CN105951901A - Multi-unit connecting rod driving sixteen-rod four-range-of-motion heavy-duty loading robot - Google Patents
Multi-unit connecting rod driving sixteen-rod four-range-of-motion heavy-duty loading robot Download PDFInfo
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- CN105951901A CN105951901A CN201610463363.8A CN201610463363A CN105951901A CN 105951901 A CN105951901 A CN 105951901A CN 201610463363 A CN201610463363 A CN 201610463363A CN 105951901 A CN105951901 A CN 105951901A
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- revolute pair
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- side chain
- swing arm
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/425—Drive systems for dipper-arms, backhoes or the like
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
A multi-unit connecting rod driving sixteen-rod four-range-of-motion heavy-duty loading robot comprises a multi-unit connecting rod driving mechanism, a movable arm lifting mechanism, a bucket control mechanism and the like. Under the control of a computer, the multi-unit connecting rod driving mechanism achieves driving with multiple low-power motors and high-capacity and high-torque power output, and the heavy-load operation power requirement of the loading robot is met. By introducing hydraulic elements into the movable arm lifting mechanism and the bucket control mechanism, the pressure in cylinders is equal, the problem of unbalanced stress of two driving chains of a bucket and movable arms of the loading robot is relieved, and the bearing stability is improved. The loading robot has the characteristics of high mechanical efficiency, a high response speed, high motion accuracy, good controllability and the like; besides, due to the planar parallel-connection design of the bucket control mechanism and introduction of the multi-unit connecting rod driving mechanism and the hydraulic elements, the bearing capacity and shock resistance of the loading robot are greatly improved, and an overload protection function is achieved easily. Large-sized, middle-sized and small-sized loading robots can be manufactured in this way specifically.
Description
Technical field
The present invention relates to loader field, particularly a kind of multiple-unit connecting rod drives 16 bar four mobility heavy-duty loader device people.
Background technology
Loader is that one is widely used in the construction fields such as farmland, water conservancy, the energy, municipal administration, carry out the key equipment of loose unpacked material handling, infrastructure construction is played an important role, but conventional hydraulic formula loader also exists the shortcomings such as energy consumption is high, noise is big, exhaust emissions is serious, intelligent level is low.Controllable mechanism is the product that traditional mechanism is combined with electronic technology, " a numerical control generation " equipment Innovation project carried out in recent years, opportunity is brought to the upgrading of Traditional project mechanical technique, shortcoming for fluid pressure type loader, controllable mechanism and robot correlation technique are applied in working device of loader design, propose a class controllable mechanism loader, such loader mechanism avoids the use of hydraulic system, it is made up of multiple degrees of freedom linkage and multiple controllable motor, the controllable motor that its output motion is controlled by multiple stage computer programming together decides on, the output trajectory of scraper bowl is the function of independent variable more than, complicated flexible track output can be realized easily, therefore controllable loading mechanism belongs to construction robot category.Comparing fluid pressure type loader, controllable loading mechanism has the advantages such as intelligence degree height, good, the high transmission efficiency of flexibility ratio, has great importance for propelling loading machine greenization, intellectuality.
But, during controllable loading mechanism is carried out engineering Application Research, it was found that a series of engineering problems not related to.First, existing controllable loading mechanism swing arm lifting side chain all uses the configuration design form of driving lever connecting rod swing arm, because driving lever is by controllable electric transmission system drives, it is limited by the problems such as controllable motor cost is high, output is little, moment of torsion is low, cause the problems such as existing controllable loading mechanism power performance is poor, load capacity is weak, it is difficult to meet the power demand of loader, so the configuration design form of existing controllable loading mechanism is only applicable to microminiature loader；Secondly, existing controllable loading mechanism is plane parallel mechanism, during two driving levers lifting swing arm at the same time, owing to manufacturing, process, assembling equal error, particularly when loader unbalance loading, cause swing arm two parallel drive side chain unbalance stress, have impact on lifting stability, easily cause the overload damage of partial component, affect the service life of controllable loading mechanism；It addition, each component of existing controllable loading mechanism typically uses the type of attachment of revolute pair, compare the equipment of fluid pressure type loader containing moving sets, lack effective overload protection and absorbing means.Above-mentioned reason has had a strong impact on the engineer applied of controllable loading mechanism.
