CN106088182A - A kind of multiple-unit connecting rod drives plane three mobility to load robot - Google Patents
A kind of multiple-unit connecting rod drives plane three mobility to load robot Download PDFInfo
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- CN106088182A CN106088182A CN201610463390.5A CN201610463390A CN106088182A CN 106088182 A CN106088182 A CN 106088182A CN 201610463390 A CN201610463390 A CN 201610463390A CN 106088182 A CN106088182 A CN 106088182A
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- revolute pair
- connecting rod
- swing arm
- cylinder body
- driving lever
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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
- E02F3/34—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
- E02F3/3414—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 the arms being pivoted at the rear of the vehicle chassis, e.g. skid steer loader
-
- 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
- E02F3/422—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
- E02F3/36—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
Landscapes
- 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 kind of multiple-unit connecting rod is driven plane three mobility to load robot, including multiple-unit bar-link drive, swing arm elevating mechanism, scraper bowl controlling organization etc..Multiple-unit bar-link drive is under the control of the computer, it is achieved that multiple stage low-power machine drives, high-power, the power output of high torque, meets loading robot high capacity operation power demand.Based on pascal's principle by introducing Hydraulic Elements in swing arm elevating mechanism, it is achieved in-cylinder pressure is equal, the problem being effectively improved two driving chain discontinuity equalizations of conventional controllable loading mechanism lifting swing arm, improves bearing stability.This loading robot not only has the features such as conventional controllable loading mechanism transmission efficiency height, fast response time, kinematic accuracy is high, controllability is good; and the introducing of multiple-unit bar-link drive and Hydraulic Elements makes this loading robot have preferably carrying and resistance to shock; and easily realize overload protection function, it is highly suitable for manufacturing large, medium and small type and loads robot.
Description
Technical field
The present invention relates to loader field, particularly a kind of multiple-unit connecting rod drives plane three mobility to load robot.
Background technology
Loader is that one is widely used in the construction fields such as farmland, water conservancy, the energy, municipal administration, carries out loose unpacked material handling
Key equipment, infrastructure construction is played an important role, but conventional hydraulic formula loader also exists that energy consumption is high, make an uproar
The shortcomings such as sound 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, brings opportunity, for hydraulic pressure to the upgrading of Traditional project mechanical technique
The shortcoming of formula loader, is applied to controllable mechanism and robot correlation technique in working device of loader design, it is proposed that one
Class controllable mechanism loader, such controllable loading mechanism avoids the use of hydraulic system, and it is by multiple degrees of freedom linkage
Forming with multiple controllable motors, its output controllable motor of being controlled by multiple stage computer programming of motion together decides on, scraper bowl defeated
Going out track is the function of independent variable more than, can realize complicated flexible track output easily, and therefore controllable loading mechanism belongs to
Construction robot category.Comparing fluid pressure type loader, controllable loading mechanism has intelligence degree height, flexibility ratio transmission good, high
The advantages such as efficiency, have 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 do not related to
Engineering problem.First, existing controllable loading mechanism swing arm lifting side chain all uses the configuration of driving lever connecting rod swing arm to design
Form, because driving lever is by controllable electric transmission system drives, being limited by that controllable motor cost is high, output is little, moment of torsion is low etc. asks
Topic, causes 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
For plane parallel mechanism, during two driving levers lifting swing arm at the same time, owing to manufacturing, process, assembling equal error, particularly loading
When machine unbalance loading, cause swing arm two parallel drive side chain unbalance stress, have impact on lifting stability, it is easy to cause part
The overload damage of component, affects 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, compares the equipment of fluid pressure type loader containing moving sets, lacks effective overload protection and suction
Shake 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 that prior art exists is provided
Load robot, both had that existing controllable loading mechanism intelligence degree is high, flexibility ratio is good, transmission efficiency advantages of higher, simultaneously
Solve that existing controllable loading mechanism power performance is poor, load capacity is weak, swing arm elevating mechanism poor stability, lack effective overload
The engineering problems such as protection and absorbing means, make this loading robot have preferable dynamic performance and bearing stability, simultaneously
There is stronger 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 plane three mobility dress
Carry robot, including multiple-unit bar-link drive, swing arm elevating mechanism, scraper bowl controlling organization and frame.
