CN104929167A - Active metamorphic mechanism type controllable excavating mechanism - Google Patents
Active metamorphic mechanism type controllable excavating mechanism Download PDFInfo
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- CN104929167A CN104929167A CN201510303909.9A CN201510303909A CN104929167A CN 104929167 A CN104929167 A CN 104929167A CN 201510303909 A CN201510303909 A CN 201510303909A CN 104929167 A CN104929167 A CN 104929167A
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Abstract
The invention discloses an active metamorphic mechanism type controllable excavating mechanism which comprises a rack, a lifting mechanism, an overturning mechanism, a bucket and a driving device. The lifting mechanism comprises a driving rod, a lifting rod, a second connecting rod and a movable arm. One end of the driving rod and one end of the lifting rod are both hinged to the rack; one end of the second connecting rod is hinged to the other end of the driving rod; one end of the movable arm is hinged to the other end of the second connecting rod; and the other end of the lifting rod is hinged to the middle of the movable arm. The overturning mechanism comprises a third connecting rod, an overturning rod and a fourth connecting rod. One end of the third connecting rod is hinged to the rack. one end of the overturning rod is hinged to the other end of the third connecting rod, and the two ends of the fourth connecting rod are hinged to the middle of the lifting rod and the middle of the overturning rod respectively. The upper portion of the bucket is hinged to the other end of the lifting rod, and the lower portion of the bucket is hinged to the other end of the overturning rod. The driving device is connected with the driving rod. A first locking device is arranged at the hinged position of the lifting rod and the movable arm, and a second locking device is arranged at the hinged position of the third connecting rod and the overturning rod. According to the active metamorphic mechanism type controllable excavating mechanism, the driving rod is driven to complete the actions of excavating, overturning and lifting, and control of various degrees of freedom is achieved by one motor.
Description
Technical field
The present invention relates to mechanical engineering field, particularly one initiatively metamorphic mechanisms formula excavating mechanism of controllable.
Background technology
Excavator is a kind of conventional engineering machinery, and wherein, hydraulic excavator is most widely used general, its Hydraulic Elements required precision is high, cause hydraulic system manufacturing cost high, and easily occur the problems such as leakage of oil, 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.But existing controllable type digging mechanism mainly relies on the work of multiple degrees of freedom linkage, degree of freedom linkage was controlled in the past, often need to control with the control motor of linkage degree of freedom equivalent amount, not only considerably increase cost, and add the complexity of mechanism driving.
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 initiatively metamorphic mechanisms formula excavating mechanism of controllable, thus overcome the shortcoming that existing controllable type excavator needs to carry out with the control motor of linkage degree of freedom equivalent amount controlling.
For achieving the above object, the invention provides a kind of initiatively metamorphic mechanisms formula excavating mechanism of controllable, comprising: frame; Lift descending mechanism, it comprises: one end is articulated with driving lever in described frame respectively and bar falls in act, the second connecting rod that the other end of one end and described driving lever is hinged, the swing arm that the other end of one end and described second connecting rod is hinged, the other end that bar falls in described act is articulated with the middle part of described swing arm; Switching mechanism, it comprises: one end is articulated with the third connecting rod in frame, the turning rod that the other end of one end and described third connecting rod is hinged, and two ends are articulated with the double leval jib that the middle part of bar and described turning rod falls in described act respectively; 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; And drive unit, it is connected with described driving lever to drive it to rotate; Wherein, the hinged place that bar and described swing arm fall in described act is provided with the first locking device, and described third connecting rod and described turning rod hinged place are provided with the second locking device.
In technique scheme, described drive unit is servomotor.
In technique scheme, described driving lever is positioned at the front that bar falls in described act, and the front that bar is positioned at described third connecting rod falls in described act.
In technique scheme, described swing arm and described turning rod are bending.
Compared with prior art, the present invention has following beneficial effect:
1. the excavating mechanism of controllable in the present invention, drive unit only need drive the action that driving lever can complete the excavation of scraper bowl, upset, act are fallen, and meets the control that a motor completes multiple degree of freedom.
2. ensureing, under conventional excavators job requirements and the simple prerequisite of linkage structure, not only to possess the flexibility of existing hydraulic crawler excavator, and avoid the shortcomings such as Hydraulic Elements precision is high, leakage of oil in the present invention.
