 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 | |
| CN104631524A (en) | Multi-connecting-rod controllable excavation mechanism based on electromagnetic initiative metamorphism | |
| CN104452841A (en) | Multi-connecting-rod controllable loading mechanism with active metamorphic function | |
| CN104514233A (en) | Mobile controllable loading mechanism with 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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20150513 |