CN106120900B - A kind of multiple-unit connecting rod driving two mobility heavy-duty loader device people of plane - Google Patents
A kind of multiple-unit connecting rod driving two mobility heavy-duty loader device people of plane Download PDFInfo
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- CN106120900B CN106120900B CN201610463356.8A CN201610463356A CN106120900B CN 106120900 B CN106120900 B CN 106120900B CN 201610463356 A CN201610463356 A CN 201610463356A CN 106120900 B CN106120900 B CN 106120900B
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- China
- Prior art keywords
- connecting rod
- revolute pair
- connect
- crankshaft
- branch
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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
- 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
Abstract
A kind of multiple-unit connecting rod driving plane two mobility heavy-duty loader device people, including multiple-unit bar-link drive, swing arm elevating mechanism, scraper bowl control mechanism etc..The loading robot swing arm elevating mechanism and scraper bowl control mechanism are all made of multiple-unit bar-link drive, multiple-unit bar-link drive is under the control of the computer, realize more low-power machine drivings, high-power, high torque power output meets and loads robot high load operation power demand.The loading robot not only has the characteristics that mechanical efficiency height, fast response time, kinematic accuracy are high, controllability is good, and its bearing capacity greatly improved in the plane-parallel type design and the introducing of multiple-unit bar-link drive of scraper bowl control mechanism, loads robot especially suitable for manufacturing heavy high load.
Description
Technical field
The present invention relates to loading machine field, especially a kind of multiple-unit connecting rod drives two mobility heavy-duty loader device of plane
People.
Background technique
Loading machine is that one kind is widely used in the construction fields such as farmland, water conservancy, the energy, municipal administration, carries out loose unpacked material handling
Key equipment, play an important role to infrastructure construction, but that there is energy consumptions is high, makes an uproar for conventional hydraulic formula loading machine
The disadvantages such as sound is big, exhaust emissions is serious, intelligent level is low.Controllable mechanism is product of the traditional mechanism in conjunction with electronic technology,
" a numerical control generation " equipment Innovation project carried out in recent years, brings opportunity to the upgrading of Traditional project mechanical technique, for hydraulic
Controllable mechanism and robot the relevant technologies are applied in working device of loader design, propose one by the shortcomings that formula loading machine
Class controllable mechanism loader, such loader mechanism avoid the use of hydraulic system, it is by multiple degrees of freedom link mechanism and more
A controllable motor composition, output movement are codetermined by the controllable motor of multiple stage computers programming Control, the output rail of scraper bowl
Mark is the function of independent variable more than one, can realize complicated flexible track output easily, therefore controllable loading mechanism belongs to construction
Robot scope.Compared to fluid pressure type loading machine, controllable loading mechanism is high with intelligence degree, flexibility ratio is good, high transmission efficiency
The advantages that, have great importance for the greenization of propelling loading machine, intelligence.
But during carrying out engineering Application Research to controllable loading mechanism, it was found that a series of not to be related to
Engineering problem, wherein bearing capacity difference is the engineering roadblock most outstanding for restricting controllable loading mechanism engineer application.Due to existing
Controllable loading mechanism swing arm lifting branch and scraper bowl control branch are all made of driving lever-connecting rod-swing arm configuration design form,
Because driving lever is by controllable electric transmission system drives, it is limited by the problems such as controllable motor is at high cost, output power is small, torque is low, is made
At the problems such as existing controllable loading mechanism power performance is poor, load capacity is weak, it is difficult to which the power demand for meeting loading machine causes existing
There is the configuration design form of controllable loading mechanism to be only applicable to microminiature loading machine, has seriously affected the engineering of controllable loading mechanism
Using.
Summary of the invention
It is an object of the invention to prior art there are the problem of a kind of multiple-unit connecting rod driving two mobility of plane is provided
Heavy-duty loader device people had both had many advantages, such as that existing controllable loading mechanism intelligence degree was high, flexibility ratio is good, transmission efficiency is high,
Simultaneously solve the engineering problems such as existing controllable loading mechanism power performance is poor, load capacity is weak, make the loading robot with compared with
Strong bearing capacity meets 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 connecting rod driving two mobility weight of plane
Type loads robot, including multiple-unit bar-link drive, swing arm elevating mechanism, scraper bowl control mechanism and rack.
