CN106013290A - Multiunit linear driving planar two-range-of-motion simple loading robot - Google Patents
Multiunit linear driving planar two-range-of-motion simple loading robot Download PDFInfo
- Publication number
- CN106013290A CN106013290A CN201610463378.4A CN201610463378A CN106013290A CN 106013290 A CN106013290 A CN 106013290A CN 201610463378 A CN201610463378 A CN 201610463378A CN 106013290 A CN106013290 A CN 106013290A
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- CN
- China
- Prior art keywords
- revolute pair
- linear actuator
- swing arm
- connecting rod
- scraper bowl
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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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
- E02F3/425—Drive systems for dipper-arms, backhoes 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
- E02F3/36—Component parts
- E02F3/38—Cantilever beams, i.e. booms;, e.g. manufacturing processes, forms, geometry or materials used for booms; Dipper-arms, e.g. manufacturing processes, forms, geometry or materials used for dipper-arms; Bucket-arms
-
- 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 multiunit linear driving planar two-range-of-motion simple loading robot comprises a multiunit linear driving mechanism, a movable arm lifting mechanism, a bucket control mechanism and the like. The movable arm lifting mechanism of the loading robot adopts the multiunit linear driving mechanism. The multiunit linear driving mechanism is composed of a plurality of sets of linear drivers. High-power and high-torque power output is achieved through programming control over all the linear drivers, and high-load operation requirements are met. The loading robot is high in mechanical efficiency, high in response speed, high in motion precision and good in controllability. In addition, the bearing capacity of the loading robot is greatly improved through the planar parallel design of the bucket control mechanism and introduction of the multiunit linear driving mechanism, and the loading robot is especially suitable for manufacturing medium and large-sized high-capacity loading robots.
Description
Technical field
The present invention relates to loader field, particularly a kind of multiple-unit linear drives plane two 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 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, wherein, bearing capacity difference is the most prominent engineering roadblock of restriction controllable loading mechanism engineer applied.Owing to 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, the configuration design form causing existing controllable loading mechanism is only applicable to microminiature loader, has had a strong impact on the engineer applied of controllable loading mechanism.
Summary of the invention
A kind of multiple-unit linear drives plane two mobility Simple loading machine device people of problem offer 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 the engineering problems such as existing controllable loading mechanism power performance is poor, load capacity is weak simultaneously, make this loading robot have stronger bearing capacity, meet heavy-duty loader device people's power demand.
The present invention reaches above-mentioned purpose by the following technical programs: a kind of multiple-unit linear drives plane two mobility Simple loading machine device people, including multiple-unit straight line driving mechanism, swing arm elevating mechanism, scraper bowl controlling organization and frame.
Described multiple-unit straight line driving mechanism includes frame, bent axle, first linear actuator and the second linear actuator, described first linear actuator one end is connected with frame by the first revolute pair, the other end is connected with bent axle by the second revolute pair, described second linear actuator one end is connected with frame by the 3rd revolute pair, and the other end is connected with bent axle by the 4th revolute pair, and described bent axle is connected with frame by the 23rd revolute pair, the 24th revolute pair.
Described first linear actuator, second linear actuator is servo electric jar, described multiple-unit straight line driving mechanism is under the control of a computer system, can will be exported by the first bent axle after the power coupling of multiple linear actuators, input so that this multiple-unit straight line driving mechanism achieves by multiple stage small-power linear actuator power, high-power, the purpose of high torque power output, solve tradition controllable loading mechanism controllable motor 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, improve dynamic property, additionally, according to different power needs, multiple-unit straight line driving mechanism can conveniently select Unit four, the linear actuator of the varying numbers such as Unit six, there is stronger power adaptability, can meet big, in, small-sized loading machine people's power demand.
Described swing arm elevating mechanism includes swing arm, first connecting rod, second connecting rod, third connecting rod, fourth link, described swing arm passes through the 5th revolute pair, 6th revolute pair is connected with frame, described third connecting rod one end is connected by key or alternate manner are fixing with bent axle, and the other end is connected with second connecting rod one end by the 7th revolute pair, and the described second connecting rod other end is connected with swing arm by the 8th revolute pair.Described fourth link one end is connected by key or alternate manner are fixing with bent axle, and the other end is connected with first connecting rod one end by the 9th revolute pair, and the described first connecting rod other end is connected with swing arm by the tenth revolute pair.