3. the present invention compares other controllable mechanisms is excavators, decreases driving lever bar quantity, decreases the usage quantity of controllable motor, reduces digging mechanism manufacturing cost.
Accompanying drawing explanation
Fig. 1 is the structural representation according to active metamorphic mechanisms formula excavating mechanism of controllable of the present invention.
Fig. 2 is the structural representation according to act descending mechanism of the present invention.
Fig. 3 is the structural representation according to switching mechanism of the present invention.
Fig. 4 is the first operating diagram according to active metamorphic mechanisms formula excavating mechanism of controllable of the present invention.
Fig. 5 is the second operating diagram according to active metamorphic mechanisms formula excavating mechanism of controllable of the present invention.
Fig. 6 is the third operating diagram according to active metamorphic mechanisms formula excavating mechanism of controllable of the present invention.
Main Reference Numerals illustrates:
1-frame, 3-driving lever, 5-second connecting rod, 7-swing arm, 9-lifts and falls bar, 11-double leval jib, 13-scraper bowl, 15-turning rod, 18-third connecting rod.
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 initiatively metamorphic mechanisms formula excavating mechanism of controllable of the specific embodiment of the invention, comprising: frame 1, act descending mechanism, switching mechanism, scraper bowl 13, drive unit, the first locking device and the second locking device, as shown in Figure 2, lift descending mechanism to comprise: bar 9, second connecting rod 5, swing arm 7 fall in driving lever 3, act, driving lever 3 and act fall one end of bar 9 respectively by the first revolute pair 2, 4th revolute pair 20 is articulated with in frame 1, as decision design, driving lever 3 is located at the front of lifting and falling bar 9, one end of second connecting rod 5 is hinged with the other end of driving lever 3 by the second revolute pair 4, swing arm 7 is set as bending and one end of swing arm 7 is hinged with the other end of second connecting rod 5 by the 3rd revolute pair 6, lift the other end falling bar 9 is articulated with swing arm 7 middle part by the 5th revolute pair 8, lift and fall the 5th revolute pair 8 place that bar 9 and swing arm 7 be hinged and be provided with the first locking device, for braking this revolute pair.
As shown in Figure 3, switching mechanism comprises: third connecting rod 18, turning rod 15 and double leval jib 11; One end of third connecting rod 18 is articulated with in frame 1 by the 6th revolute pair 19, in this embodiment, lift and fall the front that bar 9 is positioned at third connecting rod 18, turning rod 15 is set as bending and one end of turning rod 15 is hinged with the other end of third connecting rod 18 by the 7th revolute pair 17, and the two ends of double leval jib 11 are articulated with the middle part of lifting and falling bar 9 and turning rod 15 respectively by the tenth revolute pair the 16, the 11 revolute pair 10; The other end that the top of scraper bowl 13 falls bar 9 by the 9th revolute pair 12 and act is hinged, bottom is hinged with the other end of turning rod 15 by the 8th revolute pair 14, the 7th revolute pair 17 place that third connecting rod 18 and turning rod 15 are hinged is provided with the second locking device, for braking this revolute pair.
In this embodiment, drive unit is connected with driving lever 3 to drive it to rotate; Wherein, drive unit is preferably servomotor.
Excavating mechanism of controllable is in each digging operation, when scraper bowl 13 is lifted and is fallen, first locking device at the 5th revolute pair 8 place is locked it, 5th revolute pair 8 loses degree of freedom, the locking device at the 7th revolute pair 17 place is opened and is made it possible to rotate, 7th revolute pair 17 degree of affranchising, the act realizing scraper bowl 13 under the driving of driving lever 3 is fallen; When scraper bowl 13 overturns, the locking device at the 5th revolute pair 8 place is opened, the 5th revolute pair 8 degree of affranchising, the locking device locking at the 7th revolute pair 17 place, and the 7th revolute pair 17 loses degree of freedom, realizes the upset of scraper bowl 13 under the driving of driving lever 3; In digging operation process, according to different working conditions, be arranged on the suitable tight lock of locking device in the 5th revolute pair 8 and the 7th revolute pair 17 or open, jointly completing digging operation, wherein, excavating, upset and lift and fall action and see Fig. 4, Fig. 5 and Fig. 6.