The multiple-unit bar-link drive includes swing arm multiple-unit bar-link drive and the driving of scraper bowl multiple-unit connecting rod
Mechanism, the swing arm multiple-unit bar-link drive include the first driving branch, the second driving branch, rack, the first crankshaft, institute
Stating the first driving branch includes the first driving lever, first connecting rod, and first driving lever one end passes through the first revolute pair and rack
Connection, the other end are connect by the 31st revolute pair with first connecting rod one end, and the first connecting rod other end passes through second turn
Dynamic pair is connect with the first crankshaft, and the second driving branch includes the second driving lever, second connecting rod, second driving lever one end
It being connect by third revolute pair with rack, the other end is connect by the 32nd revolute pair with second connecting rod one end, and described second
The connecting rod other end is connect by the 4th revolute pair with the first crankshaft, and first crankshaft passes through the 5th revolute pair, the 6th revolute pair
It is connect with rack.The scraper bowl multiple-unit bar-link drive includes that third drives branch, the 4th driving branch, the second crankshaft,
The third driving branch includes third driving lever, third connecting rod, and third driving lever one end passes through the 7th revolute pair and machine
Frame connection, the other end are connect by the 33rd revolute pair with third connecting rod one end, and the third connecting rod other end passes through the 8th
Revolute pair is connect with the second crankshaft, and the 4th driving branch includes the 4th driving lever, fourth link, the 4th driving lever one
End is connect by the 9th revolute pair with rack, and the other end passes through the 34th revolute pair and connect with fourth link one end, and described the
The double leval jib other end is connect by the tenth revolute pair with the second crankshaft, and second crankshaft passes through the 11st revolute pair, the 12nd
Revolute pair is connect with rack.
First driving lever, the second driving lever, third driving lever, the 4th driving lever pass through electric transmission by controllable motor
System carries out drive control, and the multiple-unit bar-link drive under the control of a computer system, can be by multiple power lists
It is exported after the power coupling of member by the first crankshaft, the second crankshaft, so that the multiple-unit bar-link drive be made to realize by more
The input of platform small-power controllable motor, high-power, high torque power output purpose solve traditional controllable loading mechanism servo electricity
The problems such as machine power output is small, driving torque is low effectively increases the bearing capacity of the loading robot by the design, separately
Outside, according to different power needs, it can be convenient and the driving branch of the different numbers such as Unit four, Unit six is selected to be driven,
Make the multiple-unit bar-link drive that there is stronger power adaptability, large, medium and small type loading robot power can be met and wanted
It asks, loads robot especially suitable for manufacturing heavy high load.
The swing arm elevating mechanism includes that swing arm, the first lifting branch and the second lifting branch, the swing arm pass through the tenth
Three revolute pairs, the 14th revolute pair are connect with rack, and the first lifting branch includes the 5th connecting rod, six-bar linkage, and described the
Five connecting rod one end are fixedly connected by key or other connection types with the first crankshaft, and the other end passes through the 15th revolute pair and the
The connection of six-bar linkage one end, the six-bar linkage other end are connect by the 16th revolute pair with swing arm, the second lifting branch
Including seven-link assembly, the 8th connecting rod, seven-link assembly one end connects by the way that strong or other connection types and the first crankshaft are fixed
It connects, the other end is connect by the 17th revolute pair with the 8th connecting rod one end, and the 8th connecting rod other end is dynamic by the tenth eight revolution
Pair is connect with swing arm.
The scraper bowl control mechanism includes that scraper bowl, the first control branch and the second control branch, the scraper bowl pass through the tenth
Nine revolute pairs, the 20th revolute pair are connect with swing arm, and the first control branch shakes including the 9th connecting rod, the tenth connecting rod, first
Arm, the first pull rod, described 9th connecting rod one end are fixedly connected by strong or other connection types with the second crankshaft, and the other end is logical
It crosses the 21st revolute pair to connect with the tenth connecting rod, the tenth connecting rod is connected by the 22nd revolute pair and the first one end
It connects, the first rocker arm other end is connect by the 23rd revolute pair with swing arm, and first pull rod one end passes through the 20th
Four revolute pairs are connect with the tenth connecting rod, and the other end is connect by the 25th revolute pair with scraper bowl, the second control branch packet
The 11st connecting rod, the 12nd connecting rod, the second rocker arm, the second pull rod are included, described 11st connecting rod one end passes through strong or other companies
Mode is connect to be fixedly connected with the second crankshaft, the other end is connect by the 26th revolute pair with the 12nd connecting rod, and the described 12nd
Connecting rod is connect by the 27th revolute pair with the second one end, and the second rocker arm other end passes through the 28th revolute pair
It is connect with swing arm, second pull rod one end is connect by the 29th revolute pair with the 12nd connecting rod, and the other end passes through third
Ten revolute pairs are connect with scraper bowl.
