CN104612192A - Controllable loading mechanism with initiative metamorphism function - Google Patents

Controllable loading mechanism with initiative metamorphism function Download PDF

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Publication number
CN104612192A
CN104612192A CN201410769080.7A CN201410769080A CN104612192A CN 104612192 A CN104612192 A CN 104612192A CN 201410769080 A CN201410769080 A CN 201410769080A CN 104612192 A CN104612192 A CN 104612192A
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China
Prior art keywords
revolute pair
rod
loading
controllable
arm
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Pending
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CN201410769080.7A
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Chinese (zh)
Inventor
蔡敢为
王麾
李智杰
张永文
李荣康
朱凯君
王龙
王小纯
李岩舟
杨旭鹃
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Guangxi University
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Guangxi University
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Priority to CN201410769080.7A priority Critical patent/CN104612192A/en
Publication of CN104612192A publication Critical patent/CN104612192A/en
Pending legal-status Critical Current

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Abstract

The invention discloses a controllable loading mechanism with an initiative metamorphism function. The controllable loading mechanism comprises 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, and the initiative metamorphism function can be achieved by locking the revolute pair. According to the controllable 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 controllable 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 at two degrees of freedom by utilizing one initiative rod; meanwhile, the controllable loading mechanism reduces the number of needed motors and lowers the manufacturing cost of the loading mechanism, thereby being suitable for manufacturing various loading machines and other engineering machines.

Description

A kind of have the controllable loading mechanism initiatively becoming born of the same parents' function
Technical field
The present invention relates to engineering machinery field, particularly a kind of have the 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 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 controllable loading mechanism initiatively becoming born of the same parents' function, comprises frame, large arm lifting mechanism, bucket turnover mechanism and two locking devices.
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 by the first driving lever, first connecting rod, second connecting rod, third connecting rod, six-bar linkage, seven-link assembly forms, described first driving lever one end is connected with frame by the 12 revolute pair, the other end is connected with seven-link assembly one end by the 13 revolute pair, the seven-link assembly other end is connected with first connecting rod by the second revolute pair, six-bar linkage 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, 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 controllable loading mechanism 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 locking device schematic diagram of the present invention.
Fig. 3 is large arm lifting mechanism schematic diagram of the present invention.
Fig. 4 is bucket turnover mechanism schematic diagram of the present invention.
Fig. 5 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 controllable loading mechanism initiatively becoming born of the same parents' function, comprises frame 1, large arm lifting mechanism, bucket turnover mechanism and two locking devices 5 and 12.
Contrast Fig. 1, Fig. 2 and Fig. 3, 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. 2 and Fig. 4, described bucket turnover mechanism is by the first driving lever 25, first connecting rod 18, second connecting rod 21, third connecting rod 11, six-bar linkage 16, seven-link assembly 23 forms, described first driving lever 25 one end is connected with frame 1 by the 12 revolute pair 26, the other end is connected with seven-link assembly 23 one end by the 13 revolute pair 24, seven-link assembly 23 other end is connected with first connecting rod 18 by the second revolute pair 17, six-bar linkage 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. 2, 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 25 is by driven by servomotor.
Contrast Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5, described a kind of have initiatively become born of the same parents' function controllable loading mechanism 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 25 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 25 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 controllable loading mechanism initiatively becoming born of the same parents' function, comprise frame, large arm lifting mechanism, bucket turnover mechanism and two locking devices, it is characterized in that:
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 by the first driving lever, first connecting rod, second connecting rod, third connecting rod, six-bar linkage, seven-link assembly forms, described first driving lever one end is connected with frame by the 12 revolute pair, the other end is connected with seven-link assembly one end by the 13 revolute pair, the seven-link assembly other end is connected with first connecting rod by the second revolute pair, six-bar linkage 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, 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.
CN201410769080.7A 2014-12-12 2014-12-12 Controllable loading mechanism with initiative metamorphism function Pending CN104612192A (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN106609527A (en) * 2016-12-06 2017-05-03 广西大学 Multi-rod two-range of motion closed-chain connecting rod mechanism for grab loading operation
CN106629021A (en) * 2016-11-28 2017-05-10 广西大学 Timber grab with freedom-degree-variable linkage mechanism
CN106703095A (en) * 2016-11-30 2017-05-24 广西大学 Method for grabbing and loading industrial waste through variable-freedom-degree linkage mechanism

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CN103726523A (en) * 2013-12-16 2014-04-16 广西大学 Nine-bar two-degree-of-freedom mechanical loading mechanism
CN203667843U (en) * 2013-11-15 2014-06-25 钦州学院 Planar two-DOF (degree of freedom) nine-bar servo-driven container reach stacker
CN104047314A (en) * 2014-06-27 2014-09-17 广西大学 Controllable mechanism type loading machine with active metamorphic function

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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
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
CN103626078A (en) * 2013-11-15 2014-03-12 钦州学院 Plane two-freedom-degree nine-rod closed-chain type reach stacker
CN203667843U (en) * 2013-11-15 2014-06-25 钦州学院 Planar two-DOF (degree of freedom) nine-bar servo-driven container reach stacker
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

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106629021A (en) * 2016-11-28 2017-05-10 广西大学 Timber grab with freedom-degree-variable linkage 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
CN106703095A (en) * 2016-11-30 2017-05-24 广西大学 Method for grabbing and loading industrial waste through variable-freedom-degree linkage mechanism
CN106609527A (en) * 2016-12-06 2017-05-03 广西大学 Multi-rod two-range of motion closed-chain connecting rod mechanism for grab loading operation

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