Summary of the invention
Problem offer a kind of multiple-unit connecting rod driving 16 bar four mobility heavy-duty loader device people that prior art exists are provided, both there is existing controllable loading mechanism intelligence degree high, flexibility ratio is good, transmission efficiency advantages of higher, solve existing controllable loading mechanism power performance poor simultaneously, load capacity is weak, swing arm elevating mechanism and scraper bowl controlling organization poor stability, lack the engineering problem such as effective overload protection and absorbing means, this loading robot is made to have preferable dynamic performance and bearing stability, there is stronger bearing capacity simultaneously, vibration resistance and overload protection performance.
The present invention reaches above-mentioned purpose by the following technical programs: a kind of multiple-unit connecting rod drives 16 bar four mobility heavy-duty loader device people, including multiple-unit bar-link drive, swing arm elevating mechanism, scraper bowl controlling organization and frame.
Described multiple-unit bar-link drive includes the first driving side chain, second drives side chain, frame, bent axle, described first drives side chain to include the first driving lever, first connecting rod, described first driving lever one end is connected with frame by the first revolute pair, the other end is connected with first connecting rod one end by the second revolute pair, the described first connecting rod other end is connected with bent axle by the 3rd revolute pair, described second drives side chain to include the second driving lever, second connecting rod, described second driving lever one end is connected with frame by the 4th revolute pair, the other end is connected with second connecting rod one end by the 5th revolute pair, the described second connecting rod other end is connected with bent axle by the 6th revolute pair, described bent axle passes through the 7th revolute pair, 8th revolute pair is connected with frame.Described first driving lever, second driving lever is driven controlling by electric drive system by controllable motor, described multiple-unit bar-link drive is under the control of a computer system, can be exported by bent axle after the power coupling of multiple power units, input so that this multiple-unit bar-link drive achieves by multiple stage small-power controllable motor, high-power, the purpose of high torque power output, solve tradition controllable loading mechanism servomotor power output little, the problems such as driving torque is low, the bearing capacity of this loading robot it is effectively increased by this design, additionally, according to different power needs, can conveniently select Unit four, the driving side chain of the varying numbers such as Unit six is driven, this multiple-unit bar-link drive is made to have stronger power adaptability, can meet big, in, small-sized loading machine people's power demand.
nullDescribed swing arm elevating mechanism includes swing arm、First lifting side chain and the second lifting side chain，Described swing arm passes through the 9th revolute pair、Tenth revolute pair is connected with frame，Described first lifting side chain includes third connecting rod、First cylinder body、First piston bar，Described third connecting rod one end is connected by key or other connected mode are fixing with bent axle，The other end is connected with the first cylinder body by the 11st revolute pair，Described first cylinder body is connected with first piston bar one end by the first moving sets，The described first piston bar other end is connected with swing arm by the 12nd revolute pair，Described second lifting side chain includes fourth link、Second cylinder body、Second piston rod，Described fourth link one end is fixed with bent axle by strong or other connected mode and is connected，The other end is connected with the second cylinder body by the 13rd revolute pair，Described second cylinder body is connected by the second moving sets and second piston rod one end，The second piston rod other end is connected with swing arm by the 14th revolute pair.In practical engineering application, described first cylinder body, the first moving sets, first piston bar can replace with a hydraulic cylinder, described second cylinder body, the second moving sets and the second piston rod can replace with another hydraulic cylinder, in loading robot operation process, multiple-unit bar-link drive provides power by bent axle for swing arm elevating mechanism.