Described scraper bowl controlling organization includes the 3rd linear actuator, the 4th linear actuator, the first pull bar, the second pull bar, the first rocking arm, the second rocking arm, scraper bowl.Described first rocking arm is connected with swing arm by the 11st revolute pair, and described first pull bar one end is connected with the first rocking arm by the 12nd revolute pair, and the other end is connected with scraper bowl by the 13rd revolute pair.Described 3rd linear actuator one end is connected with swing arm by the 14th revolute pair, and the other end is connected with the first rocking arm by the 15th revolute pair.Described second rocking arm is connected with swing arm by the 16th revolute pair, and described second pull bar one end is connected with the second rocking arm by the 17th revolute pair, and the other end is connected with scraper bowl by the 18th revolute pair.Described 4th linear actuator one end is connected with swing arm by the 19th revolute pair, and the other end is connected with the second rocking arm by the 20th revolute pair.Described scraper bowl passes through the 21st revolute pair, and the 22nd revolute pair is connected with swing arm.Described 3rd linear actuator, the 4th linear actuator are servo electric jar, under computer programming control, it is achieved the flip-flop movement of scraper bowl.
The swing arm elevating mechanism of this kind of multiple-unit linear drives plane two mobility Simple loading machine device people and scraper bowl controlling organization are by using plane-parallel type to design, the bearing capacity of this loading robot is not only greatly improved, and greatly improve the rigidity loading robot so that it is there is preferable dynamic performance.This loading robot swing arm elevating mechanism is provided power by rack-mounted multiple-unit straight line driving mechanism, scraper bowl controlling organization is driven by the 3rd linear actuator being arranged on swing arm, the 4th linear actuator, the motion work of this loading robot is by computer programming control, intelligence degree is high, handles and controls simply.This loading robot uses brand-new member design, configuration is the compactest, the introducing of multiple-unit straight line driving mechanism, can be by after the power coupling of how each small-power linear actuator, realize high pulling torque by bent axle, high power moment of torsion exports, the bearing capacity of this robot it is greatly improved, during the technical scheme that therefore this invention provides is particularly well-suited to manufacture and design, large-duty loader device people.
The present invention has the prominent advantages that:
1, this loading robot uses the design of brand-new configuration, and rod member and kinematic pair are relatively fewer, is meeting needed for loading operation under degree of freedom and work space requirement, is having preferable kinesiology and dynamic performance.The type loads robot and 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.Swing arm elevating mechanism by introduce multiple-unit straight line driving mechanism, the bearing capacity of this loading robot is greatly improved, be particularly well-suited to manufacture in, heavy construction construction robot；This multiple-unit straight line driving mechanism 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, swing arm elevating mechanism and scraper bowl controlling organization are by using plane-parallel type to design, and the bearing capacity of this loading robot is not only greatly improved, and greatly improves the rigidity loading robot.This loading robot is made to be highly suitable for manufacturing heavy-duty loader device people.
Accompanying drawing explanation
Fig. 1 is a kind of multiple-unit linear drives plane two mobility Simple loading machine device people's actuator schematic diagram of the present invention.
Fig. 2 is a kind of multiple-unit linear drives plane two mobility Simple loading machine device people's frame schematic diagram of the present invention.
Fig. 3 is one of multiple-unit straight line driving mechanism schematic diagram of the present invention.
Fig. 4 is the two of multiple-unit straight line driving mechanism schematic diagram of the present invention.
Fig. 5 is multiple-unit straight line driving mechanism 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 a kind of multiple-unit linear drives plane two mobility Simple loading machine device people's plan view of the present invention.
Fig. 9 is a kind of multiple-unit linear drives plane two mobility Simple loading machine device people's operating diagram of the present invention.
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 linear drives plane two mobility Simple loading machine device people of the present invention, including multiple-unit straight line driving mechanism, swing arm elevating mechanism, scraper bowl controlling organization and frame 1.
