CN106120892A - A kind of four mobility multiple-unit linear drives sliding fork wood machine - Google Patents
A kind of four mobility multiple-unit linear drives sliding fork wood machine Download PDFInfo
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- CN106120892A CN106120892A CN201610463318.2A CN201610463318A CN106120892A CN 106120892 A CN106120892 A CN 106120892A CN 201610463318 A CN201610463318 A CN 201610463318A CN 106120892 A CN106120892 A CN 106120892A
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- revolute pair
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- fork
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- 239000002023 wood Substances 0.000 title claims abstract description 62
- 230000007246 mechanism Effects 0.000 claims abstract description 67
- 230000003028 elevating effect Effects 0.000 claims abstract description 25
- 230000008520 organization Effects 0.000 claims abstract description 20
- 230000005540 biological transmission Effects 0.000 abstract description 5
- 238000011161 development Methods 0.000 abstract description 3
- 230000035939 shock Effects 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 8
- 239000012530 fluid Substances 0.000 description 8
- 238000005265 energy consumption Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 240000000111 Saccharum officinarum Species 0.000 description 2
- 235000007201 Saccharum officinarum Nutrition 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 239000011295 pitch Substances 0.000 description 2
- 230000001737 promoting effect Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 239000004566 building material Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012805 post-processing Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
-
- 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
-
- 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
- E02F3/36—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
- E02F3/38—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
- E02F3/382—Connections to the frame; Supports for booms or 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
- E02F3/40—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets
- E02F3/413—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets with grabbing device
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/425—Drive systems for dipper-arms, backhoes or the like
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
A kind of four mobility multiple-unit linear drives sliding fork wood machine, including multiple-unit straight line driving mechanism, swing arm elevating mechanism, fork bucket controlling organization etc..Multiple-unit straight line driving mechanism is driven by organizing linear actuator more, realizes power high-power, high torque by bent axle and exports, meets sliding fork wood machine high capacity operation power demand.Hydraulic cylinder is introduced as connecting rod in the configuration design of fork wood machine, swing arm elevating mechanism introduces Hydraulic Elements, it is achieved in-cylinder pressure is equal, the problem being effectively improved two driving chain discontinuity equalizations of lifting swing arm in design in the past, improve bearing stability.This sliding fork wood machine not only has the features such as controllable mechanism transmission efficiency height, fast response time, kinematic accuracy height, good, the energy-conserving and environment-protective of controllability; and the introducing of multiple-unit straight line driving mechanism and Hydraulic Elements makes these sliding fork wood facility have preferably carrying and resistance to shock; and easily realize overload protection function, there is stronger future in engineering applications and development potentiality.
Description
Technical field
The present invention relates to sliding fork wood machine field, a kind of four mobility multiple-unit linear drives sliding fork wood
Machine.
Background technology
Sliding fork wood machine is that one is widely used in the association areas such as forestry, agricultural, building, carries out timber, Caulis Sacchari sinensis, post
Carrying, the key equipments of handling operation such as shape building materials, because of its compact conformation, operating flexibility, in agriculture, production of forestry and construction
Played an important role etc. occasion, conventional hydraulic formula sliding fork wood machine is to design and develop on the basis of conventional hydraulic formula loader
, there is the shortcomings such as energy consumption is high, noise is big, exhaust emissions is serious, intelligent level is low.Controllable mechanism is traditional mechanism and electricity
The product that sub-technology combines, " the numerical control generation " carried out in recent years equipment Innovation project, to traditional mode of production mechanical technique upgrading band
Carry out opportunity, for the shortcoming of fluid pressure type sliding fork wood machine, controllable mechanism and robot correlation technique have been applied to tradition handling
In the design of machine work device, it is proposed that a class controllable-mechanism type loading mechanization, including controllable-mechanism type sugar-cane loader, can
Control mechanism type carloaders etc., this type of controllable-mechanism type loading mechanization avoids the use of hydraulic system, and it is by multiple degrees of freedom connecting rod
Mechanism and multiple controllable motor composition, the controllable motor that its output motion is controlled by multiple stage computer programming together decides on, fork bucket
Output trajectory be the function of independent variable more than, the output of complicated flexible track can be realized easily, compare fluid pressure type sliding fork
Wood machine, controllable-mechanism type loading mechanization has the advantages such as intelligence degree height, good, the high transmission efficiency of flexibility ratio, sliding for promoting
The fork wood machine greenization of shifting formula, intellectuality have great importance.
