CN104912128A - Controllable excavating mechanism - Google Patents
Controllable excavating mechanism Download PDFInfo
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- CN104912128A CN104912128A CN201510303735.6A CN201510303735A CN104912128A CN 104912128 A CN104912128 A CN 104912128A CN 201510303735 A CN201510303735 A CN 201510303735A CN 104912128 A CN104912128 A CN 104912128A
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Abstract
The invention discloses a controllable excavating mechanism which comprises a rack, a control branch chain, a lifting branched chain, an overturn branch chain and a scraper bucket, wherein the control branch chain comprises a first driving rod and a movable arm; one end of the first driving rod is articulated with the rack, and one end of the movable arm is articulated with the other end of the first driving rod; the lifting branch chain comprises a second driving rod, a second connecting rod and a third connecting rod, a lifting rod, one end of the second driving rod is articulated with the rack, one end of the second connecting rod is articulated with the other end of the second driving rod, one end of the third driving rod is articulated with the middle of the second connecting rod, one end of the lifting rod is articulated with the other end of the third connecting rod, the other end of the second connecting rod is articulated with the middle of the movable arm, and the other end of the movable arm is articulated with the middle of the lifting rod; the overturn branch chain comprises a third driving rod and an overturn rod, one end of the third driving rod is articulated with the rack, and one end of the overturn rod is articulated with the other end of the third driving rod; the upper part of the scraper bucket is articulated with the other end of the lifting rod, and the lower part of the scraper bucket is articulated with the other end of the overturn rod. The excavating machine is relatively flexible, and can be used for avoiding the defects of high accuracy, oil leakage and the like of a hydraulic element.
Description
Technical field
The present invention relates to mechanical engineering field, particularly a kind of controllable type digging mechanism.
Background technology
Excavator is a kind of conventional engineering machinery.Wherein, hydraulic excavator is most widely used general, and its Hydraulic Elements required precision is high, causes hydraulic system manufacturing cost high, and easily occurs the problems such as leakage of oil, and these are all the long-standing thorny problems of hydraulic excavator.
Along with motor technology must develop the raising with control technology, controllable mechanism is that engineering machinery provides development space widely, not only having that working space is large by controlling motor-driven multiple degrees of freedom controllable mechanism, flexible movements, complicated movement locus can be completed export, also there is the advantages such as low cost of manufacture, maintaining be simple simultaneously.
The information being disclosed in this background technology part is only intended to increase the understanding to general background of the present invention, and should not be regarded as admitting or imply in any form that this information structure has been prior art that persons skilled in the art are known.
Summary of the invention
The object of the present invention is to provide a kind of controllable type digging mechanism, thus the excavator required precision overcoming use Hydraulic Elements is higher, is easier to the shortcoming of leakage of oil.
For achieving the above object, the invention provides a kind of controllable type digging mechanism, comprising: frame; Control side chain, it comprises: one end and hinged the first driving lever of described frame, and the swing arm that the other end of one end and described first driving lever is hinged; Lift descending branch chain, it comprises: one end and hinged the second driving lever of described frame, the second connecting rod that the other end of one end and described second driving lever is hinged, one end is articulated with the third connecting rod at the middle part of described second connecting rod, and bar falls in the hinged act of the other end of one end and described third connecting rod; The other end of described second connecting rod is articulated with the middle part of described swing arm, and the other end of described swing arm is articulated with the middle part that bar falls in described act; Upset side chain, it comprises: one end is articulated with the 3rd driving lever in described frame, and the turning rod that the other end of one end and described 3rd driving lever is hinged; And scraper bowl, the other end that bar falls in its top and described act is hinged, and the other end of bottom and described turning rod is hinged.
In technique scheme, also comprise a drive unit, it is connected with described first driving lever, described second driving lever and described 3rd driving lever respectively.
In technique scheme, described drive unit is servomotor.
In technique scheme, described first driving lever is positioned at the front of described second driving lever, and described second driving lever is positioned at the front of described 3rd driving lever.
In technique scheme, it is bending that bar falls in described swing arm and described act.
Compared with prior art, the present invention has following beneficial effect:
1. the digging mechanism in the present invention, under guarantee conventional excavators job requirements and the simple prerequisite of linkage structure, not only possesses the flexibility of existing hydraulic crawler excavator, and avoids the shortcomings such as Hydraulic Elements precision is high, leakage of oil.
2. the present invention compares other controllable mechanisms is excavators, decreases connecting rod quantity, compact conformation, reduces connecting rod weight, improve stressed, and digging force is large, improves mechanism's traveling comfort and reliability.Comparatively speaking, kinematics and dynamic performance are more superior.
Accompanying drawing explanation
Fig. 1 is the structural representation according to controllable type digging mechanism of the present invention.
Fig. 2 is the structural representation according to control side chain of the present invention.
Fig. 3 is the structural representation according to act descending branch chain of the present invention.
Fig. 4 is the structural representation according to upset side chain of the present invention.
Fig. 5 is the first the operation schematic diagram according to controllable type digging mechanism of the present invention.
Fig. 6 is the second operation schematic diagram according to controllable type digging mechanism of the present invention.
