CN104631524A - Multi-connecting-rod controllable excavation mechanism based on electromagnetic initiative metamorphism - Google Patents
Multi-connecting-rod controllable excavation mechanism based on electromagnetic initiative metamorphism Download PDFInfo
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- CN104631524A CN104631524A CN201410826396.5A CN201410826396A CN104631524A CN 104631524 A CN104631524 A CN 104631524A CN 201410826396 A CN201410826396 A CN 201410826396A CN 104631524 A CN104631524 A CN 104631524A
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Abstract
A multi-connecting-rod controllable excavation mechanism based on electromagnetic initiative metamorphism comprises a rack, a large arm swing mechanism, a bucket rod lifting mechanism, a bucket turnover mechanism and an electromagnetic locking device. The large arm swing mechanism comprises a large arm and a swing mechanism. The bucket rod lifting mechanism comprises a bucket rod and a lifting mechanism. The bucket turnover mechanism comprises a bucket and a turnover mechanism. The electromagnetic locking device is installed on a revolute pair, and an initiative metamorphism function can be achieved by electromagnetically locking the revolute pair. According to the excavation mechanism, a traditional hydraulic transmission mechanism is replaced by a connecting rod transmission mechanism, so the defects that a hydraulic system of a hydraulic excavator is complex and prone to oil leakage and the like are overcome. Due to the fact that the electromagnetic locking device is adopted in the revolute pair, initiative metamorphism can be achieved according to different operation working conditions, and the excavation mechanism not only has the flexibility of the hydraulic excavator, but also can achieve 3-DOF excavation operation by utilizing two initiative rods, lowers the manufacturing cost and 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 electromagnetic type initiatively becomes born of the same parents' multi link excavating mechanism of controllable.
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 electromagnetic type is the object of the present invention is to provide initiatively to become born of the same parents' multi link excavating mechanism of controllable, 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 electromagnetic type initiatively becomes born of the same parents' multi link excavating mechanism of controllable, comprises 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 by the 5th revolute pair with large arm
Described dipper is lifted descending mechanism and is made up of dipper, the 5th connecting rod, six-bar linkage and the first driving lever, described first driving lever is connected with frame by the 8th revolute pair, the first driving lever other end is connected with dipper by the 9th revolute pair, the dipper other end is connected with the 5th connecting rod by the 14 revolute pair, 5th connecting rod is connected with six-bar linkage by the 15 revolute pair simultaneously, the other end of the 5th connecting rod is connected with bucket by the tenth revolute pair, the six-bar linkage other end is connected with large arm by the 16 revolute pair, rotate vice division chief the 9th and second electromagnetic locking device is installed
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 9th 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, 9th electromagnetic locking device rotating vice division chief is locked, 9th 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 9th revolute pair, the 6th revolute pair and the 9th 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, the shortcomings such as Hydraulic Elements cost is high, and 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, this invention utilizes two controllable motors can complete Three Degree Of Freedom digging operation, not only greatly 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 advantage of labor strength.
Accompanying drawing explanation
Fig. 1 is that electromagnetic type of the present invention initiatively becomes born of the same parents' multi link excavating mechanism of controllable schematic diagram.
Fig. 2 is the large arm swing mechanism schematic diagram that electromagnetic type of the present invention initiatively becomes born of the same parents' multi link excavating mechanism of controllable.
Fig. 3 is the dipper act descending mechanism schematic diagram that electromagnetic type of the present invention initiatively becomes born of the same parents' multi link excavating mechanism of controllable.
Fig. 4 is the bucket turnover mechanism schematic diagram that electromagnetic type of the present invention initiatively becomes born of the same parents' multi link excavating mechanism of controllable.
Fig. 5 is the stereogram that electromagnetic type of the present invention initiatively becomes born of the same parents' multi link excavating mechanism of controllable.
Detailed description of the invention
Below by way of drawings and Examples, technical scheme of the present invention is described further.
Contrast Fig. 1, electromagnetic type of the present invention initiatively becomes born of the same parents' multi link excavating mechanism of controllable, comprises frame 1, large arm swing mechanism, dipper act descending mechanism, bucket turnover mechanism and the first electromagnetic locking device 7 and the second electromagnetic locking device 22.Concrete structure and annexation are:
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, described second connecting rod 18 is connected 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 20 is connected with large arm 8 by the 5th revolute pair 9.