But, enter at controllable-mechanism type loading mechanizations such as multi-freedom-degreecontrollable controllable mechanism type sugar-cane loader, cane car loaders
During row engineering Application Research, it was found that a series of engineering problems not related to.First, existing controllable-mechanism type handling
Machinery swing arm lifting side chain is carried out power input by driving lever, and driving lever is then by controllable electric transmission system drives, and being limited by can
The problems such as control motor cost is high, output is little, moment of torsion is low, cause existing controllable-mechanism type loading mechanization power performance poor, negative
The problems such as loading capability is weak, it is difficult to meeting the sliding fork wood mechanomotive force demand based on high capacity handling operation, this is also existing
The design of controllable-mechanism type loading mechanization remains in the main cause of configuration design phase；Secondly, controllable-mechanism type loading mechanization
Equipment is plane parallel mechanism, and swing arm lifting side chain uses the configuration design form of driving lever connecting rod swing arm, and two
During lifting side chain lifting swing arm simultaneously, owing to manufacturing, process, assembling equal error, particularly bear the feelings of unbalance loading at equipment
Under shape, cause the two lifting side chain unbalance stress that swing arm is in parallel, have impact on lifting stability, it is easy to cause the mistake of partial component
Carry damage, affect the service life of controllable-mechanism type timber handling machinery；It addition, the existing each component of controllable-mechanism type loading mechanization
The general type of attachment using revolute pair, compares the fluid pressure type sliding containing moving sets and pitches the equipment of wood machine, lacks effective
Overload protection and absorbing means.Above-mentioned reason has a strong impact on and constrains the controllable-mechanism type sliding fork wood research and development of machine and engineering should
With.
Summary of the invention
It is an object of the invention to the problem that prior art exists, it is provided that a kind of four mobility multiple-unit linear drives slidings
Formula fork wood machine, this kind sliding fork wood machine utilize controllable mechanism technology and use brand-new configuration to design so that it is both had existing can
Control mechanism type loading mechanization intelligence degree is high, flexibility ratio is good, transmission efficiency advantages of higher, solves controllable-mechanism type handling simultaneously
Machine power poor performance, load capacity are weak, swing arm elevating mechanism poor stability, lack effective overload protection and absorbing means etc.
Engineering problem, the mechanical efficiency effectively overcoming conventional hydraulic formula sliding fork wood machine to exist is low, noise pollution serious, intelligent level
The problem such as low, makes these sliding fork wood facility have preferable dynamic performance and bearing stability, has stronger antivibration simultaneously
Ability and overload protection performance.
The present invention reaches above-mentioned purpose by the following technical programs: a kind of four mobility multiple-unit linear drives are sliding
Fork wood machine, including multiple-unit straight line driving mechanism, swing arm elevating mechanism, fork bucket controlling organization and frame.
Described multiple-unit straight line driving mechanism includes bent axle, the first linear actuator and the second linear actuator, described
One linear actuator one end is connected with frame by the first revolute pair, and 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.Institute
State bent axle to be connected with frame by the 5th revolute pair, the 6th revolute pair.
Described multiple-unit straight line driving mechanism under the control of a computer system, can be by multiple stage small-power linear actuator
Power coupling after, realized the purpose of high-power, high torque power output by bent axle, solving tradition controllable loading mechanism can
The problems such as control motor cost is high, power is little, driving torque is low, improve the bearing capacity of this sliding fork wood machine.According to sliding
The power demand of formula fork wood machine, described bent axle can be driven by two groups and above linear actuator, can conveniently select four lists
The multiple power unit forms such as unit, Unit six, it is ensured that the output power of this multiple-unit straight line driving mechanism can meet light-duty and
The power demand of each model controllable-mechanism type fork wood machines such as heavy type.
