CN106013286A - Multi-unit-connecting-rod-driven simple loading robot with three planar ranges of motion - Google Patents
Multi-unit-connecting-rod-driven simple loading robot with three planar ranges of motion Download PDFInfo
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- CN106013286A CN106013286A CN201610463329.0A CN201610463329A CN106013286A CN 106013286 A CN106013286 A CN 106013286A CN 201610463329 A CN201610463329 A CN 201610463329A CN 106013286 A CN106013286 A CN 106013286A
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- revolute pair
- swing arm
- connecting rod
- side chain
- hydraulic cylinder
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Classifications
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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
- E02F3/422—Drive systems for bucket-arms, front-end loaders, dumpers or the like
-
- 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
- E02F3/34—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 with bucket-arms, i.e. a pair of arms, e.g. manufacturing processes, form, geometry, material of bucket-arms directly pivoted on the frames of tractors or self-propelled machines
- E02F3/3405—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 with bucket-arms, i.e. a pair of arms, e.g. manufacturing processes, form, geometry, material of bucket-arms directly pivoted on the frames of tractors or self-propelled machines and comprising an additional linkage mechanism
-
- 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
- E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
Abstract
A multi-unit-connecting-rod-driven simple loading robot with three planar ranges of motion 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 of multiple small-power motors and high-power and high-torque power output, and the high-load operation power requirement of the loading robot is met. On the basis of the Pascal principle, hydraulic elements are introduced in the movable arm lifting mechanism, equal pressure in cylinders is achieved, the problem of unbalanced stress on two driving chains for lifting movable arms in original controllable loading mechanisms is effectively solved, and the bearing stability is improved. The loading robot not only has the characteristics of high transmission efficiency, high response speed, high moving precision, good controllability and the like of the original controllable loading mechanisms, but also has better bearing and shock-resisting performance due to introduction of the multi-unit-connecting-rod driving mechanism and the hydraulic elements, an overload protection function can be easily achieved, and the technical scheme is quite suitable for manufacturing of large, medium and small loading robots.
Description
Technical field
The present invention relates to loader field, particularly a kind of multiple-unit connecting rod drives plane three mobility Simple loading machine 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 controllable loading 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 plane three mobility Simple loading machine device people that prior art exists is provided; both had that existing controllable loading mechanism intelligence degree is high, flexibility ratio is good, transmission efficiency advantages of higher; solve that existing controllable loading mechanism power performance is poor, load capacity is weak simultaneously, swing arm elevating mechanism poor stability, lack the engineering problem such as effective overload protection and absorbing means; make this loading robot have preferable dynamic performance and bearing stability, there is stronger vibration resistance and overload protection performance simultaneously.
The present invention reaches above-mentioned purpose by the following technical programs: a kind of multiple-unit connecting rod drives plane three mobility Simple loading machine 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 lever, first connecting rod, bent axle, second connecting rod, the second driving lever.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 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 26th revolute pair, and described bent axle passes through the 6th revolute pair, and the 7th revolute pair is connected with frame.
Described first driving lever, the second driving lever are 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, solves the problems such as tradition controllable loading mechanism servomotor power output is little, driving torque is low.It addition, according to the power demand of loading robot, this multiple-unit bar-link drive power adaptability can be improve to facilitate the selection multiple power unit form such as Unit four, Unit six.
Described swing arm elevating mechanism includes the first lifting side chain, the second lifting side chain, swing arm.Described first lifting side chain includes second connecting rod, the first hydraulic cylinder.Described second connecting rod one end is connected with frame by key or other modes, the other end is connected with first hydraulic cylinder one end by the 8th revolute pair, the described first hydraulic cylinder other end is connected with swing arm by the 9th revolute pair, and described second lifting side chain includes third connecting rod, the second hydraulic cylinder.Third connecting rod one end is connected with frame by key or other modes, the other end is connected with second hydraulic cylinder one end by the tenth revolute pair, the described second hydraulic cylinder other end is connected with swing arm by the 11st revolute pair, and described swing arm passes through the 12nd revolute pair, and the 13rd revolute pair is connected with frame.