It is plane parallel mechanism due to controllable loading mechanism due to swing arm elevating mechanism, because manufacturing, processing, assembling equal error, particularly when loader unbalance loading, cause swing arm two parallel drive side chain unbalance stress, have impact on lifting stability, easily cause the overload damage of partial component, affect the service life of actuator.Described multiple-unit connecting rod drives 16 bar four mobility heavy-duty loader device people by introducing the first moving sets, second moving sets, ensure that swing arm elevating mechanism first, second swing arm lifting side chain has adjustable mobility, according to pascal's principle, utilize hydraulic line by parallel to the first cylinder body and the second cylinder body, by the first moving sets, being automatically adjusted of second moving sets, in can realizing two cylinder bodies, fluid pressure is identical, and then realize the stress balance of two swing arm lifting side chains under uneven loading action, improve the problem that swing arm two lifts side chain unbalance stress, improve moved arm lifting stability, extend the service life of each component of swing arm elevating mechanism.It addition, the introducing of Hydraulic Elements is effectively improved the vibration resistance of swing arm elevating mechanism, and by introducing the auxiliary equipments such as relief valve in the first cylinder body or the second cylinder body, the overload protection function of swing arm elevating mechanism can be realized easily.
nullDescribed scraper bowl controlling organization includes scraper bowl、First controls side chain and second controls side chain，Described scraper bowl passes through the 15th revolute pair、16th revolute pair is connected with swing arm，Described first controls side chain includes the 3rd driving lever、3rd cylinder body、3rd piston rod、First rocking arm、First pull bar，Described 3rd driving lever one end is connected with frame by the 17th revolute pair，The other end is connected with the 3rd cylinder body by the 18th revolute pair，Described 3rd cylinder body is connected by three moving sets and the 3rd piston rod，Described 3rd piston rod is connected with the first rocking arm by the 19th revolute pair，Described first rocking arm is connected with swing arm by the 20th revolute pair，Described first pull bar one end is connected with the first rocking arm by the 21st revolute pair，The other end is connected with scraper bowl by the 22nd revolute pair，Described second controls side chain includes the 4th driving lever、4th cylinder body、4th piston rod、Second rocking arm、Second pull bar，Described 4th driving lever one end is connected with frame by the 23rd revolute pair，The other end is connected with the 4th cylinder body by the 24th revolute pair，Described 4th cylinder body is connected by the 4th moving sets and the 4th piston rod，Described 4th piston rod is connected with the second rocking arm by the 25th revolute pair，Described second rocking arm is connected with swing arm by the 26th revolute pair，Described second pull bar one end is connected with the second rocking arm by the 27th revolute pair，The other end is connected with scraper bowl by the 28th revolute pair.Described 3rd driving lever, the 4th driving lever are driven controlling by electric drive system by controllable motor, and scraper bowl realizes flip-flop movement under the drive of two driving levers.
On the one hand in order to improve shovel dress stability, improve dynamic property, on the other hand in order to improve the load capacity of this loading robot, described scraper bowl controlling organization uses plane parallel mechanism design form, and jointly driven by two set controllable electric drive systems, greatly improve spading ability and the bearing capacity of this loading robot scraper bowl.In order to avoid because manufacturing, processing, assembling equal error, particularly when loader unbalance loading, cause the problem that two scraper bowls control side chain unbalance stress, by introducing three moving sets, 4th moving sets, ensure that scraper bowl controlling organization first, second controls side chain has adjustable mobility, according to pascal's principle, utilize hydraulic line by parallel to the 3rd cylinder body and the 4th cylinder body, by three moving sets, being automatically adjusted of 4th moving sets, in can realizing two cylinder bodies, fluid pressure is identical, and then realize the stress balance of two control side chains under uneven loading action, improve the problem that scraper bowl controlling organization two controls side chain unbalance stress, improve and load robot job stabilization, extend the service life of each component of scraper bowl controlling organization.It addition, the introducing of Hydraulic Elements is effectively improved the vibration resistance of scraper bowl controlling organization, and by introducing the auxiliary equipments such as relief valve in the 3rd cylinder body or the 4th cylinder body, the overload protection function of scraper bowl controlling organization can be realized easily.