Described swing arm elevating mechanism includes swing arm, the first lifting side chain and the second lifting side chain, described first lifting side chain
It is connected by key or other modes are fixing with bent axle including first connecting rod, the first hydraulic cylinder, described first connecting rod one end, the other end
Being connected with first hydraulic cylinder one end by the 9th revolute pair, the described first hydraulic cylinder other end is by the tenth revolute pair with swing arm even
Connect；Described second lifting side chain include second connecting rod, the second hydraulic cylinder, described second connecting rod one end by key or other modes with
Bent axle is fixing to be connected, and the other end is connected with second hydraulic cylinder one end by the 11st revolute pair, the described second hydraulic cylinder other end
Being connected with swing arm by the 12nd revolute pair, described swing arm is connected with frame by the 7th revolute pair, the 8th revolute pair.
During sliding fork wood machine operation, owing to swing arm elevating mechanism is plane parallel mechanism, by the first hydraulic cylinder
It is connected by hydraulic line with the second hydraulic cylinder, and then realizes parallel connection, according to pascal's principle, fluid pressure phase in two cylinder bodies
With, swing arm elevating mechanism two can be effectively improved and lift the problem of side chain unbalance stress, improve moved arm lifting stability, extend 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 on the cylinder body of hydraulic cylinder contained by swing arm elevating mechanism, can realize easily
The overload protection function of swing arm elevating mechanism.
Described fork bucket controlling organization includes the 3rd linear actuator, the 4th linear actuator, upper fork, lower fork, the 5th straight line
Driver, the 6th linear actuator, described 3rd linear actuator one end is connected with swing arm by the 13rd revolute pair, the other end
Being connected with lower fork by the 14th revolute pair, described 4th linear actuator one end is connected with swing arm by the 15th revolute pair,
The other end is connected with lower fork by the 16th revolute pair, and described lower fork passes through the 17th revolute pair, the 18th revolute pair and swing arm
Connect；Described upper fork is connected with lower fork by the 19th revolute pair, the 20th revolute pair, and described 5th linear actuator one end leads to
Crossing the 21st revolute pair to be connected with lower fork, the other end is connected with upper fork by the 22nd revolute pair, and described 6th straight line drives
Dynamic device one end is connected with lower fork by the 23rd revolute pair, and the other end is connected with upper fork by the 24th revolute pair.
Described fork bucket controlling organization is by the 3rd linear actuator, the 4th linear actuator, the 5th linear actuator, the 6th straight
Line drive is driven controlling, it is achieved fork bucket captures operation to Caulis Sacchari sinensis, timber etc..Described fork bucket controlling organization comprise each directly
Line drive is servo electric jar, and scraper bowl controlling organization, by using brand-new mechanism to design, effectively reduces scraper bowl controlling organization
Rod member number, reduces manufacturing cost and controls complexity.
This sliding fork wood machine not only has the features such as intelligence degree is high, energy consumption is low, maintaining is simple, and compares
Existing controllable loading mechanism, is easier to realize overload protection function, and has more preferable dynamic performance, bearing stability, antivibration
Ability and the more long life brought, it is suitable for manufacturing all kinds of sliding fork wood machines such as light-duty and heavy, there is stronger work
Journey application prospect and development potentiality.
The present invention has the prominent advantages that:
1, this kind of sliding fork wood machine uses brand-new configuration to design on the basis of based on controllable mechanism technology, is meeting timber dress
Unloading needed for operation under degree of freedom and work space requirement, have preferable kinesiology and dynamic performance, swing arm elevating mechanism leads to
Cross employing plane-parallel type design and use Hydraulic Elements, greatly improve rigidity and job stabilization, the shovel of sliding fork wood machine
Bucket controlling organization, by using brand-new mechanism to design, effectively reduces scraper bowl controlling organization rod member number, reduces manufacturing cost
And control complexity.This sliding fork wood machine had both had that controllable-mechanism type loading mechanization energy consumption is low, transmission efficiency is high, intelligent journey
The degree feature such as height, good reliability, is provided simultaneously with that the wooden machine equipment shock resistance of fluid pressure type sliding fork is good, overload protection performance
By force, the features such as good stability are lifted.