When this loading robot actual job, owing to swing arm elevating mechanism is plane parallel mechanism, the cylinder body of described first hydraulic cylinder and the second hydraulic cylinder is connected by hydraulic line, and then realize parallel connection, according to pascal's principle, in two cylinder bodies, fluid pressure is identical, the problem that can be effectively improved swing arm 8 liang lifting side chain unbalance stress, improve moved arm lifting stability, extend the service life of each component of swing arm elevating mechanism.And the vibration resistance of swing arm elevating mechanism can be effectively improved by the introducing of Hydraulic Elements, it addition, by introducing the auxiliary equipments such as relief valve on swing arm elevating mechanism two hydraulic cylinder, the overload protection function of swing arm elevating mechanism can be realized easily.
Described scraper bowl controlling organization includes the first control side chain, the second control side chain, scraper bowl.Described first controls side chain includes the first rocking arm, the first linear actuator, the first pull bar.Described first rocking arm is connected with swing arm by the 14th revolute pair, and described first pull bar one end is connected with the first rocking arm by the 15th revolute pair, and the other end is connected with scraper bowl by the 16th revolute pair.Described first linear actuator one end is connected with swing arm by the 17th revolute pair, and the other end is connected with the first rocking arm by the 18th revolute pair.Described second controls side chain includes the second rocking arm, the second linear actuator, the second pull bar.Described second rocking arm is connected with swing arm by the 19th revolute pair, described second pull bar one end is connected with the second rocking arm by the 20th revolute pair, the other end is connected with scraper bowl by the 21st revolute pair, described second linear actuator one end is connected with swing arm by the 22nd revolute pair, and the other end is connected with the second rocking arm by the 23rd revolute pair.Described scraper bowl is connected with swing arm by the 24th revolute pair, the 25th revolute pair.Described scraper bowl controlling organization ability plane-parallel type designs, and the bearing capacity of this loading robot and the emergence power of scraper bowl are greatly improved.
Described a kind of multiple-unit connecting rod drives plane three mobility Simple loading machine device people under the programming Control of each electric drive system, completes loading operation.It is high that this multiple-unit connecting rod drives plane three mobility Simple loading machine device people both to have existing controllable loading mechanism intelligence degree, energy consumption is low, dynamic property is good, the features such as good reliability, simultaneously because the introducing of Hydraulic Elements, make it have the plurality of advantages of fluid pressure type loader, it is in particular in: after the first lifting side chain of (1) described swing arm elevating mechanism and the second lifting side chain introduce Hydraulic Elements, the cylinder body of described first hydraulic cylinder and the cylinder body of the second hydraulic cylinder can be connected by hydraulic line, according to pascal's principle, in two cylinder bodies, fluid pressure is identical, the problem that swing arm two lifts side chain unbalance stress can be effectively improved, improve moved arm lifting stability, extend the service life of each component of swing arm elevating mechanism；(2), after the first lifting side chain and second of described swing arm elevating mechanism lifts side chain introducing Hydraulic Elements, the resistance to shock loading robot can be effectively improved；(3) after the first lifting side chain and second of described swing arm elevating mechanism lifts side chain introducing hydraulic cylinder; during industry pretended by loading robot shovel; when the load born is in tolerance zone; hydraulic cylinder can be considered that two non-telescoping power bars play the effect of transmission power; if the load born exceedes tolerance zone; relief valve on hydraulic cylinder is opened, and plays overload protective function.Based on These characteristics; described multiple-unit connecting rod driving plane three mobility Simple loading machine device people compares existing controllable loading mechanism and has more preferable dynamic performance, bearing stability, vibration resistance and the more long life brought therewith; and it is easier to realize overload protection function, it is adaptable to all kinds of loader of large, medium and small type uses.