Described a kind of multiple-unit connecting rod drives 16 bar four mobility heavy-duty loader device people under the programming Control of each electric drive system controllable motor, completes loading operation.During industry pretended by loading robot shovel; when the load that actuator is born is in tolerance zone; moving sets in swing arm elevating mechanism and scraper bowl controlling organization only balances first, second lifting side chain or first, second by the way of fine setting and controls the stress of side chain; the bar group being made up of cylinder body, moving sets, piston rod in each side chain can be considered a non-telescoping Force transmission parts; if the load that this loading robot bears exceedes tolerance zone; by opening the relief valve on cylinder body, play overload protective function.Based on These characteristics, described multiple-unit connecting rod driving 16 bar four mobility heavy-duty loader device people compare existing controllable loading mechanism and have more preferable dynamic performance, bearing stability, reliability, and higher load capacity and vibration resistance, technical solutions according to the invention are particularly well-suited to manufacture and design large-tonnage heavy-duty loader device people.
The present invention has the prominent advantages that:
1, on the premise of ensureing that meeting loading operation requires, this loading robot uses the link transmission driven by electric drive system to instead of the Hydraulic Power Transmission System of conventional load machine equipment, avoid the problems such as low, the poor reliability of hydraulic system mechanical efficiency, comparing fluid pressure type loader, this loading robot has the features such as low energy consumption, low noise, emission-free discharge.It addition, the dynamical system of this loading robot have employed the controllable electric drive system that computer programming controls, comparing existing fluid pressure type engineering machinery, have automatization and intelligence degree advantages of higher, actuator is handled and is controlled simply, it is achieved that NC postprocessing operation.
2, comparing existing controllable loading mechanism, loading robot of the present invention has higher bearing capacity and adaptability.The plane parallel mechanism design form of scraper bowl controlling organization employing and the introducing of swing arm elevating mechanism multiple-unit bar-link drive, be greatly improved the bearing capacity of this loading robot, is particularly well-suited to manufacture heavy engineering construction robot；This multiple-unit bar-link drive has stronger power adaptability, and the driving side chain of the varying number such as Unit four, Unit six according to different power demand, can be selected to drive, and meets large, medium and small type and loads robot power demand.
3, comparing existing controllable loading mechanism, loading robot of the present invention has more preferable dynamic property and reliability.By introducing Hydraulic Elements at swing arm elevating mechanism and scraper bowl controlling organization, loading robot is made to obtain preferably resistance to shock and bearing stability.Swing arm elevating mechanism and scraper bowl controlling organization are in parallel by cylinder body, achieve uneven loading action downward moving arm two and lift side chain and scraper bowl two controls the stress balance of side chain, improve the problem that each member stress is uneven, improve the lifting stability of swing arm and the spading stability of scraper bowl, extend the service life of each component, improve loading machine human reriability.It addition, swing arm elevating mechanism and scraper bowl controlling organization are by using plane-parallel type to design, greatly improve the rigidity loading robot.
4, existing controllable loading mechanism is compared; loading robot of the present invention has more overload protection means; by introducing the auxiliary equipments such as relief valve on hydraulic cylinder in swing arm elevating mechanism, scraper bowl controlling organization, it is easier to the overload protection performance realizing loading robot.
Accompanying drawing explanation
Fig. 1 is that a kind of multiple-unit connecting rod of the present invention drives 16 bar four mobility heavy-duty loader device people's actuator schematic diagrams.
Fig. 2 is that a kind of multiple-unit connecting rod of the present invention drives 16 bar four mobility heavy-duty loader device people's frame schematic diagrams.
Fig. 3 is one of multiple-unit bar-link drive schematic diagram of the present invention.
Fig. 4 is the two of multiple-unit bar-link drive schematic diagram of the present invention.
Fig. 5 is multiple-unit bar-link drive bent axle schematic diagram of the present invention.
Fig. 6 is swing arm elevating mechanism schematic diagram of the present invention.