2, the electric drive system that this sliding fork wood machine uses computer programming to control is driven, and not only has higher
Intelligent level, it is achieved that operation NC postprocessing, and the introducing of Hydraulic Elements still ensure that higher mechanical efficiency is with preferable
Reliability.The hydraulic cylinder main uses introduced in this kind of sliding fork wood machine brand-new configuration design is not as existing fluid pressure type work
Journey machinery, is used for driving equipment to do work, but transmits power as connecting rod, and regulates unbalance loading by minute movement, improves
Swing arm elevating mechanism lifting stability, it is to avoid the problems such as hydraulic system mechanical efficiency is low, the abrasion decreasing Hydraulic Elements is asked
Topic, compares fluid pressure type engineering machinery and has longer service life and higher reliability.
3, comparing existing controlled charging crane, sliding fork wood facility of the present invention have higher bearing capacity and adaptation
Property.The introducing of multiple-unit straight line driving mechanism, is greatly improved the bearing capacity of this sliding fork wood machine, and this design is especially suitable
The application scenario of heavy duty operation is needed in sliding fork wood machine etc.；This multiple-unit straight line driving mechanism has stronger power and adapts to
Property, the linear actuator of the varying number such as Unit four, Unit six according to different power demand, can be selected to drive, meet light-duty
Sliding fork wood mechanomotive force requirements all kinds of with heavy type.
4, comparing existing controlled charging crane, sliding fork wood facility of the present invention have more preferable dynamic property with reliable
Property.Being introduced as connecting rod by hydraulic cylinder first in the configuration of fork wood machine, the introducing of the Hydraulic Elements such as hydraulic cylinder makes this robot have
There are good antivibration and shock-absorbing capacity.Swing arm elevating mechanism is in parallel by cylinder body, it is achieved that uneven loading action downward moving arm two lifts
The stress balance of side chain, improves the problem that each member stress is uneven, improves the lifting stability of swing arm, extend each component
Service life, improve sliding fork wood machine reliability, the most of the present invention sliding fork wood facility have more mistake
Carry salvo, by introducing the auxiliary equipments such as relief valve on swing arm elevating mechanism hydraulic cylinder, be easier to realize sliding fork wood
The overload protection performance of machine.
5, compare conventional hydraulic formula sliding fork wood machine, sliding fork wood machine of the present invention not only have mechanical efficiency high,
The features such as good reliability, and the employing of controllable mechanism technology is effectively increased sliding fork wood machine operation and the intellectuality of operation
Degree, reduces the labor intensity of operator, and the machinery that the employing of electric drive system significantly reduces sliding fork wood machine is multiple
Miscellaneous degree, reduces the manufacturing cost of sliding fork wood machine.These sliding fork wood facility have that energy consumption is low, low noise, emission-free discharge
Etc. feature, have great importance to promoting sliding fork wood machine greenization, intellectuality.
Accompanying drawing explanation
Fig. 1 is a kind of four mobility multiple-unit linear drives of the present invention sliding fork wood machine schematic diagrams.
Fig. 2 is a kind of four mobility multiple-unit linear drives of the present invention sliding fork wood machine frame schematic diagrams.
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 fork bucket controlling organization schematic diagram of the present invention.
Fig. 8 is fork bucket controlling organization lower fork structural scheme of mechanism of the present invention.
Fig. 9 is to pitch structural scheme of mechanism on fork bucket controlling organization of the present invention.
Figure 10 is a kind of four mobility multiple-unit linear drives of the present invention sliding fork wood machine plan views.
Figure 11 is a kind of four mobility multiple-unit linear drives of the present invention sliding fork wood machine 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 four mobility multiple-unit linear drives of the present invention sliding fork wood machine, including multiple-unit
Straight line driving mechanism, swing arm elevating mechanism, fork bucket controlling organization and frame 1.