Comparison Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, described multiple-unit straight line driving mechanism includes frame 1, bent axle 31, first linear actuator 32 and the second linear actuator 34, described first linear actuator 32 one end is connected with frame 1 by the first revolute pair 33, the other end is connected with bent axle 31 by the second revolute pair 36, described second linear actuator 34 one end is connected with frame 1 by the 3rd revolute pair 28, the other end is connected with bent axle 31 by the 4th revolute pair 35, and described bent axle 31 is connected with frame 1 by the 23rd revolute pair the 26, the 24th revolute pair 27.
nullDescribed first linear actuator 32、Second linear actuator 34 is servo electric jar，Described multiple-unit straight line driving mechanism is under the control of a computer system，Can will be exported by the first bent axle 31 after the power coupling of multiple linear actuators，Input so that this multiple-unit straight line driving mechanism achieves by multiple stage small-power linear actuator power，High-power、The purpose of high torque power output，Solve tradition controllable loading mechanism controllable motor 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，Improve dynamic property，Additionally，According to different power needs，Multiple-unit straight line driving mechanism can conveniently select Unit four、The linear actuator of the varying numbers such as Unit six，There is stronger power adaptability，Can meet big、In、Small-sized loading machine people's power demand.
Comparison Fig. 1, Fig. 2, Fig. 6, described swing arm elevating mechanism includes swing arm 24, first connecting rod 15, second connecting rod 16, third connecting rod 37, fourth link 38, described swing arm 24 is by the 5th revolute pair 25, and the 6th revolute pair 12 is connected with frame 1, and described third connecting rod 37 one end is connected by key or alternate manner are fixing with bent axle 31, the other end is connected with second connecting rod 16 one end by the 7th revolute pair 13, and described second connecting rod 16 other end is connected with swing arm 24 by the 8th revolute pair 22.Described fourth link 38 one end is connected by key or alternate manner are fixing with bent axle 31, and the other end is connected with first connecting rod 15 one end by the 9th revolute pair 14, and described first connecting rod 15 other end is connected with swing arm 24 by the tenth revolute pair 18.
Comparison Fig. 1, Fig. 2, Fig. 7, described scraper bowl controlling organization includes the 3rd linear actuator 3, the 4th linear actuator 10, the first pull bar 4, the second pull bar 9, the first rocking arm 2, the second rocking arm 11, scraper bowl 6.Described first rocking arm 2 is connected with swing arm 24 by the 11st revolute pair 17, and described first pull bar 4 one end is connected with the first rocking arm 2 by the 12nd revolute pair 30, and the other end is connected with scraper bowl 6 by the 13rd revolute pair 7.Described 3rd linear actuator 3 one end is connected with swing arm 24 by the 14th revolute pair 19, and the other end is connected with the first rocking arm 2 by the 15th revolute pair 40.Described second rocking arm 11 is connected with swing arm 24 by the 16th revolute pair 23, and described second pull bar 9 one end is connected with the second rocking arm 11 by the 17th revolute pair 29, and the other end is connected with scraper bowl 6 by the 18th revolute pair 8.Described 4th linear actuator 10 one end is connected with swing arm 24 by the 19th revolute pair 37, and the other end is connected with the second rocking arm 11 by the 20th revolute pair 39.Described scraper bowl 6 is by the 21st revolute pair 5, and the 22nd revolute pair 20 is connected with swing arm 24.Described 3rd linear actuator the 3, the 4th linear actuator 10 is servo electric jar, under computer programming control, it is achieved the flip-flop movement of scraper bowl 6.
The swing arm elevating mechanism of this kind of multiple-unit linear drives plane two mobility Simple loading machine device people and scraper bowl controlling organization are by using plane-parallel type to design, the bearing capacity of this loading robot is not only greatly improved, and greatly improve the rigidity loading robot so that it is there is preferable dynamic performance.This loading robot swing arm elevating mechanism is provided power by rack-mounted multiple-unit straight line driving mechanism, scraper bowl controlling organization is driven by the 3rd linear actuator the 3, the 4th linear actuator 10 being arranged on swing arm, the motion work of this loading robot is by computer programming control, intelligence degree is high, handles and controls simply.This loading robot uses brand-new member design, configuration is the compactest, the introducing of multiple-unit straight line driving mechanism, can be by after the power coupling of how each small-power linear actuator, realize high pulling torque by bent axle, high power moment of torsion exports, the bearing capacity of this robot it is greatly improved, during the technical scheme that therefore this invention provides is particularly well-suited to manufacture and design, large-duty loader device people.
