CN106120906A - A kind of multiple-unit connecting rod drives four mobility heavy type high capacities to load robot - Google Patents
A kind of multiple-unit connecting rod drives four mobility heavy type high capacities to load robot Download PDFInfo
- Publication number
- CN106120906A CN106120906A CN201610463389.2A CN201610463389A CN106120906A CN 106120906 A CN106120906 A CN 106120906A CN 201610463389 A CN201610463389 A CN 201610463389A CN 106120906 A CN106120906 A CN 106120906A
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- China
- Prior art keywords
- revolute pair
- connecting rod
- side chain
- cylinder body
- swing arm
- Prior art date
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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
-
- 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
- E02F3/342—Buckets emptying overhead
-
- 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
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/422—Drive systems 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 four mobility heavy type high capacities 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.By introducing Hydraulic Elements in swing arm elevating mechanism, scraper bowl controlling organization, it is achieved that in-cylinder pressure is equal, the problem improving the two driving chain discontinuity equalizations loading robot scraper bowl and swing arm, improves bearing stability.This loading robot not only has the features such as mechanical efficiency height, fast response time, kinematic accuracy is high, controllability is good; and the design of the plane-parallel type of scraper bowl controlling organization; and the introducing of multiple-unit bar-link drive and Hydraulic Elements is greatly improved its bearing capacity and resistance to shock; and easily realize overload protection function, it is more suitable for manufacturing heavy high capacity and loads robot.
Description
Technical field
The present invention relates to loader field, particularly a kind of multiple-unit connecting rod drives four mobility heavy type high capacity loaders
Device people.
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 loader mechanism avoids the use of hydraulic system, and it is by multiple degrees of freedom linkage and many
Individual controllable motor forms, and the controllable motor that its output motion is controlled by multiple stage computer programming together decides on, the output rail of scraper bowl
Mark 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 efficiency good, high
Etc. advantage, propelling loading machine greenization, intellectuality are had great importance.
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 and scraper bowl control side chain all use driving lever connecting rod
The configuration design form of swing arm, because driving lever is by controllable electric transmission system drives, is limited by controllable motor cost height, output
The problems such as little, moment of torsion is low, cause the problems such as existing controllable loading mechanism power performance is poor, load capacity is weak, it is difficult to meet and load
The power demand of machine, so the configuration design form of existing controllable loading mechanism is only applicable to microminiature loader；Secondly, existing
Controllable loading mechanism is plane parallel mechanism, and two driving levers lifting swing arm at the same time or simultaneously control scraper bowl shovel when pretending industry,
Owing to manufacturing, process, assembling equal error, particularly when loader unbalance loading, cause swing arm two parallel drive side chain and
Scraper bowl two Parallel Control side chain unbalance stress, have impact on lifting stability, it is easy to cause the overload of partial component to damage, impact
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, phase
Than the equipment of the fluid pressure type loader containing moving sets, lack effective overload protection and absorbing means.Above-mentioned reason is serious
Have impact on the engineer applied of controllable loading mechanism.
Summary of the invention
The problem that it is an object of the invention to prior art existence provides a kind of multiple-unit connecting rod to drive four mobilities heavy
High capacity loads robot, and it is excellent both to have had that existing controllable loading mechanism intelligence degree is high, flexibility ratio is good, transmission efficiency is high etc.
Point, solves that existing controllable loading mechanism power performance is poor, load capacity is weak simultaneously, and swing arm elevating mechanism and scraper bowl controlling organization are steady
Qualitative difference, lacks the engineering problem such as effective overload protection and absorbing means, makes this loading robot have preferable kinetics
Performance and bearing stability, have stronger bearing capacity, vibration resistance and overload protection performance simultaneously.
The present invention reaches above-mentioned purpose by the following technical programs: a kind of multiple-unit connecting rod drives four mobility heavy types high
Load robot, including multiple-unit bar-link drive, swing arm elevating mechanism, scraper bowl controlling organization and frame.
