CN105369843B - The link-type stacking arm of Multi-angle working - Google Patents
The link-type stacking arm of Multi-angle working Download PDFInfo
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- CN105369843B CN105369843B CN201510814261.1A CN201510814261A CN105369843B CN 105369843 B CN105369843 B CN 105369843B CN 201510814261 A CN201510814261 A CN 201510814261A CN 105369843 B CN105369843 B CN 105369843B
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- bar
- sliding sleeve
- telescopic rod
- revolute pair
- workbench
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Abstract
The connecting rod stacking arm of Multi-angle working, one lower end of telescopic rod of the stacking arm is connected on sliding block, sliding block is mounted in the sliding slot on workbench, one upper end of telescopic rod is connect with two one end of bar, two other end of bar is connected on actuator, one lower end of bar is connected on workbench, one upper end of bar is connected on sliding sleeve three, sliding sleeve three is sleeved on bar two, three one end of bar is connected on workbench, three other end of bar is connected on sliding sleeve two, sliding sleeve two is sleeved on bar one, two end of telescopic rod is connected on sliding sleeve one, sliding sleeve one is sleeved on telescopic rod one, two other end revolute pair of telescopic rod is connected to actuator, workbench is mounted on trolley.While the present invention has many advantages, such as that conventional hydraulic machine mechanism working space is big, digging force is big, stress is good, the quantity of driving lever and controllable motor is also reduced, and reduces the complexity of rack transmission system.
Description
Technical field
The present invention relates to machinery field, the connecting rod stacking arm of specifically a kind of Multi-angle working.
Background technology
Loading machine is a kind of earthwork construction machinery being widely used in the construction projects such as road, harbour, mine, railway,
It is mainly used for the loose unpacked materials such as shovel dress soil, sandstone, also can make lightly digging operations to ore, pan soil etc..It is different to change kind
Auxiliary working apparatus can also be bulldozed, the handling operation of lifting and unclassified stores.Loading machine is the engineering being most widely used
Machinery, with the development of the social economy, loading machine is got in the application of the occasions such as Municipal engineering, rubbish cleaning, architectural engineering
Come more.Existing loading machine is mainly made of swing arm lifting mechanism and bucket turnover mechanism two parts, passes through boom cylinder respectively
The action that fulfils assignment is controlled with bucket cylinder, although hydraulic system structure is compact, hydraulic system is easily by oil overheating shadow
It rings, mechanical efficiency is low, transmission stability is poor, and Hydraulic System Reliability is poor, safeguards, maintenance is complicated and cost is higher.
With the development of theory of mechanisms and electromechanical integration, being had been changed to mechanical drive mode driving loader mechanism operation can
Energy.Machinery driving efficiency is high, and existing electromechanical integration technology can overcome machine driving to be easy overload destruction etc.
Disadvantage.But existing multiple degrees of freedom controllable type loader mechanism, simple modifications only are carried out to existing hydraulic loader structure mostly,
The hydraulic system in hydraulic loader structure is replaced using two link mechanisms, lacks and dynamic property is driven with hydraulic cylinder to rod piece transmission
The shortcomings of the considerations of difference, causes mechanism poor rigidity, and anti-overload ability is small, kinematics and poor dynamic performance, it is difficult to meet
Actual job needs, and is difficult suitable for loading machine design production although solving some shortcomings existing for hydraulic system.
Invention content
In view of the deficiencies of the prior art, the present invention provides a kind of connecting rod stacking arms of Multi-angle working, overcome conventional hydraulic
The shortcomings of excavator maintenance costs are high, operation noise is big, Hydraulic Elements are of high cost, reaction is not sensitive enough.