Fig. 7 is the third operation schematic diagram according to controllable type digging mechanism of the present invention.
Main Reference Numerals illustrates:
1-frame, 3-first driving lever, 5-swing arm, 7-second connecting rod, 8-third connecting rod, 11-lifts and falls bar, 13-scraper bowl, 15-turning rod, 17-the 3rd driving lever, 21-second driving lever.
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail, but is to be understood that protection scope of the present invention not by the restriction of detailed description of the invention.
Clearly represent unless otherwise other, otherwise in whole manual and claims, term " comprise " or its conversion as " comprising " or " including " etc. by be understood to include the element of stating or ingredient, and do not get rid of other element or other ingredient.
As shown in Figures 1 to 4, according to a kind of controllable type digging mechanism of the specific embodiment of the invention, comprising: frame 1, control side chain, act descending branch chain, upset side chain and scraper bowl 13.
As depicted in figs. 1 and 2, control side chain and comprise the first driving lever 3 and swing arm 5; One end of first driving lever 3 is hinged with frame by the first revolute pair 2, and swing arm 5 is in bending, and one end of swing arm 5 is hinged by the other end of the second revolute pair 4 and the first driving lever 3.
As shown in figures 1 and 3, lift descending branch chain to comprise: bar 11 falls in the second driving lever 21, second connecting rod 7, third connecting rod 8 and act; One end of second driving lever 21 is hinged with frame 1 by the 5th revolute pair 20, one end of second connecting rod 7 is hinged by the other end of the 6th revolute pair 22 and the second driving lever 21, one end of third connecting rod 8 is articulated with the middle part of second connecting rod 7 by the 7th revolute pair 23, act falls bar 11 in bending, and one end that bar 11 falls in act is hinged with the other end of third connecting rod 8 by the 8th revolute pair 19; The other end of second connecting rod 7 is articulated with the middle part of swing arm 5 by the 3rd revolute pair 6, the other end of swing arm 5 is articulated with the middle part of lifting and falling bar 11 by the 4th revolute pair 10, wherein, the first driving lever 3 is positioned at the front of the second driving lever 21.
As shown in Figure 1 and Figure 4, overturn side chain to comprise: the 3rd driving lever 17 and turning rod 15; One end of 3rd driving lever 17 is articulated with in frame 1 by the tenth revolute pair 18, and one end of turning rod 15 is hinged by the other end of the 11 revolute pair 16 and the 3rd driving lever 17; The other end that the top of scraper bowl 13 falls bar 11 by the 9th revolute pair 12 and act is hinged, and bottom is hinged with the other end of turning rod 15 by the 12 revolute pair 14, and wherein, the second driving lever 21 is positioned at the front of the 3rd driving lever 17.
In this embodiment, the part lever arm being fallen bar 11 by second connecting rod 7, swing arm 5, third connecting rod 8 and act forms quadrangle driving mechanism, improves traveling comfort; Drive unit is connected with the first driving lever 3, second driving lever 21 and the 3rd driving lever 17 respectively, and drive unit is servomotor, preferably adopts three servomotors to drive respectively.
During use, coordinated by control side chain, act descending branch chain and upset side chain and realize corresponding action, as shown in Figure 5, when the first driving lever 3 drives to the right, the second driving lever 21 drives left, and the 3rd driving lever 17 drives to the right, can realize excavation action; As shown in Figure 6, when the first driving lever 3 drives left, the second driving lever 21 drives left, and the 3rd driving lever 17 drives left, can realize rotary movement; As shown in Figure 7, when the first driving lever 3 drives left, the second driving lever 21 drives to the right, and the 3rd driving lever 17 drives left, can realize lifting action.
Digging mechanism in the present invention, connecting rod replaces conventional hydraulic transmission, avoid the shortcomings such as Hydraulic Elements precision is high, leakage of oil, compare other controllable-mechanism type excavators, decrease connecting rod quantity, reduce connecting rod weight, improve stressed, and the design of parallelogram sturcutre improves mechanism's traveling comfort.
The aforementioned description to concrete exemplary of the present invention is to illustrate and the object of illustration.These descriptions not want the present invention to be defined as disclosed precise forms, and obviously, according to above-mentioned instruction, can much change and change.The object selected exemplary embodiment and describe is to explain certain principles of the present invention and practical application thereof, thus those skilled in the art can be realized and utilize various different exemplary of the present invention and various different selection and change.Scope of the present invention is intended to limited by claims and equivalents thereof.
Claims (5)
1. a controllable type digging mechanism, is characterized in that, comprising:
Frame;
Control side chain, it comprises: one end and hinged the first driving lever of described frame, and the swing arm that the other end of one end and described first driving lever is hinged;
Lift descending branch chain, it comprises: one end and hinged the second driving lever of described frame, the second connecting rod that the other end of one end and described second driving lever is hinged, one end is articulated with the third connecting rod at the middle part of described second connecting rod, and bar falls in the hinged act of the other end of one end and described third connecting rod; The other end of described second connecting rod is articulated with the middle part of described swing arm, and the other end of described swing arm is articulated with the middle part that bar falls in described act;
Upset side chain, it comprises: one end is articulated with the 3rd driving lever in described frame, and the turning rod that the other end of one end and described 3rd driving lever is hinged; And
Scraper bowl, the other end that bar falls in its top and described act is hinged, and the other end of bottom and described turning rod is hinged.