Described multiple-unit bar-link drive includes frame, the first driving lever, the second driving lever, first connecting rod, the second company
Bar, bent axle, described first driving lever one end is connected with frame by the first revolute pair, and the other end passes through the second revolute pair and first
Connecting rod one end connects, and the described first connecting rod other end is connected with bent axle by the 3rd revolute pair, and described second driving lever one end leads to
Crossing the 4th revolute pair to be connected with frame, the other end is connected with second connecting rod one end by the 5th revolute pair, and described second connecting rod is another
One end is connected with bent axle by the 6th revolute pair, and described bent axle is connected with frame by the 7th revolute pair, the 8th revolute pair.
Described first driving lever, the second driving lever are driven controlling by electric drive system by controllable motor, described
Multiple-unit bar-link drive under the control of a computer system, can pass through bent axle after the power coupling of multiple power units
Output, is inputted so that this multiple-unit bar-link drive achieves by multiple stage small-power controllable motor, and high-power, high torque is moved
The purpose of 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, can be improve this to facilitate the selection multiple power unit form such as Unit four, Unit six
Multiple-unit bar-link drive power adaptability.
Described swing arm elevating mechanism includes swing arm, the first lifting side chain and the second lifting side chain, and described swing arm passes through the 9th
Revolute pair, the tenth revolute pair are connected with frame, and described first lifting side chain includes third connecting rod, the first cylinder body, first piston bar,
Described third connecting rod one end is connected by key or alternate manner are fixing with bent axle, and the other end passes through the 11st revolute pair and first
Cylinder body connects, and described first cylinder body is connected with first piston bar one end by the first moving sets, and the first piston bar other end passes through
12nd revolute pair is connected with swing arm, and described second lifting side chain includes fourth link, the second cylinder body, the second piston rod, described
Fourth link one end is connected by key or alternate manner are fixing with bent axle, and the other end is by the 13rd revolute pair and the second cylinder body
Connecting, described second cylinder body is connected by the second moving sets and second piston rod one end, and the second piston rod other end passes through the tenth
Four revolute pairs are connected with swing arm.
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, owing to swing arm elevating mechanism is planar parallel
Structure, the first cylinder body and the second cylinder body are connected by hydraulic line, and then realize parallel connection, according to pascal's principle, liquid in two cylinder bodies
Body pressure is identical, can be effectively improved swing arm two and lift the problem of side chain unbalance stress, improve moved arm lifting stability, extends dynamic
The service life of each component of arm elevating mechanism.The antivibration energy of swing arm elevating mechanism can be effectively improved by the introducing of Hydraulic Elements
Power, it addition, by introducing the auxiliary equipments such as relief valve in swing arm elevating mechanism the first cylinder body or the second cylinder body, can be real easily
The overload protection function of existing swing arm elevating mechanism.
Described scraper bowl controlling organization includes the 3rd driving lever, the 5th connecting rod, rocking arm, pull bar, scraper bowl.Described 3rd driving lever
One end is connected with frame by the 15th revolute pair, and the other end is connected with the 5th connecting rod by the 16th revolute pair, and the described 5th
Connecting rod is connected with one end by the 17th revolute pair, and the described rocking arm other end is connected with swing arm by the 18th revolute pair,
Described pull bar one end is connected with the 5th connecting rod by the 19th revolute pair, and the other end is connected with scraper bowl by the 20th revolute pair,
Described scraper bowl is connected with swing arm by the 21st revolute pair, the 22nd revolute pair.Described 3rd driving lever is by controllable motor
Being driven controlling by electric drive system, scraper bowl realizes flip-flop movement under the drive of the 3rd driving lever.
Described a kind of multiple-unit connecting rod drives plane three mobility to load the robot programming Control at each electric drive system
Under, complete loading operation.This multiple-unit connecting rod driving plane three mobility loads robot and had both had existing controllable loading mechanism
The features such as intelligence degree is high, energy consumption is low, dynamic property good, good reliability, simultaneously because the introducing of Hydraulic Elements so that it is have
The plurality of advantages of fluid pressure type loader, is in particular in: the first lifting side chain of (1) described swing arm elevating mechanism and the second lifting
After side chain introduces Hydraulic Elements, described first cylinder body and the second cylinder body can be connected by hydraulic line, according to pascal's principle, and two
In cylinder body, fluid pressure is identical, can be effectively improved swing arm two and lift the problem of side chain unbalance stress, improve moved arm lifting stable
Property, extend the service life of each component of swing arm elevating mechanism；(2) the first lifting side chain and second liter of described swing arm elevating mechanism
After descending branch chain introduces Hydraulic Elements, the resistance to shock loading robot can be effectively improved；(3) the of described swing arm elevating mechanism
After one lifting side chain and the second lifting side chain introduce hydraulic cylinder, during industry pretended by loading robot shovel, when the load born
When tolerance zone, hydraulic cylinder can be considered that two non-telescoping power bars play the effect of transmission power, if the load born exceedes
During tolerance zone, the relief valve on hydraulic cylinder is opened, and plays overload protective function.Based on These characteristics, described multiple-unit is even
Bar drives plane three mobility to load robot and compares existing controllable loading mechanism to have more preferable dynamic performance, carrying stable
Property, vibration resistance and the more long life brought therewith, and it is easier to realize overload protection function, it is adaptable to large, medium and small
All kinds of loader of type uses.