This kind of multiple-unit connecting rod drives swing arm elevating mechanism and the scraper bowl control of two mobility heavy-duty loader device people of plane
Mechanism is designed by using plane-parallel type, and the bearing capacity of the loading robot not only greatly improved, but also is greatly improved
The rigidity for loading robot, makes it have preferable dynamic performance.The loading robot actuating mechanism is by being mounted on the rack
Multiple-unit bar-link drive power is provided, motion work controls by computer programming.Multiple-unit bar-link drive
It introduces, after a plurality of small-power being driven to the power coupling of branch, realizes that large torque, high power torque export by crankshaft,
The bearing capacity of the robot greatly improved, therefore the technical solution that the invention provides is heavy high especially suitable for manufacturing and designing
Load robot.
The present invention has the prominent advantages that:
1, the loading robot is designed using completely new configuration, is wanted meeting freedom degree and working space needed for loading operation
It asks down, there is preferable kinematics and dynamic performance, swing arm elevating mechanism and scraper bowl control mechanism are by using plane-parallel type
Design greatly improves the rigidity for loading robot, and having controllable mechanism loader, low energy consumption, transmission efficiency is high, intelligent
The features such as degree height, good reliability.
2, under the premise of guaranteeing that meeting loading operation requires, which uses the company driven by electric drive system
Bar is driven the Hydraulic Power Transmission System instead of conventional load machine equipment, avoids that hydraulic system mechanical efficiency is low, reliability
The problems such as poor, fluid pressure type loading machine is compared, which has the characteristics that low energy consumption, low noise, emission-free discharge.Separately
Outside, the dynamical system of the loading robot uses the controllable electric drive system of computer programming control, compares existing fluid pressure type
Engineering machinery has many advantages, such as that automation and intelligence degree are high, and executing agency's manipulation and control is simple, realizes numerical control and is turned into
Industry.
3, existing controllable loading mechanism is compared, loading robot of the present invention has stronger bearing capacity and adaptation
Property.The loading machine greatly improved by introducing multiple-unit bar-link drive in scraper bowl control mechanism and swing arm elevating mechanism
The bearing capacity of people, especially suitable for manufacturing heavy engineering construction robot；The multiple-unit bar-link drive has stronger
Power adaptability according to different power demands, can select the driving branch driving of the different numbers such as Unit four, Unit six, full
The large, medium and small type of foot loads robot power demand, loads robot especially suitable for manufacturing heavy high load.
Detailed description of the invention
Fig. 1 is that a kind of multiple-unit connecting rod of the present invention drives two mobility heavy-duty loader Qi Ren executing agency of plane
Schematic diagram.
Fig. 2 is that a kind of multiple-unit connecting rod of the present invention drives the man-machine frame signal of two mobility heavy-duty loader device of plane
Figure.
Fig. 3 is one of swing arm multiple-unit bar-link drive schematic diagram of the present invention.
Fig. 4 is the two of swing arm multiple-unit bar-link drive schematic diagram of the present invention.
Fig. 5 is swing arm multiple-unit bar-link drive crankshaft schematic diagram of the present invention.
Fig. 6 is one of scraper bowl multiple-unit bar-link drive schematic diagram of the present invention.
Fig. 7 is the two of scraper bowl multiple-unit bar-link drive schematic diagram of the present invention.
Fig. 8 is scraper bowl multiple-unit bar-link drive crankshaft schematic diagram of the present invention.
Fig. 9 is swing arm elevating mechanism schematic diagram of the present invention.
Figure 10 is scraper bowl control mechanism schematic diagram of the present invention.
Figure 11 is that a kind of multiple-unit connecting rod of the present invention drives two mobility heavy-duty loader device people's plane of plane view
Figure.
Figure 12 is that multiple-unit connecting rod of the present invention drives two mobility heavy-duty loader device people's operation schematic diagram of plane.
Specific embodiment
Technical solution of the present invention is described further below by way of drawings and examples.
Comparative diagram 1, a kind of multiple-unit connecting rod driving two mobility heavy-duty loader device people of plane of the present invention, including
Multiple-unit bar-link drive, swing arm elevating mechanism, scraper bowl control mechanism and rack 1.