Fig. 7 is scraper bowl controlling organization schematic diagram of the present invention.
Fig. 8 is that a kind of multiple-unit connecting rod of the present invention drives 16 bar four mobility heavy-duty loader device people's plan views.
Fig. 9 is that multiple-unit connecting rod of the present invention drives 16 bar four mobility heavy-duty loader device people's operating diagram.
Detailed description of the invention
Below by way of drawings and Examples, technical scheme is described further.
Comparison Fig. 1, a kind of multiple-unit connecting rod of the present invention drives 16 bar four mobility heavy-duty loader device people, including multiple-unit bar-link drive, swing arm elevating mechanism, scraper bowl controlling organization and frame 1.
nullComparison Fig. 1、Fig. 2、Fig. 3、Fig. 4、Fig. 5，Described multiple-unit bar-link drive includes the first driving side chain、Second drives side chain、Frame 1、Bent axle 55，Described first drives side chain to include the first driving lever 2、First connecting rod 4，Described first driving lever 2 one end is connected with frame 1 by the first revolute pair 10，The other end is connected with first connecting rod 4 one end by the second revolute pair 3，Described first connecting rod 4 other end is connected with bent axle 55 by the 3rd revolute pair 5，Described second drives side chain to include the second driving lever 8、Second connecting rod 7，Described second driving lever 8 one end is connected with frame 1 by the 4th revolute pair 9，The other end is connected with second connecting rod 7 one end by the 5th revolute pair 13，Described second connecting rod 7 other end is connected with bent axle 55 by the 6th revolute pair 6，Described bent axle 55 is by the 7th revolute pair 11、8th revolute pair 12 is connected with frame 1.nullDescribed first driving lever 2、Second driving lever 8 is driven controlling by electric drive system by controllable motor，Described multiple-unit bar-link drive is under the control of a computer system，Can will be exported by bent axle 55 after the power coupling of multiple power units，Input so that this multiple-unit bar-link drive achieves by multiple stage small-power controllable motor，High-power、The purpose of high torque power output，Solve tradition controllable loading mechanism servomotor power output little、The problems such as driving torque is low，The bearing capacity of this loading robot it is effectively increased by this design，Additionally，According to different power needs，Can conveniently select Unit four、The driving side chain of the varying numbers such as Unit six is driven，This multiple-unit bar-link drive is made to have stronger power adaptability，Can meet big、In、Small-sized loading machine people's power demand.
nullComparison Fig. 1、Fig. 2、Fig. 6，Described swing arm elevating mechanism includes swing arm 24、First lifting side chain and the second lifting side chain，Described swing arm 24 is by the 9th revolute pair 14、Tenth revolute pair 15 is connected with frame 1，Described first lifting side chain includes third connecting rod 18、First cylinder body 20、First piston bar 22，Described third connecting rod 18 one end is connected by key or other connected mode are fixing with bent axle 55，The other end is connected with the first cylinder body 20 by the 11st revolute pair 19，Described first cylinder body 20 is connected with first piston bar 22 one end by the first moving sets 21，Described first piston bar 22 other end is connected with swing arm 24 by the 12nd revolute pair 56，Described second lifting side chain includes fourth link 32、Second cylinder body 31、Second piston rod 29，Described fourth link 32 one end is fixed with bent axle 55 by strong or other connected mode and is connected，The other end is connected with the second cylinder body 31 by the 13rd revolute pair 33，Described second cylinder body 31 is connected with second piston rod 29 one end by the second moving sets 30，Second piston rod 29 other end is connected with swing arm 24 by the 14th revolute pair 28.In practical engineering application, described first cylinder body the 20, first moving sets 21, first piston bar 22 can replace with a hydraulic cylinder, described second cylinder body the 31, second moving sets 30 and the second piston rod 29 can replace with another hydraulic cylinder, in loading robot operation process, multiple-unit bar-link drive provides power by bent axle 55 for swing arm elevating mechanism.