The present invention has the prominent advantages that:
1, this loading robot uses brand-new configuration design, degree of freedom and work space requirement needed for meeting loading operation
Under, there is preferable kinesiology and dynamic performance, swing arm elevating mechanism, by using plane-parallel type to design, greatly improves dress
Carry the rigidity of robot.This loading robot had both had that controllable mechanism loader energy consumption is low, transmission efficiency is high, intelligence degree
The features such as height, good reliability, are provided simultaneously with that fluid pressure type working device of loader shock resistance is good, overload protection performance strong, lift
Rise the features such as good stability.
2, the electric drive system that this loading robot uses computer programming to control is driven, and not only has higher intelligence
Level can be changed, it is achieved that operation NC postprocessing, and improve transmission efficiency, reduce energy consumption, there is no exhaust emissions.At this machine
In the design of people, hydraulic cylinder main uses, not as existing fluid pressure type engineering machinery, is used for driving equipment to do work, but logical
Cross minute movement regulation unbalance loading, and transmit power as connecting rod, thus avoid the problems such as hydraulic system transmission efficiency is low, reduce
The wear problem of Hydraulic Elements, compares fluid pressure type engineering machinery and has longer service life and higher reliability.
3, comparing existing controllable loading mechanism, loading robot of the present invention has higher bearing capacity and adaptation
Property.The introducing of multiple-unit bar-link drive, is 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, can move according to different
Power requirement, selects the driving side chain of the varying number such as Unit four, Unit six to drive, meets all kinds of loading robots power demand.
4, comparing existing controllable loading mechanism, loading robot of the present invention has more preferable dynamic property with reliable
Property.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 relatively
Good overload protection function.Swing arm elevating mechanism is in parallel by cylinder body, it is achieved that uneven loading action downward moving arm two lifts being subject to of side chain
Dynamic balance, improves the problem that each member stress is uneven, improves the lifting stability of swing arm, extend the use longevity of each component
Life, improves loading machine human reriability.
5, comparing existing controllable loading mechanism, loading robot of the present invention has more overload protection means, logical
Cross on swing arm elevating mechanism hydraulic cylinder, introduce the auxiliary equipments such as relief valve, be easier to the overload protection realizing loading robot
Energy.
Accompanying drawing explanation
Fig. 1 is that a kind of multiple-unit connecting rod of the present invention drives plane three mobility to load robot schematic diagram.
Fig. 2 is that a kind of multiple-unit connecting rod of the present invention drives plane three mobility to load robot frame's 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 to load robot plan view.
Fig. 9 is that a kind of multiple-unit connecting rod of the present invention drives plane three mobility loading machine manually to make schematic 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 to load robot, including the most single
Unit's bar-link drive, 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 bar-link drive include frame the 1, first driving lever 32,
Second driving lever 38, first connecting rod 34, second connecting rod 37, bent axle 40, the first revolute pair is passed through in described first driving lever 32 one end
31 are connected with frame 1, and the other end is connected with first connecting rod 34 one end by the second revolute pair 33, described first connecting rod 34 other end
Being connected with bent axle 40 by the 3rd revolute pair 35, described second driving lever 38 one end is connected with frame 1 by the 4th revolute pair 39,
The other end is connected with second connecting rod 37 one end by the 5th revolute pair 41, and described second connecting rod 37 other end passes through the 6th revolute pair
36 are connected with bent axle 40, and described bent axle 40 is connected with frame 1 by the 7th revolute pair the 13, the 8th revolute pair 25.
Described first driving lever the 32, second driving lever 38 is driven controlling by electric drive system by controllable motor,
Described multiple-unit bar-link drive under the control of a computer system, can be passed through after the power coupling of multiple power units
Bent axle 40 exports, and inputs so that this multiple-unit bar-link drive achieves by multiple stage small-power controllable motor, high-power, high
The purpose of 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, can carry to facilitate the selection multiple power unit form such as Unit four, Unit six
This multiple-unit bar-link drive power adaptability high.