Comparison Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, described multiple-unit straight line driving mechanism includes bent axle the 34, first linear drives
Device 35 and the second linear actuator 37, described first linear actuator 35 one end is connected with frame 1, separately by the first revolute pair 36
One end is connected with bent axle 34 by the second revolute pair 39, and the 3rd revolute pair 28 and machine is passed through in described second linear actuator 37 one end
Frame 1 connects, and the other end is connected with bent axle 34 by the 4th revolute pair 38.Described bent axle 34 by the 5th revolute pair 30, the 6th turn
Dynamic secondary 29 are connected with frame 1.
Described multiple-unit straight line driving mechanism under the control of a computer system, can be by multiple stage small-power linear actuator
Power coupling after, realized the purpose of high-power, high torque power output by bent axle 34, solve tradition controllable loading mechanism
The problems such as controllable motor cost is high, power is little, driving torque is low, improve the bearing capacity of this sliding fork wood machine.According to cunning
The power demand of shifting formula fork wood machine, described bent axle 34 can be driven by two groups and above linear actuator, can conveniently select
The multiple power unit forms such as Unit four, Unit six, it is ensured that the output power of this multiple-unit straight line driving mechanism can meet gently
The power demand of each model controllable-mechanism type such as type and heavy type fork wood machine.
Comparison Fig. 1, Fig. 2, Fig. 6, described swing arm elevating mechanism includes that swing arm 18, first lifts side chain and second liter of descending branch
Chain, described first lifting side chain include first connecting rod the 21, first hydraulic cylinder 26, described first connecting rod 21 one end by key or other
Mode is fixing with bent axle 34 to be connected, and the other end is connected with first hydraulic cylinder 26 one end by the 9th revolute pair 22, described first liquid
Cylinder pressure 26 other end is connected with swing arm 18 by the tenth revolute pair 17；Described second lifting side chain includes second connecting rod 23, second
Hydraulic cylinder 25, described second connecting rod 23 one end are connected by key or other modes are fixing with bent axle 34, and the other end passes through the 11st
Revolute pair 24 is connected with second hydraulic cylinder 25 one end, and described second hydraulic cylinder 25 other end passes through the 12nd revolute pair 27 and swing arm
18 connect, and described swing arm 18 is connected with frame 1 by the 7th revolute pair the 19, the 8th revolute pair 20.
During sliding fork wood machine operation, owing to swing arm elevating mechanism is plane parallel mechanism, by the first hydraulic cylinder
26 are connected by hydraulic line with the second hydraulic cylinder 25, and then realize parallel connection, according to pascal's principle, fluid pressure in two cylinder bodies
Identical, swing arm elevating mechanism two can be effectively improved and lift the problem of side chain unbalance stress, improve swing arm 18 and lift stability, prolong
The service life of the long each component of swing arm elevating mechanism.The anti-of swing arm elevating mechanism can be effectively improved by the introducing of Hydraulic Elements
Shake ability, it addition, by introducing the auxiliary equipments such as relief valve on the cylinder body of hydraulic cylinder contained by swing arm elevating mechanism, can be easily
Realize the overload protection function of swing arm elevating mechanism.
Comparison Fig. 1, Fig. 2, Fig. 7, Fig. 8, Fig. 9, described fork bucket controlling organization includes the 3rd linear actuator the 15, the 4th straight line
Driver 4, upper fork 8, lower fork the 7, the 5th linear actuator the 12, the 6th linear actuator 11, described 3rd linear actuator 15 1
End is connected with swing arm 18 by the 13rd revolute pair 2, and the other end is connected with lower fork 7 by the 14th revolute pair 14, and the described 4th
Linear actuator 4 one end is connected with swing arm 18 by the 15th revolute pair 3, and the other end is by the 16th revolute pair 16 and lower fork 7
Connecting, described lower fork 7 is connected with swing arm 18 by the 17th revolute pair the 5, the 18th revolute pair 6；Described upper fork 8 is by the 19th
Revolute pair the 31, the 20th revolute pair 33 is connected with lower fork 7, and the 21st revolute pair is passed through in described 5th linear actuator 12 one end
13 are connected with lower fork 7, and the other end is connected with upper fork 8 by the 22nd revolute pair 10, described 6th linear actuator 11 one end
Being connected with lower fork 7 by the 23rd revolute pair 32, the other end is connected with upper fork 8 by the 24th revolute pair 9.