Comparative diagram 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, the multiple-unit bar-link drive include that swing arm is more
Unit bar-link drive and scraper bowl multiple-unit bar-link drive, the swing arm multiple-unit bar-link drive include the first drive
Dynamic branch, the second driving branch, rack 1, the first crankshaft 7, the first driving branch includes the first driving lever 3, first connecting rod
5, described first driving lever, 3 one end is connect by the first revolute pair 2 with rack 1, and the other end passes through the 31st revolute pair 4 and the
The connection of one connecting rod, 5 one end, 5 other end of first connecting rod are connect by the second revolute pair 6 with the first crankshaft 7, and described second drives
Dynamic branch includes the second driving lever 13, second connecting rod 11, and described second driving lever, 13 one end passes through third revolute pair 14 and rack 1
Connection, the other end are connect by the 32nd revolute pair 12 with 11 one end of second connecting rod, and 11 other end of second connecting rod passes through
4th revolute pair 10 is connect with the first crankshaft 7, and first crankshaft 7 is connected by the 5th revolute pair 8, the 6th revolute pair 9 with rack 1
It connects.The scraper bowl multiple-unit bar-link drive includes third driving branch, the 4th driving branch, the second crankshaft 25, and described the
Three driving branches include third driving lever 16, third connecting rod 18, described 16 one end of third driving lever by the 7th revolute pair 15 with
Rack 1 connects, and the other end is connect by the 33rd revolute pair 17 with 18 one end of third connecting rod, 18 other end of third connecting rod
It being connect by the 8th revolute pair 19 with the second crankshaft 25, the 4th driving branch includes the 4th driving lever 21, fourth link 23,
Described 4th driving lever, 21 one end connect by the 9th revolute pair 20 with rack 1, the other end pass through the 34th revolute pair 22 and
The connection of 23 one end of fourth link, 23 other end of fourth link is connect by the tenth revolute pair 24 with the second crankshaft 25, described
Second crankshaft 25 is connect by the 11st revolute pair 26, the 12nd revolute pair 27 with rack 1.
First driving lever 3, the second driving lever 13, third driving lever 16, the 4th driving lever 21 are logical by controllable motor
It crosses electric drive system and carries out drive control, the multiple-unit bar-link drive under the control of a computer system, can will be more
It is exported after the power coupling of a power unit by the first crankshaft 7, the second crankshaft 25, to make the multiple-unit bar-link drive
It realizes and is inputted by more small-power controllable motors, high-power, high torque power output purpose solves traditional controllable loading
The problems such as mechanism servo motor power output is small, driving torque is low effectively increases holding for the loading robot by the design
Loading capability, in addition, can be convenient the driving branch for selecting the different numbers such as Unit four, Unit six according to different power needs
It is driven, makes the multiple-unit bar-link drive that there is stronger power adaptability, large, medium and small type can be met and load machine
People's power demand loads robot especially suitable for manufacturing heavy high load.
Comparative diagram 1, Fig. 2, Fig. 9, the swing arm elevating mechanism include that swing arm 32, first goes up and down branch and the second lifting branch
Chain, the swing arm 32 are connect by the 13rd revolute pair 37, the 14th revolute pair 38 with rack 1, the first lifting branch packet
The 5th connecting rod 28, six-bar linkage 30 are included, described 5th connecting rod, 28 one end is solid by key or other connection types and the first crankshaft 7
Fixed connection, the other end are connect by the 15th revolute pair 29 with 30 one end of six-bar linkage, and 30 other end of six-bar linkage passes through
16th revolute pair 31 is connect with swing arm 32, it is described second lifting branch include seven-link assembly 33, the 8th connecting rod 35, the described 7th
33 one end of connecting rod is fixedly connected by strong or other connection types with the first crankshaft 7, and the other end passes through the 17th revolute pair 34
It is connect with 35 one end of the 8th connecting rod, 35 other end of the 8th connecting rod is connect by the 18th revolute pair 36 with swing arm 32.