Comparison Fig. 1, Fig. 2, Fig. 6, described swing arm elevating mechanism includes that swing arm 2, first lifts side chain and the second lifting side chain,
Described swing arm 2 is connected with frame 1 by the 9th revolute pair the 21, the tenth revolute pair 22, and described first lifting side chain includes the 3rd even
Bar the 8, first cylinder body 9, first piston bar 11, described third connecting rod 8 one end is fixing with bent axle 40 even by key or alternate manner
Connecing, the other end is connected with the first cylinder body 9 by the 11st revolute pair 14, and described first cylinder body 9 passes through the first moving sets 15 and the
One piston rod 11 one end connects, and first piston bar 11 other end is connected with swing arm 2 by the 12nd revolute pair 42, described second liter
Descending branch chain includes fourth link the 24, second cylinder body the 10, second piston rod 19, described fourth link 24 one end by key or other
Mode is fixing with bent axle 40 to be connected, and the other end is connected with the second cylinder body 10 by the 13rd revolute pair 23, described second cylinder body 10
Be connected with second piston rod 19 one end by the second moving sets 20, second piston rod 19 other end by the 14th revolute pair 18 with
Swing arm 2 connects.
In practical engineering application, described first cylinder body the 9, first moving sets 15, first piston bar 11 can use a hydraulic cylinder
Replacing, described second cylinder body the 10, second moving sets 20 and the second piston rod 19 can replace with another hydraulic cylinder, loading robot
In operation process, multiple-unit bar-link drive provides power by bent axle 40 for swing arm elevating mechanism, due to swing arm elevator
Structure is plane parallel mechanism, and the first cylinder body 9 is connected by hydraulic line with the second cylinder body 10, and then realizes parallel connection, according to Paasche
Card principle, in two cylinder bodies, fluid pressure is identical, the problem that can be effectively improved swing arm 2 liang lifting side chain unbalance stress, improves dynamic
Arm lifting stability, extends the service life of each component of swing arm elevating mechanism.Can be effectively improved by the introducing of Hydraulic Elements
The vibration resistance of swing arm elevating mechanism, it addition, by introducing pressure release in swing arm elevating mechanism the first cylinder body 9 or the second cylinder body 10
The auxiliary equipments such as valve, can realize the overload protection function of swing arm elevating mechanism easily.
Comparison Fig. 1, Fig. 2, Fig. 7, described scraper bowl controlling organization includes the 3rd driving lever the 7, the 5th connecting rod 6, Rocker arm 5, pull bar
4, scraper bowl 3.Described 3rd driving lever 7 one end is connected with frame 1 by the 15th revolute pair 26, and the other end is by the 16th rotation
Secondary 27 are connected with the 5th connecting rod 6, and described 5th connecting rod 6 is connected with Rocker arm 5 one end by the 17th revolute pair 28, described Rocker arm 5
The other end is connected with swing arm 2 by the 18th revolute pair 16, and the 19th revolute pair 29 and the 5th connecting rod is passed through in described pull bar 4 one end
6 connect, and the other end is connected with scraper bowl 3 by the 20th revolute pair 30, and described scraper bowl 3 is by the 21st revolute pair 12, second
12 revolute pairs 17 are connected with swing arm 2.Described 3rd driving lever 7 is driven controlling by electric drive system by controllable motor,
Scraper bowl 3 realizes flip-flop movement under the drive of the 3rd driving lever 7.
Comparison Fig. 1, Fig. 8, Fig. 9, described a kind of multiple-unit connecting rod drives plane three mobility to load robot in each fax
Under the programming Control of dynamic system, complete loading operation.This multiple-unit connecting rod driving plane three mobility loads robot both to be had
The features such as existing controllable loading mechanism intelligence degree is high, energy consumption is low, dynamic property good, good reliability, simultaneously because hydraulic pressure is first
The introducing of part so that it is there is the plurality of advantages of fluid pressure type loader, be in particular in: the first of (1) described swing arm elevating mechanism
After lifting side chain and the second lifting side chain introduce Hydraulic Elements, described first cylinder body 9 and the second cylinder body 10 can pass through hydraulic line
Connecting, according to pascal's principle, in two cylinder bodies, fluid pressure is identical, can be effectively improved swing arm 2 liang lifting side chain unbalance stress
Problem, improve moved arm lifting stability, extend each component of swing arm elevating mechanism service life；(2) described swing arm elevator
After first lifting side chain of structure and the second lifting side chain introduce Hydraulic Elements, the vibration resistance loading robot can be effectively improved
Energy；(3), after the first lifting side chain and second of described swing arm elevating mechanism lifts side chain introducing hydraulic cylinder, robot shovel is being loaded
During pretending industry, when the load born is in tolerance zone, hydraulic cylinder can be considered that two non-telescoping power bars play transmission
The effect of power, if the load born exceedes tolerance zone, the relief valve on hydraulic cylinder is opened, and plays overload protective function.Base
In These characteristics, described multiple-unit connecting rod drives plane three mobility to load robot and compares existing controllable loading mechanism and have
Preferably dynamic performance, bearing stability, vibration resistance and the more long life brought therewith, and be easier to realize
Carry defencive function, it is adaptable to all kinds of loader of large, medium and small type uses.