Described fork bucket controlling organization by the 3rd linear actuator the 15, the 4th linear actuator the 4, the 5th linear actuator 12,
6th linear actuator 11 is driven controlling, it is achieved fork bucket captures operation to Caulis Sacchari sinensis, timber etc..Described fork bucket controlling organization bag
The each linear actuator contained is servo electric jar, and scraper bowl controlling organization, by using brand-new mechanism to design, effectively reduces scraper bowl
Controlling organization rod member number, reduces manufacturing cost and controls complexity.
Comparison Figure 10, Figure 11, sliding fork wood machine not only has intelligence degree height, energy consumption is low, maintaining is simple for this
Etc. feature, and compare existing controllable loading mechanism, be easier to realize overload protection function, and have more preferable dynamic performance,
Bearing stability, vibration resistance and the more long life brought, it is suitable for manufacturing all kinds of sliding fork wood such as light-duty and heavy
Machine, has stronger future in engineering applications and development potentiality.
Claims (2)
1. a four mobility multiple-unit linear drives sliding fork wood machine, including multiple-unit straight line driving mechanism, swing arm lifting
Mechanism, fork bucket controlling organization and frame, it is characterised in that:
Described multiple-unit straight line driving mechanism includes bent axle, the first linear actuator and the second linear actuator, described first straight
Line drive one end is connected with frame by the first revolute pair, and the other end is connected with bent axle by the second revolute pair, and 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, described song
Axle is connected with frame by the 5th revolute pair, the 6th revolute pair,
Described swing arm elevating mechanism includes that swing arm, the first lifting side chain and the second lifting side chain, described first lifting side chain include
First connecting rod, the first hydraulic cylinder, described first connecting rod one end are fixed with bent axle and are connected, and the other end passes through the 9th revolute pair and first
Hydraulic cylinder one end connects, and the described first hydraulic cylinder other end is connected with swing arm by the tenth revolute pair；Described second lifting side chain
Including second connecting rod, the second hydraulic cylinder, described second connecting rod one end and bent axle are fixing is connected, and the other end is by the 11st revolute pair
Being connected with second hydraulic cylinder one end, the described second hydraulic cylinder other end is connected with swing arm by the 12nd revolute pair, described swing arm
It is connected with frame by the 7th revolute pair, the 8th revolute pair,
Described fork bucket controlling organization includes the 3rd linear actuator, the 4th linear actuator, upper fork, lower fork, the 5th linear drives
Device, the 6th linear actuator, described 3rd linear actuator one end is connected with swing arm by the 13rd revolute pair, and the other end passes through
14th revolute pair is connected with lower fork, and described 4th linear actuator one end is connected with swing arm by the 15th revolute pair, another
End is connected with lower fork by the 16th revolute pair, and described lower fork is connected with swing arm by the 17th revolute pair, the 18th revolute pair；
Described upper fork is connected with lower fork by the 19th revolute pair, the 20th revolute pair, and described 5th linear actuator one end is by the
21 revolute pairs are connected with lower fork, and the other end is connected with upper fork by the 22nd revolute pair, described 6th linear actuator
One end is connected with lower fork by the 23rd revolute pair, and the other end is connected with upper fork by the 24th revolute pair.
Four mobility multiple-unit linear drives the most according to claim 1 sliding fork wood machine, it is characterised in that: described the
One hydraulic cylinder and the second hydraulic cylinder are in parallel, described first linear actuator, the second linear actuator, the 3rd linear actuator, the
Four linear actuators, the 5th linear actuator, the 6th linear actuator are servo electric jar.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106677238A (en) * | 2016-11-30 | 2017-05-17 | 广西大学 | Method for performing industrial waste grabbing-loading operation by adopting mobility-variable linkage mechanism driven by servo motors |
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Application publication date: 20161116 |