It is plane parallel mechanism due to controllable loading mechanism due to swing arm elevating mechanism, because manufacturing, processing, assembling equal error, particularly when loader unbalance loading, cause swing arm two parallel drive side chain unbalance stress, have impact on lifting stability, easily cause the overload damage of partial component, affect the service life of actuator.Described multiple-unit connecting rod drives 16 bar four mobility heavy-duty loader device people by introducing the first moving sets 21, second moving sets 30, ensure that swing arm elevating mechanism first, second swing arm lifting side chain has adjustable mobility, according to pascal's principle, utilize hydraulic line that the first cylinder body 20 is in parallel with the second cylinder body 31, by the first moving sets 21, being automatically adjusted of second moving sets 30, in can realizing two cylinder bodies, fluid pressure is identical, and then realize the stress balance of two swing arm lifting side chains under uneven loading action, the problem improving swing arm 24 liang lifting side chain unbalance stress, improve swing arm 24 and lift stability, extend the service life of each component of swing arm elevating mechanism.It addition, the introducing of Hydraulic Elements is effectively improved the vibration resistance of swing arm elevating mechanism, and by introducing the auxiliary equipments such as relief valve in the first cylinder body 20 or the second cylinder body 31, the overload protection function of swing arm elevating mechanism can be realized easily.
nullComparison Fig. 1、Fig. 2、Fig. 7，Described scraper bowl controlling organization includes scraper bowl 39、First controls side chain and second controls side chain，Described scraper bowl 39 is by the 15th revolute pair 25、16th revolute pair 26 is connected with swing arm 24，Described first controls side chain includes the 3rd driving lever 47、3rd cylinder body 45、3rd piston rod 43、First rocking arm 36、First pull bar 38，Described 3rd driving lever 47 one end is connected with frame 1 by the 17th revolute pair 16，The other end is connected with the 3rd cylinder body 45 by the 18th revolute pair 46，Described 3rd cylinder body 45 is connected with the 3rd piston rod 43 by three moving sets 44，Described 3rd piston rod 43 is connected with the first rocking arm 36 by the 19th revolute pair 54，Described first rocking arm 36 is connected with swing arm 24 by the 20th revolute pair 23，Described first pull bar 38 one end is connected with the first rocking arm 36 by the 21st revolute pair 37，The other end is connected with scraper bowl 39 by the 22nd revolute pair 40，Described second controls side chain includes the 4th driving lever 48、4th cylinder body 50、4th piston rod 52、Second rocking arm 34、Second pull bar 42，Described 4th driving lever 48 one end is connected with frame 1 by the 23rd revolute pair 17，The other end is connected with the 4th cylinder body 50 by the 24th revolute pair 49，Described 4th cylinder body 50 is connected with the 4th piston rod 52 by the 4th moving sets 51，Described 4th piston rod 52 is connected with the second rocking arm 34 by the 25th revolute pair 53，Described second rocking arm 34 is connected with swing arm 24 by the 26th revolute pair 27，Described second pull bar 42 one end is connected with the second rocking arm 34 by the 27th revolute pair 35，The other end is connected with scraper bowl 39 by the 28th revolute pair 41.Described 3rd driving lever the 47, the 4th driving lever 48 is driven controlling by electric drive system by controllable motor, and scraper bowl 39 realizes flip-flop movement under the drive of two driving levers.