2. controllable type digging mechanism according to claim 1, is characterized in that, also comprises a drive unit, and it is connected with described first driving lever, described second driving lever and described 3rd driving lever respectively.
3. controllable type digging mechanism according to claim 2, is characterized in that, described drive unit is servomotor.
4. controllable type digging mechanism according to claim 1, is characterized in that, described first driving lever is positioned at the front of described second driving lever, and described second driving lever is positioned at the front of described 3rd driving lever.
5. controllable type digging mechanism according to claim 1, is characterized in that, it is bending that bar falls in described swing arm and described act.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510303735.6A CN104912128A (en) | 2015-06-04 | 2015-06-04 | Controllable excavating mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510303735.6A CN104912128A (en) | 2015-06-04 | 2015-06-04 | Controllable excavating mechanism |
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| CN104912128A true CN104912128A (en) | 2015-09-16 |
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| CN201510303735.6A Pending CN104912128A (en) | 2015-06-04 | 2015-06-04 | Controllable excavating mechanism |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272352A (en) * | 2016-09-06 | 2017-01-04 | 广西大学 | A kind of parallel institution formula robot palletizer |
| CN106284450A (en) * | 2016-09-06 | 2017-01-04 | 广西大学 | A kind of timber loader of new structure |
| CN106284449A (en) * | 2016-09-06 | 2017-01-04 | 广西大学 | Multi link high accuracy carries greatly excavator |
| CN106607630A (en) * | 2016-12-07 | 2017-05-03 | 广西大学 | Simple variable-degree-of-freedom gas cutting blanking machine |
| CN106607932A (en) * | 2016-12-09 | 2017-05-03 | 广西大学 | Multi-rod closed chain structure mechanical arm for gas cutting blanking operation |
| CN106638740A (en) * | 2015-10-29 | 2017-05-10 | 广西大学 | Multi-degree-of-freedom controllable-mechanism-type bulldozer |
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| DE102004027203A1 (en) * | 2004-03-29 | 2005-11-10 | Komatsu Hanomag Gmbh | Working vehicle, especially wheel loader, has positions and spacing of bearings within lifting and tilting unit selected so that inclination of working tool relative to horizontal varies by 4 degrees at most during lifting movement |
| CN104032779A (en) * | 2014-06-27 | 2014-09-10 | 广西大学 | Multi-connecting-rod controllable mining mechanism with variable cell function |
| CN104047316A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Multi-freedom-degree controllable excavating mechanism with driving metamorphism function |
| CN104499519A (en) * | 2014-12-25 | 2015-04-08 | 广西大学 | Electromagnetic metamorphic multi-connecting rod controllable excavating mechanism with bucket retaining mechanism |
| CN104612189A (en) * | 2014-12-25 | 2015-05-13 | 广西大学 | Rotatable type multi-freedom-degree controllable excavating mechanism with active cell changing function |
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2015
- 2015-06-04 CN CN201510303735.6A patent/CN104912128A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| DE102004027203A1 (en) * | 2004-03-29 | 2005-11-10 | Komatsu Hanomag Gmbh | Working vehicle, especially wheel loader, has positions and spacing of bearings within lifting and tilting unit selected so that inclination of working tool relative to horizontal varies by 4 degrees at most during lifting movement |
| CN104032779A (en) * | 2014-06-27 | 2014-09-10 | 广西大学 | Multi-connecting-rod controllable mining mechanism with variable cell function |
| CN104047316A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Multi-freedom-degree controllable excavating mechanism with driving metamorphism function |
| CN104499519A (en) * | 2014-12-25 | 2015-04-08 | 广西大学 | Electromagnetic metamorphic multi-connecting rod controllable excavating mechanism with bucket retaining mechanism |
| CN104612189A (en) * | 2014-12-25 | 2015-05-13 | 广西大学 | Rotatable type multi-freedom-degree controllable excavating mechanism with active cell changing function |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106638740A (en) * | 2015-10-29 | 2017-05-10 | 广西大学 | Multi-degree-of-freedom controllable-mechanism-type bulldozer |
| CN106272352A (en) * | 2016-09-06 | 2017-01-04 | 广西大学 | A kind of parallel institution formula robot palletizer |
| CN106284450A (en) * | 2016-09-06 | 2017-01-04 | 广西大学 | A kind of timber loader of new structure |
| CN106284449A (en) * | 2016-09-06 | 2017-01-04 | 广西大学 | Multi link high accuracy carries greatly excavator |
| CN106607630A (en) * | 2016-12-07 | 2017-05-03 | 广西大学 | Simple variable-degree-of-freedom gas cutting blanking machine |
| CN106607932A (en) * | 2016-12-09 | 2017-05-03 | 广西大学 | Multi-rod closed chain structure mechanical arm for gas cutting blanking operation |
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