The present invention has the prominent advantages that:
1, this loading robot uses brand-new configuration design, rod member and kinematic pair are relatively fewer, meeting needed for loading operation under degree of freedom and work space requirement, there is preferable kinesiology and dynamic performance, swing arm elevating mechanism, by using plane-parallel type to design, greatly improves the rigidity loading robot.This loading robot had both had the features such as controllable mechanism loader energy consumption is low, transmission efficiency is high, intelligence degree is high, good reliability, was provided simultaneously with the features such as fluid pressure type working device of loader shock resistance is good, overload protection performance strong, lifting good stability.
2, the electric drive system that this loading robot uses computer programming to control is driven, and not only has higher intelligent level, it is achieved that operation NC postprocessing, and improves transmission efficiency, reduces energy consumption, there is no exhaust emissions.In the design of this robot, hydraulic cylinder main uses is not as existing fluid pressure type engineering machinery, it is used for driving equipment to do work, but regulate unbalance loading by minute movement, and transmit power as connecting rod, thus avoid the problems such as hydraulic system transmission efficiency is low, decrease the wear problem of Hydraulic Elements, compare fluid pressure type engineering machinery and there is longer service life and higher reliability.
3, comparing existing controllable loading mechanism, loading robot of the present invention has higher bearing capacity and adaptability.The introducing of multiple-unit bar-link drive, and the Parallel Design of scraper bowl controlling organization, be greatly improved the bearing capacity of this loading robot, is particularly well-suited to manufacture large and medium-sized engineering construction robot；This multiple-unit bar-link drive has stronger power adaptability, the driving side chain of the varying number such as Unit four, Unit six according to different power demand, can be selected to drive, meet all kinds of loading robots power demand.
4, comparing existing controllable loading mechanism, loading robot of the present invention has more preferable dynamic property and reliability.The introducing of the Hydraulic Elements such as hydraulic cylinder not only makes this robot be provided with good antivibration and shock-absorbing capacity, and has preferable overload protection function.Swing arm elevating mechanism is in parallel by cylinder body, achieve uneven loading action downward moving arm two and lift the stress balance of side chain, improve the problem that each member stress is uneven, improve the lifting stability of swing arm, extend the service life of each component, improve loading machine human reriability.
5, comparing existing controllable loading mechanism, loading robot of the present invention has more overload protection means, by introducing the auxiliary equipments such as relief valve on swing arm elevating mechanism hydraulic cylinder, 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 plane three mobility Simple loading machine device people's schematic diagram.
Fig. 2 is that a kind of multiple-unit connecting rod of the present invention drives plane three mobility Simple loading machine device people's frame schematic diagram.
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 plane three mobility Simple loading machine device people's plan view.
Fig. 9 is that a kind of multiple-unit connecting rod of the present invention drives plane three mobility Simple loading machine 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 plane three mobility Simple loading machine device people, including multiple-unit bar-link drive, swing arm elevating mechanism, scraper bowl controlling organization and frame 1.
Described multiple-unit bar-link drive includes the first driving lever 39, first connecting rod 41, bent axle 34, second connecting rod the 36, second driving lever 38.Described first driving lever 39 one end is connected with frame 1 by the first revolute pair 32, the other end is connected with first connecting rod 41 one end by the second revolute pair 40, described first connecting rod 41 other end is connected with bent axle 34 by the 3rd revolute pair 42, described second driving lever 38 one end is connected with frame 1 by the 4th revolute pair 33, the other end is connected with second connecting rod 36 one end by the 5th revolute pair 37, described second connecting rod 36 other end is connected with bent axle 34 by the 26th revolute pair 35, described bent axle 34 is by the 6th revolute pair 2, and the 7th revolute pair 19 is connected with frame 1.
Described first driving lever the 39, second driving lever 38 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 34 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, solves the problems such as tradition controllable loading mechanism servomotor power output is little, driving torque is low.It addition, according to the power demand of loading robot, this multiple-unit bar-link drive power adaptability can be improve to facilitate the selection multiple power unit form such as Unit four, Unit six.