On the one hand in order to improve shovel dress stability, improve dynamic property, on the other hand in order to improve the load capacity of this loading robot, described scraper bowl controlling organization uses plane parallel mechanism design form, and jointly driven by two set controllable electric drive systems, greatly improve spading ability and the bearing capacity of this loading robot scraper bowl.In order to avoid because manufacturing, processing, assembling equal error, particularly when loader unbalance loading, cause the problem that two scraper bowls control side chain unbalance stress, by introducing three moving sets 44, 4th moving sets 51, ensure that scraper bowl controlling organization first, second controls side chain has adjustable mobility, according to pascal's principle, utilize hydraulic line by parallel with the 4th cylinder body 50 for the 3rd cylinder body 45, by three moving sets 44, being automatically adjusted of 4th moving sets 51, in can realizing two cylinder bodies, fluid pressure is identical, and then realize the stress balance of two control side chains under uneven loading action, improve the problem that scraper bowl controlling organization two controls side chain unbalance stress, improve and load robot job stabilization, extend the service life of each component of scraper bowl controlling organization.It addition, the introducing of Hydraulic Elements is effectively improved the vibration resistance of scraper bowl controlling organization, and by introducing the auxiliary equipments such as relief valve in the 3rd cylinder body 45 or the 4th cylinder body 50, the overload protection function of scraper bowl controlling organization can be realized easily.
Comparison Fig. 1, Fig. 8, Fig. 9, described a kind of multiple-unit connecting rod drives 16 bar four mobility heavy-duty loader device people under the programming Control of each electric drive system controllable motor, completes loading operation.During industry pretended by loading robot shovel; when the load that actuator is born is in tolerance zone; moving sets in swing arm elevating mechanism and scraper bowl controlling organization only balances first, second lifting side chain or first, second by the way of fine setting and controls the stress of side chain; the bar group being made up of cylinder body, moving sets, piston rod in each side chain can be considered a non-telescoping Force transmission parts; if the load that this loading robot bears exceedes tolerance zone; by opening the relief valve on cylinder body, play overload protective function.Based on These characteristics, described multiple-unit connecting rod driving 16 bar four mobility heavy-duty loader device people compare existing controllable loading mechanism and have more preferable dynamic performance, bearing stability, reliability, and higher load capacity and vibration resistance, technical solutions according to the invention are particularly well-suited to manufacture and design large-tonnage heavy-duty loader device people.
Claims (2)
1. multiple-unit connecting rod drives 16 bar four mobility heavy-duty loader device people, including multiple-unit bar-link drive, swing arm elevating mechanism, scraper bowl controlling organization and frame, it is characterised in that:
Described multiple-unit bar-link drive includes the first driving side chain, second drives side chain, frame, bent axle, described first drives side chain to include the first driving lever, first connecting rod, described first driving lever one end is connected with frame by the first revolute pair, the other end is connected with first connecting rod one end by the second revolute pair, the described first connecting rod other end is connected with bent axle by the 3rd revolute pair, described second drives side chain to include the second driving lever, second connecting rod, described second driving lever one end is connected with frame by the 4th revolute pair, the other end is connected with second connecting rod one end by the 5th revolute pair, the described second connecting rod other end is connected with bent axle by the 6th revolute pair, described bent axle passes through the 7th revolute pair, 8th revolute pair is connected with frame,
nullDescribed swing arm elevating mechanism includes swing arm、First lifting side chain and the second lifting side chain，Described swing arm passes through the 9th revolute pair、Tenth revolute pair is connected with frame，Described first lifting side chain includes third connecting rod、First cylinder body、First piston bar，Described third connecting rod one end is fixing with bent axle to be connected，The other end is connected with the first cylinder body by the 11st revolute pair，Described first cylinder body is connected with first piston bar one end by the first moving sets，The described first piston bar other end is connected with swing arm by the 12nd revolute pair，Described second lifting side chain includes fourth link、Second cylinder body、Second piston rod，Described fourth link one end is connected fixing with bent axle，The other end is connected with the second cylinder body by the 13rd revolute pair，Described second cylinder body is connected by the second moving sets and second piston rod one end，The second piston rod other end is connected with swing arm by the 14th revolute pair，
nullDescribed scraper bowl controlling organization includes scraper bowl、First controls side chain and second controls side chain，Described scraper bowl passes through the 15th revolute pair、16th revolute pair is connected with swing arm，Described first controls side chain includes the 3rd driving lever、3rd cylinder body、3rd piston rod、First rocking arm、First pull bar，Described 3rd driving lever one end is connected with frame by the 17th revolute pair，The other end is connected with the 3rd cylinder body by the 18th revolute pair，Described 3rd cylinder body is connected by three moving sets and the 3rd piston rod，Described 3rd piston rod is connected with the first rocking arm by the 19th revolute pair，Described first rocking arm is connected with swing arm by the 20th revolute pair，Described first pull bar one end is connected with the first rocking arm by the 21st revolute pair，The other end is connected with scraper bowl by the 22nd revolute pair，Described second controls side chain includes the 4th driving lever、4th cylinder body、4th piston rod、Second rocking arm、Second pull bar，Described 4th driving lever one end is connected with frame by the 23rd revolute pair，The other end is connected with the 4th cylinder body by the 24th revolute pair，Described 4th cylinder body is connected by the 4th moving sets and the 4th piston rod，Described 4th piston rod is connected with the second rocking arm by the 25th revolute pair，Described second rocking arm is connected with swing arm by the 26th revolute pair，Described second pull bar one end is connected with the second rocking arm by the 27th revolute pair，The other end is connected with scraper bowl by the 28th revolute pair.