Described multiple-unit bar-link drive includes that swing arm multiple-unit bar-link drive and scraper bowl multiple-unit connecting rod drive
Mechanism, described swing arm multiple-unit bar-link drive includes the first driving side chain, the second driving side chain, frame, the first bent axle, institute
Stating the first driving side chain and include the first driving lever, first connecting rod, the first revolute pair and frame are passed through in described first driving lever one end
Connecting, the other end is connected with first connecting rod one end by the second revolute pair, and the described first connecting rod other end passes through the 3rd revolute pair
Being connected with the first bent axle, described second drives side chain to include that the second driving lever, second connecting rod, described second driving lever one end pass through
4th revolute pair is connected with frame, and the other end is connected with second connecting rod one end by the 5th revolute pair, described second connecting rod another
End is connected with the first bent axle by the 6th revolute pair, and described first bent axle is by the 7th revolute pair, the 8th revolute pair with frame even
Connect.Described scraper bowl multiple-unit bar-link drive include the 3rd driving side chain, the 4th drive side chain, the second bent axle, the described 3rd
Driving side chain to include the 3rd driving lever, third connecting rod, described 3rd driving lever one end is connected with frame, separately by the 9th revolute pair
One end is connected with third connecting rod one end by the tenth turn of revolute pair, and the described third connecting rod other end passes through the 11st revolute pair and the
Two bent axles connect, and the described 4th drives side chain to include the 4th driving lever, fourth link, and described 4th driving lever one end passes through the tenth
Two revolute pairs are connected with frame, and the other end is connected with fourth link one end by the 13rd revolute pair, described fourth link another
End is connected with the second bent axle by the 14th revolute pair, described second bent axle pass through the 15th revolute pair, the 17th revolute pair and
Frame connects.
Described first driving lever, the second driving lever, the 3rd driving lever, the 4th driving lever are passed through electric transmission by controllable motor
System is driven controlling, and described multiple-unit bar-link drive under the control of a computer system, can be by multiple power lists
Exported, so that this multiple-unit bar-link drive achieves by many by the first bent axle, the second bent axle after the power coupling of unit
Platform small-power controllable motor inputs, high-power, the purpose of high torque power output, solves tradition controllable loading mechanism servo electricity
The problems such as acc power output is little, driving torque is low, are effectively increased the bearing capacity of this loading robot, separately by this design
Outward, according to different power needs, the driving side chain of the varying number such as Unit four, Unit six can be conveniently selected to be driven,
Make this multiple-unit bar-link drive have stronger power adaptability, large, medium and small type can be met and load robot power and want
Ask.
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 tenth
Seven revolute pairs, the 18th revolute pair are connected with frame, and described first lifting side chain includes the 5th connecting rod, the first cylinder body, the first work
Stopper rod, described 5th connecting rod one end is connected by key or other connected mode are fixing with the first bent axle, and the other end passes through the tenth
Nine revolute pairs are connected with the first cylinder body, and described first cylinder body is connected with first piston bar one end by the first moving sets, and described the
The one piston rod other end is connected with swing arm by the 20th revolute pair, and described second lifting side chain includes six-bar linkage, the second cylinder
Body, the second piston rod, described six-bar linkage one end fixed with the first bent axle by strong or other connected mode and is connected, the other end
Being connected with the second cylinder body by the 21st revolute pair, described second cylinder body is connected by the second moving sets and second piston rod one end
Connecing, the second piston rod other end is connected with swing arm by the 22nd revolute pair.
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,
Swing arm multiple-unit bar-link drive provides power by the first bent axle for swing arm elevating mechanism.Due to controllable loading mechanism due to
Swing arm elevating mechanism is plane parallel mechanism, because manufacturing, processing, assembling equal error, particularly in the situation of loader unbalance loading
Under, cause swing arm two parallel drive side chain unbalance stress, have impact on lifting stability, it is easy to cause the overload of partial component to damage
Ruin, affect the service life of actuator.Described multiple-unit connecting rod drive four mobility heavy type high capacities load robot pass through
Introduce the first moving sets, the second moving sets, it is ensured that swing arm elevating mechanism first, second swing arm lifting side chain has adjustable
Mobility, according to pascal's principle, utilizes hydraulic line that the first cylinder body and the second cylinder body is in parallel, by the first moving sets, the
Being automatically adjusted of two moving sets, in can realizing two cylinder bodies, fluid pressure is identical, and then realizes two swing arms liter descending branch under uneven loading action
The stress balance of chain, improves swing arm two and lifts the problem of side chain unbalance stress, improves swing arm 24 and lifts stability, extends swing arm
The service life of each component of elevating mechanism.It addition, the introducing of Hydraulic Elements is effectively improved the vibration resistance of swing arm elevating mechanism, and
And by introducing the auxiliary equipments such as relief valve in the first cylinder body or the second cylinder body, the mistake of swing arm elevating mechanism can be realized easily
Carry defencive function.