Described swing arm elevating mechanism includes the first lifting side chain, the second lifting side chain, swing arm 8.Described first lifting side chain includes second connecting rod the 3, first hydraulic cylinder 5.Described second connecting rod 3 one end is connected with frame 1 by key or other modes, the other end is connected with first hydraulic cylinder 5 one end by the 8th revolute pair 4, described first hydraulic cylinder 5 other end is connected with swing arm 8 by the 9th revolute pair 6, and described second lifting side chain includes third connecting rod the 18, second hydraulic cylinder 16.Third connecting rod 18 one end is connected with frame 1 by key or other modes, the other end is connected with second hydraulic cylinder 16 one end by the tenth revolute pair 17, described second hydraulic cylinder 16 other end is connected with swing arm 8 by the 11st revolute pair 15, described swing arm 8 is by the 12nd revolute pair 20, and the 13rd revolute pair 23 is connected with frame 1.
When this loading robot actual job, owing to swing arm elevating mechanism is plane parallel mechanism, described first hydraulic cylinder 5 is connected by hydraulic line with the cylinder body of the second hydraulic cylinder 16, and then realize parallel connection, according to pascal's principle, in two cylinder bodies, fluid pressure is identical, the problem that can be effectively improved swing arm 8 liang lifting side chain unbalance stress, improve moved arm lifting stability, extend the service life of each component of swing arm elevating mechanism.And the vibration resistance of swing arm elevating mechanism can be effectively improved by the introducing of Hydraulic Elements, it addition, by introducing the auxiliary equipments such as relief valve on swing arm elevating mechanism two hydraulic cylinder, the overload protection function of swing arm elevating mechanism can be realized easily.
Described scraper bowl controlling organization includes the first control side chain, the second control side chain, scraper bowl 10.Described first controls side chain includes first Rocker arm 4 the 3, first linear actuator the 25, first pull bar 27.Described first Rocker arm 43 is connected with swing arm 8 by the 14th revolute pair 22, and described first pull bar 27 one end is connected with the first Rocker arm 43 by the 15th revolute pair 26, and the other end is connected with scraper bowl 10 by the 16th revolute pair 11.Described first linear actuator 25 one end is connected with swing arm 8 by the 17th revolute pair 7, and the other end is connected with the first Rocker arm 43 by the 18th revolute pair 24.Described second controls side chain includes second Rocker arm 4 the 4, second linear actuator the 30, second pull bar 28.Described second Rocker arm 44 is connected with swing arm 8 by the 19th revolute pair 21, described second pull bar 28 one end is connected with the second Rocker arm 44 by the 20th revolute pair 29, the other end is connected with scraper bowl 10 by the 21st revolute pair 12, described second linear actuator 30 one end is connected with swing arm 8 by the 22nd revolute pair 14, and the other end is connected with the second Rocker arm 44 by the 23rd revolute pair 31.Described scraper bowl 10 is connected with swing arm 8 by the 24th revolute pair the 9, the 25th revolute pair 13.Described scraper bowl controlling organization ability plane-parallel type designs, and the bearing capacity of this loading robot and the emergence power of scraper bowl are greatly improved.
Comparison Fig. 1, Fig. 8, Fig. 9, described a kind of multiple-unit connecting rod drives plane three mobility Simple loading machine device people under the programming Control of each electric drive system, completes loading operation.It is high that this multiple-unit connecting rod drives plane three mobility Simple loading machine device people both to have existing controllable loading mechanism intelligence degree, energy consumption is low, dynamic property is good, the features such as good reliability, simultaneously because the introducing of Hydraulic Elements, make it have the plurality of advantages of fluid pressure type loader, it is in particular in: after the first lifting side chain of (1) described swing arm elevating mechanism and the second lifting side chain introduce Hydraulic Elements, the cylinder body of described first hydraulic cylinder 5 and the cylinder body of the second hydraulic cylinder 16 can be connected by hydraulic line, according to pascal's principle, in two cylinder bodies, fluid pressure is identical, the problem that can be effectively improved swing arm 8 liang lifting side chain unbalance stress, improve moved arm lifting stability, extend the service life of each component of swing arm elevating mechanism；(2), after the first lifting side chain and second of described swing arm elevating mechanism lifts side chain introducing Hydraulic Elements, the resistance to shock loading robot can be effectively improved；(3) after the first lifting side chain and second of described swing arm elevating mechanism lifts side chain introducing hydraulic cylinder; during industry pretended by loading robot shovel; when the load born is in tolerance zone; hydraulic cylinder can be considered that two non-telescoping power bars play the effect of transmission power; if the load born exceedes tolerance zone; relief valve on hydraulic cylinder is opened, and plays overload protective function.Based on These characteristics; described multiple-unit connecting rod driving plane three mobility Simple loading machine device people compares existing controllable loading mechanism and has more preferable dynamic performance, bearing stability, vibration resistance and the more long life brought therewith; and it is easier to realize overload protection function, it is adaptable to all kinds of loader of large, medium and small type uses.