Comparative diagram 1, Fig. 2, Figure 10, the scraper bowl control mechanism include that scraper bowl 48, first controls branch and the second control branch
Chain, the scraper bowl 48 are connect by the 19th revolute pair 58, the 20th revolute pair 59 with swing arm 32, the first control branch packet
Include the 9th connecting rod 39, the tenth connecting rod 41, the first Rocker arm 43, the first pull rod 46, described 9th connecting rod, 39 one end by it is strong or its
Its connection type is fixedly connected with the second crankshaft 25, and the other end is connect by the 21st revolute pair 40 with the tenth connecting rod 41, institute
It states the tenth connecting rod 41 to connect by the 22nd revolute pair 42 with 3 one end of the first Rocker arm 4,3 other end of the first Rocker arm 4 passes through
23rd revolute pair 44 is connect with swing arm 32, and described first pull rod, 46 one end passes through the 24th revolute pair 45 and the tenth connecting rod
41 connections, the other end are connect by the 25th revolute pair 47 with scraper bowl 48, and the second control branch includes the 11st connecting rod
49, the 12nd connecting rod 51, the second Rocker arm 53, the second pull rod 56, described 11st connecting rod, 49 one end pass through strong or other connections
Mode is fixedly connected with the second crankshaft 25, and the other end is connect by the 26th revolute pair 50 with the 12nd connecting rod 51, and described the
12 connecting rods 51 are connect by the 27th revolute pair 52 with 3 one end of the second Rocker arm 5, and 3 other end of the second Rocker arm 5 passes through the
28 revolute pairs 54 are connect with swing arm 32, and described second pull rod, 56 one end passes through the 29th revolute pair 55 and the 12nd connecting rod
51 connections, the other end are connect by the 30th revolute pair 57 with scraper bowl 48.
This kind of multiple-unit connecting rod drives swing arm elevating mechanism and the scraper bowl control of two mobility heavy-duty loader device people of plane
Mechanism is designed by using plane-parallel type, and the bearing capacity of the loading robot not only greatly improved, but also is greatly improved
The rigidity for loading robot, makes it have preferable dynamic performance.The loading robot actuating mechanism is by being mounted on the rack
Multiple-unit bar-link drive power is provided, motion work controls by computer programming.Multiple-unit bar-link drive
It introduces, after a plurality of small-power being driven to the power coupling of branch, realizes that large torque, high power torque export by crankshaft,
The bearing capacity of the robot greatly improved, therefore the technical solution that the invention provides is heavy high especially suitable for manufacturing and designing
Load robot.
Claims (1)
1. a kind of multiple-unit connecting rod drives two mobility heavy-duty loader device people of plane, including it is multiple-unit bar-link drive, dynamic
Arm lifting mechanism, scraper bowl control mechanism and rack, it is characterised in that:
The multiple-unit bar-link drive includes swing arm multiple-unit bar-link drive and scraper bowl multiple-unit bar-link drive,
The swing arm multiple-unit bar-link drive includes the first driving branch, the second driving branch, rack, the first crankshaft, and described the
One driving branch includes the first driving lever, first connecting rod, and first driving lever one end is connect by the first revolute pair with rack,
The other end connect by the 31st revolute pair with first connecting rod one end, the first connecting rod other end pass through the second revolute pair and
The connection of first crankshaft, the second driving branch includes the second driving lever, second connecting rod, and second driving lever one end passes through the
Three revolute pairs are connect with rack, and the other end is connect by the 32nd revolute pair with second connecting rod one end, and the second connecting rod is another
One end is connect by the 4th revolute pair with the first crankshaft, and first crankshaft passes through the 5th revolute pair, the 6th revolute pair and rack
Connection, the scraper bowl multiple-unit bar-link drive include third driving branch, the 4th driving branch, the second crankshaft, and described the
Three driving branches include third driving lever, third connecting rod, and third driving lever one end is connect by the 7th revolute pair with rack,
The other end connect by the 33rd revolute pair with third connecting rod one end, the third connecting rod other end pass through the 8th revolute pair and
The connection of second crankshaft, the 4th driving branch includes the 4th driving lever, fourth link, and described 4th driving lever one end passes through the
Nine revolute pairs are connect with rack, and the other end is connect by the 34th revolute pair with fourth link one end, and the fourth link is another