Multiple-unit connecting rod the most according to claim 1 drives 16 bar four mobility heavy-duty loader device people, it is characterized in that: described first cylinder body and the second cylinder body are in parallel, described 3rd cylinder body, the 4th cylinder body are in parallel, and described first driving lever, the second driving lever, the 3rd driving lever, the 4th driving lever are driven by controllable motor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610463363.8A CN105951901A (en) | 2016-06-24 | 2016-06-24 | Multi-unit connecting rod driving sixteen-rod four-range-of-motion heavy-duty loading robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610463363.8A CN105951901A (en) | 2016-06-24 | 2016-06-24 | Multi-unit connecting rod driving sixteen-rod four-range-of-motion heavy-duty loading robot |
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| CN105951901A true CN105951901A (en) | 2016-09-21 |
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| CN201610463363.8A Pending CN105951901A (en) | 2016-06-24 | 2016-06-24 | Multi-unit connecting rod driving sixteen-rod four-range-of-motion heavy-duty loading robot |
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| CN (1) | CN105951901A (en) |
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| CN101525888A (en) * | 2008-02-29 | 2009-09-09 | 株式会社小松制作所 | A lift arm for a skid-steel loader |
| CN203345205U (en) * | 2012-12-20 | 2013-12-18 | 中昱军利(北京)国防装备科技中心 | Ground equipment for loading ammunition for fighter plane |
| EP2719835A2 (en) * | 2012-10-11 | 2014-04-16 | CNH Italia S.p.A. | Boom lock system for work machine and associated method |
| CN105035776A (en) * | 2014-04-28 | 2015-11-11 | 凯斯纽荷兰(中国)管理有限公司 | Lift assembly for a work vehicle |
| CN204826011U (en) * | 2015-06-30 | 2015-12-02 | 江苏柳工机械有限公司 | Telescopic skid steer loader equipment |
| US20160090710A1 (en) * | 2014-09-30 | 2016-03-31 | Kubota Corporation | Working machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101525888A (en) * | 2008-02-29 | 2009-09-09 | 株式会社小松制作所 | A lift arm for a skid-steel loader |
| EP2719835A2 (en) * | 2012-10-11 | 2014-04-16 | CNH Italia S.p.A. | Boom lock system for work machine and associated method |
| CN203345205U (en) * | 2012-12-20 | 2013-12-18 | 中昱军利(北京)国防装备科技中心 | Ground equipment for loading ammunition for fighter plane |
| CN105035776A (en) * | 2014-04-28 | 2015-11-11 | 凯斯纽荷兰(中国)管理有限公司 | Lift assembly for a work vehicle |
| US20160090710A1 (en) * | 2014-09-30 | 2016-03-31 | Kubota Corporation | Working machine |
| CN204826011U (en) * | 2015-06-30 | 2015-12-02 | 江苏柳工机械有限公司 | Telescopic skid steer loader equipment |
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Application publication date: 20160921 |