Claims (2)
1. multiple-unit connecting rod drives a plane three mobility Simple loading machine 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 lever, first connecting rod, bent axle, second connecting rod, second driving lever, 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 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 26th revolute pair, described bent axle 34 is by the 6th revolute pair, 7th revolute pair is connected with frame,
Described swing arm elevating mechanism includes the first lifting side chain, second lifting side chain, swing arm, described first lifting side chain includes second connecting rod, first hydraulic cylinder, described second connecting rod one end is fixing with bent axle to be connected, the other end is connected with first hydraulic cylinder one end by the 8th revolute pair, the described first hydraulic cylinder other end is connected with swing arm by the 9th revolute pair, described second lifting side chain includes third connecting rod, second hydraulic cylinder, third connecting rod one end is fixing with bent axle to be connected, the other end is connected with second hydraulic cylinder one end by the tenth revolute pair, the described second hydraulic cylinder other end is connected with swing arm by the 11st revolute pair, described swing arm passes through the 12nd revolute pair, 13rd revolute pair is connected with frame,
nullDescribed scraper bowl controlling organization includes the first control side chain、Second controls side chain、Scraper bowl，Described first controls side chain includes the first rocking arm、First linear actuator、First pull bar，Described first rocking arm is connected with swing arm by the 14th revolute pair，Described first pull bar one end is connected with the first rocking arm by the 15th revolute pair，The other end is connected with scraper bowl by the 16th revolute pair，Described first linear actuator one end is connected with swing arm by the 17th revolute pair，The other end is connected with the first rocking arm by the 18th revolute pair，Described second controls side chain includes the second rocking arm、Second linear actuator、Second pull bar，Described second rocking arm is connected with swing arm by the 19th revolute pair，Described second pull bar one end is connected with the second rocking arm by the 20th revolute pair，The other end is connected with scraper bowl by the 21st revolute pair，Described second linear actuator one end is connected with swing arm by the 22nd revolute pair，The other end is connected with the second rocking arm by the 23rd revolute pair，Described scraper bowl passes through the 24th revolute pair、25th revolute pair is connected with swing arm.
Multiple-unit connecting rod the most according to claim 1 drives plane three mobility Simple loading machine device people, it is characterized in that: described first hydraulic cylinder and the second hydraulic cylinder are in parallel, described first driving lever, the second driving lever are driven by controllable motor, and described first linear actuator, the second linear actuator are servo electric jar.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610463329.0A CN106013286A (en) | 2016-06-24 | 2016-06-24 | Multi-unit-connecting-rod-driven simple loading robot with three planar ranges of motion |
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| CN201610463329.0A CN106013286A (en) | 2016-06-24 | 2016-06-24 | Multi-unit-connecting-rod-driven simple loading robot with three planar ranges of motion |
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| CN106013286A true CN106013286A (en) | 2016-10-12 |
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| CN201610463329.0A Pending CN106013286A (en) | 2016-06-24 | 2016-06-24 | Multi-unit-connecting-rod-driven simple loading robot with three planar ranges of motion |
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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 |
-
2016
- 2016-06-24 CN CN201610463329.0A patent/CN106013286A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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: 20161012 |