One end connect by the tenth revolute pair with the second crankshaft, second crankshaft pass through the 11st revolute pair, the 12nd revolute pair and
Rack connection,
The swing arm elevating mechanism includes that swing arm, the first lifting branch and the second lifting branch, the swing arm pass through the 13rd turn
Dynamic secondary, the 14th revolute pair is connect with rack, and the first lifting branch includes the 5th connecting rod, six-bar linkage, and the described 5th connects
Bar one end is fixedly connected with the first crankshaft, and the other end is connect by the 15th revolute pair with six-bar linkage one end, and the described 6th connects
The bar other end is connect by the 16th revolute pair with swing arm, and the second lifting branch includes seven-link assembly, the 8th connecting rod, described
Seven-link assembly one end is fixedly connected with the first crankshaft, and the other end is connect by the 17th revolute pair with the 8th connecting rod one end, described
The 8th connecting rod other end is connect by the 18th revolute pair with swing arm,
The scraper bowl control mechanism includes that scraper bowl, the first control branch and the second control branch, the scraper bowl pass through the 19th turn
Dynamic secondary, the 20th revolute pair connect with swing arm, and described first, which controls branch, includes the 9th connecting rod, the tenth connecting rod, the first rocker arm, the
One pull rod, described 9th connecting rod one end are fixedly connected with the second crankshaft, and the other end passes through the 21st revolute pair and the tenth connecting rod
Connection, the tenth connecting rod are connect by the 22nd revolute pair with the first one end, and the first rocker arm other end passes through
23rd revolute pair is connect with swing arm, and first pull rod one end is connect by the 24th revolute pair with the tenth connecting rod, separately
One end connect by the 25th revolute pair with scraper bowl, and described second, which controls branch, includes the 11st connecting rod, the 12nd connecting rod, the
Two rocker arms, the second pull rod, described 11st connecting rod one end are fixedly connected with the second crankshaft, and the other end passes through the 26th revolute pair
It being connect with the 12nd connecting rod, the 12nd connecting rod is connect by the 27th revolute pair with the second one end, and described second
The rocker arm other end connect by the 28th revolute pair with swing arm, and second pull rod one end passes through the 29th revolute pair and the
The connection of 12 connecting rods, the other end are connect by the 30th revolute pair with scraper bowl,
First driving lever, the second driving lever, third driving lever, the 4th driving lever are driven by controllable motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610463356.8A CN106120900B (en) | 2016-06-24 | 2016-06-24 | A kind of multiple-unit connecting rod driving two mobility heavy-duty loader device people of plane |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610463356.8A CN106120900B (en) | 2016-06-24 | 2016-06-24 | A kind of multiple-unit connecting rod driving two mobility heavy-duty loader device people of plane |
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| CN106120900A CN106120900A (en) | 2016-11-16 |
| CN106120900B true CN106120900B (en) | 2019-02-15 |
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| CN106677236A (en) * | 2016-11-30 | 2017-05-17 | 广西大学 | Variable-freedom connecting rod mechanism driven by servo motors |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201687020U (en) * | 2010-05-17 | 2010-12-29 | 厦门厦工机械股份有限公司 | Eight-bar linkage working mechanism of loader |
| CN203345205U (en) * | 2012-12-20 | 2013-12-18 | 中昱军利(北京)国防装备科技中心 | Ground equipment for loading ammunition for fighter plane |
| EP2719835A2 (en) * | 2012-10-11 | 2014-04-16 | CNH Italia S.p.A. | Boom lock system for work machine and associated method |
| CN105035776A (en) * | 2014-04-28 | 2015-11-11 | 凯斯纽荷兰(中国)管理有限公司 | Lift assembly for a work vehicle |
| CN204826011U (en) * | 2015-06-30 | 2015-12-02 | 江苏柳工机械有限公司 | Telescopic skid steer loader equipment |
-
2016
- 2016-06-24 CN CN201610463356.8A patent/CN106120900B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201687020U (en) * | 2010-05-17 | 2010-12-29 | 厦门厦工机械股份有限公司 | Eight-bar linkage working mechanism of loader |
| EP2719835A2 (en) * | 2012-10-11 | 2014-04-16 | CNH Italia S.p.A. | Boom lock system for work machine and associated method |
| CN203345205U (en) * | 2012-12-20 | 2013-12-18 | 中昱军利(北京)国防装备科技中心 | Ground equipment for loading ammunition for fighter plane |
| CN105035776A (en) * | 2014-04-28 | 2015-11-11 | 凯斯纽荷兰(中国)管理有限公司 | Lift assembly for a work vehicle |
| CN204826011U (en) * | 2015-06-30 | 2015-12-02 | 江苏柳工机械有限公司 | Telescopic skid steer loader equipment |
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| Publication number | Publication date |
|---|---|
| CN106120900A (en) | 2016-11-16 |
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