To achieve the goals above, present invention employs following technical schemes：
The connecting rod stacking arm of Multi-angle working, including bar one, bar two, bar three, telescopic rod one, telescopic rod two, sliding sleeve one, cunning
Set two, sliding sleeve three, sliding block, actuator and workbench,
One lower end of telescopic rod is connected to by revolute pair one on sliding block, and sliding block is mounted in the sliding slot on workbench, is stretched
One upper end of contracting bar is connect by revolute pair two with two one end of bar, and two other end of bar is connected to by revolute pair three on actuator,
One lower end of bar is connected to by revolute pair four on workbench, and one upper end of bar is connected to sliding sleeve three by revolute pair five
On, sliding sleeve three is sleeved on bar two,
Three one end of bar is connected to by revolute pair six on workbench, and three other end of bar is connected to sliding sleeve by revolute pair seven
On two, sliding sleeve two is sleeved on bar one,
Two end of telescopic rod is connected to by revolute pair eight on sliding sleeve one, and sliding sleeve one is sleeved on telescopic rod one, and telescopic rod two is another
One end is connected to actuator by revolute pair,
Workbench revolute pair ten is mounted on trolley.
Compared with prior art, the advantageous effect that the present invention has：
While having many advantages, such as that conventional hydraulic machine mechanism working space is big, digging force is big, stress is good, also reduce actively
The usage quantity of bar, reduces controllable motor quantity, not only greatly reduces the cost of excavating mechanism of controllable, but also reduces machine
The complexity of frame transmission system is more applicable for manufacturing all kinds of excavators and other engineering machinery.Swing mechanism can be controlled flexibly
Operative orientation.Driving link type of drive is flexible and changeable, and servo motor can be selected and drive, the drive forms such as combination drive, not only ring
The advantages that protecting, and be easily achieved remote control, reducing labor intensity.
Description of the drawings
Fig. 1 is the structural schematic diagram of the connecting rod stacking arm of Multi-angle working of the present invention.
Specific implementation mode
Technical scheme of the present invention is further elaborated below by embodiment.
Embodiment 1
The connecting rod stacking arm of Multi-angle working, including bar 1, bar 2 12, bar 3 13, telescopic rod 1, telescopic rod two
32, sliding sleeve 1, sliding sleeve 2 22, sliding sleeve 3 23, sliding block 24, actuator 25 and workbench 26,
One 31 lower end of telescopic rod is connected to by revolute pair 1 on sliding block 24, and sliding block 24 is mounted on workbench 26
In sliding slot, one 31 upper end of telescopic rod is connect by revolute pair 22 with 2 12 one end of bar, and 2 12 other end of bar passes through revolute pair 33
It is connected on actuator 25,
One 11 lower end of bar is connected to by revolute pair 44 on workbench 26, and one 11 upper end of bar is connected by revolute pair 55
On sliding sleeve 3 23, sliding sleeve 3 23 is sleeved on bar 2 12,
3 13 one end of bar is connected to by revolute pair 66 on workbench, and three other end of bar is connected to by revolute pair 77
On sliding sleeve 2 22, sliding sleeve two is sleeved on bar one,
Two end of telescopic rod is connected to by revolute pair 88 on sliding sleeve one, and sliding sleeve one is sleeved on telescopic rod one, and telescopic rod two is another
One end is connected to actuator 25 by revolute pair 9,
26 revolute pair ten of workbench is mounted on trolley.