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 (4)
1. an active metamorphic mechanisms formula excavating mechanism of controllable, is characterized in that, comprising:
Frame;
Lift descending mechanism, it comprises: one end is articulated with driving lever in described frame respectively and bar falls in act, the second connecting rod that the other end of one end and described driving lever is hinged, the swing arm that the other end of one end and described second connecting rod is hinged, the other end that bar falls in described act is articulated with the middle part of described swing arm;
Switching mechanism, it comprises: one end is articulated with the third connecting rod in frame, the turning rod that the other end of one end and described third connecting rod is hinged, and two ends are articulated with the double leval jib that the middle part of bar and described turning rod falls in described act respectively;
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; And
Drive unit, it is connected with described driving lever to drive it to rotate;
Wherein, the hinged place that bar and described swing arm fall in described act is provided with the first locking device, and described third connecting rod and described turning rod hinged place are provided with the second locking device.
2. active metamorphic mechanisms formula excavating mechanism of controllable according to claim 1, it is characterized in that, described drive unit is servomotor.
3. active metamorphic mechanisms formula excavating mechanism of controllable according to claim 1, it is characterized in that, described driving lever is positioned at the front that bar falls in described act, and the front that bar is positioned at described third connecting rod falls in described act.
4. active metamorphic mechanisms formula excavating mechanism of controllable according to claim 1, it is characterized in that, described swing arm and described turning rod are bending.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510303909.9A CN104929167A (en) | 2015-06-04 | 2015-06-04 | Active metamorphic mechanism type controllable excavating mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510303909.9A CN104929167A (en) | 2015-06-04 | 2015-06-04 | Active metamorphic mechanism type controllable excavating mechanism |
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| CN104929167A true CN104929167A (en) | 2015-09-23 |
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| CN201510303909.9A Pending CN104929167A (en) | 2015-06-04 | 2015-06-04 | Active metamorphic mechanism type controllable excavating mechanism |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106607864A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Variable freedom degree multi-connecting-rod fodder stacking mechanical arm driven by servo motor |
| CN106638740A (en) * | 2015-10-29 | 2017-05-10 | 广西大学 | Multi-degree-of-freedom controllable-mechanism-type bulldozer |
| CN106737645A (en) * | 2016-12-05 | 2017-05-31 | 广西大学 | A kind of servo-drive variable freedom multi link mechanical arm for transport operation |
| CN106737717A (en) * | 2016-11-28 | 2017-05-31 | 广西大学 | A kind of servo-drive variable freedom multi link mechanical arm for assembling work |
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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 |
| CN104047316A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Multi-freedom-degree controllable excavating mechanism with driving metamorphism function |
| CN104294868A (en) * | 2014-11-11 | 2015-01-21 | 广西大学 | Multi-freedom-degree controllable loading mechanism with active metamorphic function |
| CN104594400A (en) * | 2014-12-25 | 2015-05-06 | 广西大学 | Rotatable multiple-connecting-rod controllable excavating mechanism having metamorphic function |
| 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 CN201510303909.9A patent/CN104929167A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN104047316A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Multi-freedom-degree controllable excavating mechanism with driving metamorphism function |
| CN104294868A (en) * | 2014-11-11 | 2015-01-21 | 广西大学 | Multi-freedom-degree controllable loading mechanism with active metamorphic function |
| CN104594400A (en) * | 2014-12-25 | 2015-05-06 | 广西大学 | Rotatable multiple-connecting-rod controllable excavating mechanism having metamorphic function |
| 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 (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106638740A (en) * | 2015-10-29 | 2017-05-10 | 广西大学 | Multi-degree-of-freedom controllable-mechanism-type bulldozer |
| CN106607864A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Variable freedom degree multi-connecting-rod fodder stacking mechanical arm driven by servo motor |
| CN106737717A (en) * | 2016-11-28 | 2017-05-31 | 广西大学 | A kind of servo-drive variable freedom multi link mechanical arm for assembling work |
| CN106737645A (en) * | 2016-12-05 | 2017-05-31 | 广西大学 | A kind of servo-drive variable freedom multi link mechanical arm for transport operation |
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Application publication date: 20150923 |