Claims (2)
1. a multiple-unit linear drives plane two mobility Simple loading machine device people, including multiple-unit straight line driving mechanism, swing arm elevating mechanism, scraper bowl controlling organization and frame, it is characterised in that:
Described multiple-unit straight line driving mechanism includes frame, bent axle, the first linear actuator and the second linear actuator, described first linear actuator one end is connected with frame by the first revolute pair, the other end is connected with bent axle by the second revolute pair, described second linear actuator one end is connected with frame by the 3rd revolute pair, the other end is connected with bent axle by the 4th revolute pair, described bent axle is connected with frame by the 23rd revolute pair, the 24th revolute pair
Described swing arm elevating mechanism includes swing arm, first connecting rod, second connecting rod, third connecting rod, fourth link, described swing arm passes through the 5th revolute pair, 6th revolute pair is connected with frame, described third connecting rod one end is fixing with bent axle to be connected, and the other end is connected with second connecting rod one end by the 7th revolute pair, and the described second connecting rod other end is connected with swing arm by the 8th revolute pair, described fourth link one end is fixing with bent axle to be connected, the other end is connected with first connecting rod one end by the 9th revolute pair, and the described first connecting rod other end is connected with swing arm by the tenth revolute pair
nullDescribed scraper bowl controlling organization includes the 3rd linear actuator，4th linear actuator，First pull bar，Second pull bar，First rocking arm，Second rocking arm，Scraper bowl，Described first rocking arm is connected with swing arm by the 11st revolute pair，Described first pull bar one end is connected with the first rocking arm by the 12nd revolute pair，The other end is connected with scraper bowl by the 13rd revolute pair，Described 3rd linear actuator one end is connected with swing arm by the 14th revolute pair，The other end is connected with the first rocking arm by the 15th revolute pair，Described second rocking arm is connected with swing arm by the 16th revolute pair，Described second pull bar one end is connected with the second rocking arm by the 17th revolute pair，The other end is connected with scraper bowl by the 18th revolute pair，Described 4th linear actuator one end is connected with swing arm by the 19th revolute pair，The other end is connected with the second rocking arm by the 20th revolute pair，Described scraper bowl passes through the 21st revolute pair，22nd revolute pair is connected with swing arm.
Multiple-unit linear drives plane two mobility Simple loading machine device people the most according to claim 1, it is characterised in that: described first linear actuator, the second linear actuator, the 3rd linear actuator, the 4th linear actuator are servo electric jar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610463378.4A CN106013290A (en) | 2016-06-24 | 2016-06-24 | Multiunit linear driving planar two-range-of-motion simple loading robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610463378.4A CN106013290A (en) | 2016-06-24 | 2016-06-24 | Multiunit linear driving planar two-range-of-motion simple loading robot |
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| CN106013290A true CN106013290A (en) | 2016-10-12 |
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| CN201610463378.4A Pending CN106013290A (en) | 2016-06-24 | 2016-06-24 | Multiunit linear driving planar two-range-of-motion simple loading robot |
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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 |
| CN201390981Y (en) * | 2009-03-24 | 2010-01-27 | 谭春良 | Sugarcane loading machine |
| US20130330161A1 (en) * | 2012-06-08 | 2013-12-12 | Caterpillar SARL LLC | Locking mechanism for lift arm assembly |
| 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 |
| CN103526786A (en) * | 2013-10-13 | 2014-01-22 | 临颍县颍机机械制造有限公司 | Grass-grabbing machine with bucket provided with grabbing teeth |
| US20150240939A1 (en) * | 2015-05-12 | 2015-08-27 | Caterpillar Inc. | System And Method For Controlling Transmission Of A Machine |
-
2016
- 2016-06-24 CN CN201610463378.4A patent/CN106013290A/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 |
| CN201390981Y (en) * | 2009-03-24 | 2010-01-27 | 谭春良 | Sugarcane loading machine |
| US20130330161A1 (en) * | 2012-06-08 | 2013-12-12 | Caterpillar SARL LLC | Locking mechanism for lift arm assembly |
| 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 |
| CN103526786A (en) * | 2013-10-13 | 2014-01-22 | 临颍县颍机机械制造有限公司 | Grass-grabbing machine with bucket provided with grabbing teeth |
| US20150240939A1 (en) * | 2015-05-12 | 2015-08-27 | Caterpillar Inc. | System And Method For Controlling Transmission Of A Machine |
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Application publication date: 20161012 |