Described scraper bowl controlling organization includes that scraper bowl, the first control side chain and second control side chain, and described scraper bowl passes through second
13 revolute pairs, the 24th revolute pair are connected with swing arm, described first control side chain include seven-link assembly, the 3rd cylinder body, the
Three piston rods, the first rocking arm, the first pull bar, described seven-link assembly one end is solid with the second bent axle by key or other connected mode
Fixed connecting, the other end is connected with the 3rd cylinder body by the 25th revolute pair, and described 3rd cylinder body passes through three moving sets and the
Three piston rods connect, and described 3rd piston rod is connected with the first rocking arm by the 26th revolute pair, and described first rocking arm passes through
27th revolute pair is connected with swing arm 24, and described first pull bar one end is connected with the first rocking arm by the 28th revolute pair,
The other end is connected with scraper bowl by the 29th revolute pair, described second control side chain include the 8th connecting rod, the 4th cylinder body, the 4th
Piston rod, the second rocking arm, the second pull bar, described 8th connecting rod one end is fixed with the second bent axle by strong or other connected mode
Connecting, the other end is connected with the 4th cylinder body by the 30th revolute pair, and described 4th cylinder body is lived by the 4th moving sets and the 4th
Stopper rod connects, and described 4th piston rod is connected with the second rocking arm by the 31st revolute pair, and described second rocking arm passes through the 3rd
12 revolute pairs are connected with swing arm, and described second pull bar one end is connected with the second rocking arm by the 33rd revolute pair, the other end
It is connected with scraper bowl by the 34th revolute pair.
In practical engineering application, described 3rd cylinder body, three moving sets, the 3rd piston rod can replace with a hydraulic cylinder,
Described 4th cylinder body, the 4th moving sets and the 4th piston rod can replace with another hydraulic cylinder, in loading robot operation process,
Scraper bowl multiple-unit bar-link drive provides power by the second bent axle for swing arm elevating mechanism.On the one hand steady in order to improve shovel dress
Qualitative, improve dynamic property, on the other hand in order to improve the load capacity of this loading robot, described scraper bowl controlling organization uses
Plane parallel mechanism design form, and provided power by swing arm multiple-unit bar-link drive, greatly improve this loading machine
The spading ability of people's scraper bowl and bearing capacity.In order to avoid because manufacturing, processing, assembling equal error, particularly inclined at loader
When carrying, cause two scraper bowls to control the problem of side chain unbalance stress, by introducing three moving sets, the 4th moving sets, protect
Demonstrate,prove scraper bowl controlling organization first, second to control side chain there is adjustable mobility, according to pascal's principle, utilize hydraulic tube
Line is in parallel by the 3rd cylinder body and the 4th cylinder body, by three moving sets, being automatically adjusted of the 4th moving sets, can realize in two cylinder bodies
Fluid pressure is identical, and then realizes the stress balance of two control side chains under uneven loading action, improves scraper bowl controlling organization two control
The problem of side chain unbalance stress, improves and loads robot job stabilization, extend the use longevity of each component of scraper bowl controlling organization
Life.It addition, the introducing of Hydraulic Elements is effectively improved the vibration resistance of scraper bowl controlling organization, and by the 3rd cylinder body or the 4th
Cylinder body introduces the auxiliary equipments such as relief valve, the overload protection function of scraper bowl controlling organization can be realized easily.
It is controlled at each electric drive system that described a kind of multiple-unit connecting rod drives four mobility heavy type high capacities to load robot
Under the programming Control of motor, complete loading operation.During industry pretended by loading robot shovel, when the load that actuator is born
When tolerance zone, the moving sets in swing arm elevating mechanism and scraper bowl controlling organization only balances first by the way of fine setting, the
Two lifting side chains or first, second control the stress of side chain, and the bar group being made up of cylinder body, moving sets, piston rod in each side chain can
It is considered as a non-telescoping Force transmission parts, if the load that this loading robot bears exceedes tolerance zone, by opening cylinder
Relief valve on body, plays overload protective function.Based on These characteristics, described multiple-unit connecting rod drives four mobility heavy types high
Load robot compares existing controllable loading mechanism and has more preferable dynamic performance, bearing stability, reliability, and
Higher load capacity and vibration resistance, technical solutions according to the invention are particularly well-suited to manufacture and design large-tonnage high capacity
Heavy-duty loader device people.
The present invention has the prominent advantages that:
1, on the premise of ensureing that meeting loading operation requires, electric drive system the link transmission driven instead of conventional load
The Hydraulic Power Transmission System of machine equipment, it is to avoid the problems such as low, the poor reliability of hydraulic system mechanical efficiency, significantly reduces energy
Consumption.It addition, the dynamical system of this loading robot have employed the controllable electric drive system that computer programming controls, compare existing liquid
Pressure type engineering machinery, not only noise discharge low, emission-free, and automatization and intelligence degree are high.