Claims (1)
1. the connecting rod stacking arm of Multi-angle working, which is characterized in that including bar one, bar two, bar three, telescopic rod one, telescopic rod two,
Sliding sleeve one, sliding sleeve two, sliding sleeve three, sliding block, actuator and workbench,
One lower end of telescopic rod is connected to by revolute pair one on sliding block, and sliding block is mounted in the sliding slot on workbench, telescopic rod
One upper end is connect by revolute pair two with two one end of bar, and two other end of bar is connected to by revolute pair three on actuator,
One lower end of bar is connected to by revolute pair four on workbench, and one upper end of bar is connected to by revolute pair five on sliding sleeve three,
Sliding sleeve three is sleeved on bar two,
Three one end of bar is connected to by revolute pair six on workbench, and three other end of bar is connected to sliding sleeve two by revolute pair seven
On, sliding sleeve two is sleeved on bar one,
Two end of telescopic rod is connected to by revolute pair eight on sliding sleeve one, and sliding sleeve one is sleeved on telescopic rod one, two other end of telescopic rod
It is connected to actuator by revolute pair,
Workbench revolute pair ten is mounted on trolley.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510814261.1A CN105369843B (en) | 2015-11-20 | 2015-11-20 | The link-type stacking arm of Multi-angle working |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510814261.1A CN105369843B (en) | 2015-11-20 | 2015-11-20 | The link-type stacking arm of Multi-angle working |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105369843A CN105369843A (en) | 2016-03-02 |
| CN105369843B true CN105369843B (en) | 2018-08-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510814261.1A Active CN105369843B (en) | 2015-11-20 | 2015-11-20 | The link-type stacking arm of Multi-angle working |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272392A (en) * | 2016-09-06 | 2017-01-04 | 广西大学 | Multi-angle high thrust moves stacking machine mechanical arm |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000198091A (en) * | 1999-01-08 | 2000-07-18 | Hitachi Zosen Corp | Robot system for cooperating a plurality of arms |
| CN102145815A (en) * | 2010-12-31 | 2011-08-10 | 广西大学 | Spatial four-degree-of-freedom controllable palletizing robot |
| CN102357897A (en) * | 2011-09-09 | 2012-02-22 | 燕山大学 | Four-degree-of-freedom series-parallel combined heavy-load mechanical arm |
| CN103029124A (en) * | 2012-12-27 | 2013-04-10 | 广西大学 | Multi-degree-of-freedom controllable mechanism type stacking robot |
| CN104440866A (en) * | 2014-12-25 | 2015-03-25 | 广西大学 | Three-degree-of-freedom nine-connecting-rod controllable mobile operating mechanical arm with mobile pair |
| CN104493816A (en) * | 2014-12-25 | 2015-04-08 | 广西大学 | Metamorphic parallel-connection robot palletizer mechanism |
| CN204673614U (en) * | 2015-06-09 | 2015-09-30 | 洛阳理工学院 | A kind of palletizing mechanical arm |
-
2015
- 2015-11-20 CN CN201510814261.1A patent/CN105369843B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000198091A (en) * | 1999-01-08 | 2000-07-18 | Hitachi Zosen Corp | Robot system for cooperating a plurality of arms |
| CN102145815A (en) * | 2010-12-31 | 2011-08-10 | 广西大学 | Spatial four-degree-of-freedom controllable palletizing robot |
| CN102357897A (en) * | 2011-09-09 | 2012-02-22 | 燕山大学 | Four-degree-of-freedom series-parallel combined heavy-load mechanical arm |
| CN103029124A (en) * | 2012-12-27 | 2013-04-10 | 广西大学 | Multi-degree-of-freedom controllable mechanism type stacking robot |
| CN104440866A (en) * | 2014-12-25 | 2015-03-25 | 广西大学 | Three-degree-of-freedom nine-connecting-rod controllable mobile operating mechanical arm with mobile pair |
| CN104493816A (en) * | 2014-12-25 | 2015-04-08 | 广西大学 | Metamorphic parallel-connection robot palletizer mechanism |
| CN204673614U (en) * | 2015-06-09 | 2015-09-30 | 洛阳理工学院 | A kind of palletizing mechanical arm |
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| CN105369843A (en) | 2016-03-02 |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20180716 Address after: 530105 Nanning, the Guangxi Zhuang Autonomous Region, ASEAN Economic and Technological Development Zone, 98 overseas Chinese road, Pearl 2, 1 units, 1001 rooms. Applicant after: NANNING SUICONG FUYU TECHNOLOGY DEVELOPMENT Co.,Ltd. Address before: 545000 room 2, unit 13, No. 2B, C three, hang three road, Liuzhou, the Guangxi Zhuang Autonomous Region. Applicant before: Zhu Qiang Qin |
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Effective date of registration: 20221214 Address after: No. 61, Langyazhuang Village, Zaoyuan Town, Lanshan District, Linyi City, Shandong Province, 276000 Patentee after: Linyi Chaoneng Automation Technology Co.,Ltd. Address before: 530105 Nanning, the Guangxi Zhuang Autonomous Region, ASEAN Economic and Technological Development Zone, 98 overseas Chinese road, Pearl 2, 1 units, 1001 rooms. Patentee before: NANNING SUICONG FUYU TECHNOLOGY DEVELOPMENT Co.,Ltd. |