Contrast Fig. 1 and Fig. 3, described dipper lifts descending mechanism by dipper 13, 5th connecting rod 25, six-bar linkage 26 and the first driving lever 15 form, described first driving lever 15 is connected with frame 1 by the 8th revolute pair 16, first driving lever 15 other end is connected with dipper 13 by the 9th revolute pair 14, dipper 13 other end is connected with the 5th connecting rod 25 by the 14 revolute pair 27, 5th connecting rod 25 is connected with six-bar linkage 26 by the 15 revolute pair 28 simultaneously, 5th connecting rod 25 other end is connected with bucket 11 by the tenth revolute pair 15, six-bar linkage 26 other end is connected with large arm 8 by the 16 revolute pair 29, at the 9th revolute pair 14 place, the second electromagnetic locking device 22 is installed.
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, described 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 first electromagnetic locking device 7 and the second electromagnetic locking device 22 are arranged on the 6th revolute pair 6 and the 9th revolute pair 14 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 9th revolute pair 14 place, the 9th revolute pair 14 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 9th revolute pair 14, the 6th revolute pair 6 and the 9th revolute pair 14 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. electromagnetic type initiatively becomes born of the same parents' multi link excavating mechanism of controllable, 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 by the 5th revolute pair with large arm
Described dipper is lifted descending mechanism and is made up of dipper, the 5th connecting rod, six-bar linkage and the first driving lever, described first driving lever is connected with frame by the 8th revolute pair, the first driving lever other end is connected with dipper by the 9th revolute pair, the dipper other end is connected with the 5th connecting rod by the 14 revolute pair, 5th connecting rod is connected with six-bar linkage by the 15 revolute pair simultaneously, the other end of the 5th connecting rod is connected with bucket by the tenth revolute pair, the six-bar linkage other end is connected with large arm by the 16 revolute pair, rotate vice division chief the 9th and second electromagnetic locking device is installed
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 two electromagnetic locking devices are arranged on the 6th revolute pair and the 9th respectively and rotate vice division chief, the operating mode different according to digging mechanism is locked in good time, when large arm swing, 6th electromagnetic locking device rotating vice division chief is opened, 6th revolute pair degree of gaining freedom, the 9th electromagnetic locking device rotating vice division chief is locked, and the 9th revolute pair loses degree of freedom, 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 9th revolute pair, the 6th revolute pair and the 9th 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.
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| CN201410826396.5A CN104631524A (en) | 2014-12-25 | 2014-12-25 | Multi-connecting-rod controllable excavation mechanism based on electromagnetic initiative metamorphism |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106049575A (en) * | 2016-06-24 | 2016-10-26 | 山东交通学院 | Multiunit linear driving three-degree-of-freedom electro-hydraulic mechanism type loading robot |
| CN106120913A (en) * | 2016-06-24 | 2016-11-16 | 山东交通学院 | A kind of multiple-unit linear drives four mobility heavy type high capacity loads robot |
| 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 |
| 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 |
| CN106609514A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Connecting rod type variable freedom degree timber grab driven by servo motor |
| CN106759570A (en) * | 2016-11-30 | 2017-05-31 | 广西大学 | A kind of servomotor drives has variable active degree linkage |
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| EP0373148A1 (en) * | 1988-12-05 | 1990-06-13 | Böhler Ladetechnik Vertriebs- und Entwicklungsgesellschaft m.b.H. | Hydraulic excavator |
| CN102535546A (en) * | 2012-01-12 | 2012-07-04 | 广西大学 | Controllable loader with high load capacity |
| CN203284820U (en) * | 2013-02-08 | 2013-11-13 | 广西大学 | Branched chain stop control type multiple-degree-of-freedom link mechanism type loader |
| 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 |
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2014
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Patent Citations (6)
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| EP0373148A1 (en) * | 1988-12-05 | 1990-06-13 | Böhler Ladetechnik Vertriebs- und Entwicklungsgesellschaft m.b.H. | Hydraulic excavator |
| CN102535546A (en) * | 2012-01-12 | 2012-07-04 | 广西大学 | Controllable loader with high load capacity |
| CN203284820U (en) * | 2013-02-08 | 2013-11-13 | 广西大学 | Branched chain stop control type multiple-degree-of-freedom link mechanism type loader |
| 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 |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106049575A (en) * | 2016-06-24 | 2016-10-26 | 山东交通学院 | Multiunit linear driving three-degree-of-freedom electro-hydraulic mechanism type loading robot |
| CN106120913A (en) * | 2016-06-24 | 2016-11-16 | 山东交通学院 | A kind of multiple-unit linear drives four mobility heavy type high capacity loads robot |
| 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 |
| CN106609514A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Connecting rod type variable freedom degree timber grab driven by servo motor |
| CN106759570A (en) * | 2016-11-30 | 2017-05-31 | 广西大学 | A kind of servomotor drives has variable active degree linkage |
| 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 |
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Application publication date: 20150520 |