Claims (2)
1. multiple-unit connecting rod drives plane three mobility to load a robot, including multiple-unit bar-link drive, swing arm liter
Descending mechanism, scraper bowl controlling organization and frame, it is characterised in that:
Described multiple-unit bar-link drive includes frame, the first driving lever, the second driving lever, first connecting rod, second connecting rod, song
Axle, described first driving lever one end is connected with frame by the first revolute pair, and the other end passes through the second revolute pair and first connecting rod
One end connects, and the described first connecting rod other end is connected with bent axle by the 3rd revolute pair, and described second driving lever one end passes through the
Four revolute pairs are connected with frame, and the other end is connected with second connecting rod one end by the 5th revolute pair, the described second connecting rod other end
Being connected with bent axle by the 6th revolute pair, described bent axle is connected with frame by the 7th revolute pair, the 8th revolute pair,
Described swing arm elevating mechanism includes swing arm, the first lifting side chain and the second lifting side chain, and described swing arm is by the 9th rotation
Secondary, the tenth revolute pair is connected with frame, and described first lifting side chain includes third connecting rod, the first cylinder body, first piston bar, described
Third connecting rod one end is fixing with bent axle to be connected, and the other end is connected with the first cylinder body by the 11st revolute pair, described first cylinder body
Being connected with first piston bar one end by the first moving sets, the first piston bar other end is by the 12nd revolute pair with swing arm even
Connecing, described second lifting side chain includes fourth link, the second cylinder body, the second piston rod, and described fourth link one end is solid with bent axle
Fixed connection, the other end is connected with the second cylinder body by the 13rd revolute pair, and described second cylinder body passes through the second moving sets and second
Piston rod one end connects, and the second piston rod other end is connected with swing arm by the 14th revolute pair,
Described scraper bowl controlling organization includes the 3rd driving lever, the 5th connecting rod, rocking arm, pull bar, scraper bowl, described 3rd driving lever one end
Being connected with frame by the 15th revolute pair, the other end is connected with the 5th connecting rod by the 16th revolute pair, described 5th connecting rod
Being connected with one end by the 17th revolute pair, the described rocking arm other end is connected with swing arm by the 18th revolute pair, described
Pull bar one end is connected with the 5th connecting rod by the 19th revolute pair, and the other end is connected with scraper bowl by the 20th revolute pair, described
Scraper bowl is connected with swing arm by the 21st revolute pair, the 22nd revolute pair.
Multiple-unit connecting rod the most according to claim 1 drives plane three mobility to load robot, it is characterised in that: described
First cylinder body and the second cylinder body are in parallel, and described first driving lever, the second driving lever, the 3rd driving lever are driven by controllable motor
Dynamic.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610463390.5A CN106088182A (en) | 2016-06-24 | 2016-06-24 | A kind of multiple-unit connecting rod drives plane three mobility to load robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610463390.5A CN106088182A (en) | 2016-06-24 | 2016-06-24 | A kind of multiple-unit connecting rod drives plane three mobility to load robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109677947A (en) * | 2017-10-18 | 2019-04-26 | 山东交通学院 | A kind of electro-hydraulic mechanism type numerical control bucket wheel machine of two-freedom |
| CN109677944A (en) * | 2017-10-18 | 2019-04-26 | 山东交通学院 | A kind of electro-hydraulic mechanism type numerical control bucket wheel machine of Three Degree Of Freedom |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109677947A (en) * | 2017-10-18 | 2019-04-26 | 山东交通学院 | A kind of electro-hydraulic mechanism type numerical control bucket wheel machine of two-freedom |
| CN109677944A (en) * | 2017-10-18 | 2019-04-26 | 山东交通学院 | A kind of electro-hydraulic mechanism type numerical control bucket wheel machine of Three Degree Of Freedom |
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