2, comparing existing controllable loading mechanism, loading robot of the present invention has higher bearing capacity and adaptation
Property.Scraper bowl controlling organization and swing arm elevating mechanism, by introducing multiple-unit bar-link drive, are greatly improved this loading machine
The bearing capacity of people, is particularly well-suited to manufacture heavy engineering construction robot；This multiple-unit bar-link drive has stronger
Power adaptability, according to different power demand, can select the driving side chain of the varying number such as Unit four, Unit six to drive, full
The large, medium and small type of foot loads robot power demand.
3, comparing existing controllable loading mechanism, loading robot of the present invention has more preferable dynamic property with reliable
Property.By introducing Hydraulic Elements at swing arm elevating mechanism and scraper bowl controlling organization, loading robot is made to obtain preferably antivibration
Performance and bearing stability.Swing arm elevating mechanism and scraper bowl controlling organization are in parallel by cylinder body, it is achieved that uneven loading action downward moving arm
Two lifting side chains and scraper bowl two control the stress balance of side chain, improve the problem that each member stress is uneven, improve swing arm
Lifting stability and the spading stability of scraper bowl, extend the service life of each component, improves loading machine human reriability.
It addition, swing arm elevating mechanism and scraper bowl controlling organization are by using plane-parallel type to design, greatly improve and load the firm of robot
Property.
4, comparing existing controllable loading mechanism, loading robot of the present invention has more overload protection means, logical
Cross in swing arm elevating mechanism, scraper bowl controlling organization, on hydraulic cylinder, introduce the auxiliary equipments such as relief valve, be easier to realize loading machine
The overload protection performance of people.
Accompanying drawing explanation
Fig. 1 is that a kind of multiple-unit connecting rod of the present invention drives four mobility heavy type high capacities to load robot execution machine
Structure schematic diagram.
Fig. 2 is that a kind of multiple-unit connecting rod of the present invention drives four mobility heavy type high capacities loading robot frame to show
It is intended to.
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 bent axle 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 bent axle schematic diagram of the present invention.
Fig. 9 is swing arm elevating mechanism schematic diagram of the present invention.
Figure 10 is scraper bowl controlling organization schematic diagram of the present invention.
Figure 11 is that a kind of multiple-unit connecting rod of the present invention drives four mobility heavy type high capacities to load robot plane
View.
Figure 12 is that multiple-unit connecting rod of the present invention drives four mobility heavy type high capacities loading machines manually to make to illustrate
Figure.
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 four mobility heavy type high capacities to load robot, bag
Include multiple-unit 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, Fig. 6, Fig. 7, Fig. 8, described multiple-unit bar-link drive includes that swing arm is many
Unit bar-link drive and scraper bowl multiple-unit bar-link drive, described swing arm multiple-unit bar-link drive includes that first drives
Dynamic side chain, the second driving side chain, frame the 1, first bent axle 55, described first drives side chain to include the first driving lever 2, first connecting rod
4, described first driving lever 2 one end is connected with frame 1 by the first revolute pair 10, and the other end passes through the second revolute pair 3 and first
Connecting rod 4 one end connects, and described first connecting rod 4 other end is connected with the first bent axle 55 by the 3rd revolute pair 5, and described second drives
Side chain includes the second driving lever 8, second connecting rod 7, and described second driving lever 8 one end is connected with frame 1 by the 4th revolute pair 9,
The other end is connected with second connecting rod 7 one end by the 5th revolute pair 13, and described second connecting rod 7 other end passes through the 6th revolute pair 6
Being connected with the first bent axle 55, described first bent axle 55 is connected with frame 1 by the 7th revolute pair the 11, the 8th revolute pair 12.Described
Scraper bowl multiple-unit bar-link drive includes the 3rd driving side chain, the 4th driving side chain, the second bent axle 60, described 3rd driving
Chain includes the 3rd driving lever 67, third connecting rod 58, and described 3rd driving lever 67 one end is by the 9th revolute pair 66 with frame 1 even
Connecing, the other end is connected with third connecting rod 58 one end by the tenth turn of revolute pair 57, and described third connecting rod 58 other end passes through the tenth
One revolute pair 59 is connected with the second bent axle 60, and the described 4th drives side chain to include the 4th driving lever 64, fourth link 62, and described the
Four driving lever 64 one end are connected with frame 1 by the 12nd revolute pair 65, and the other end is connected by the 13rd revolute pair 63 and the 4th
Bar 62 one end connects, and described fourth link 62 other end is connected with the second bent axle 60 by the 14th revolute pair 61, and described second
Bent axle 60 is connected with frame 1 by the 15th revolute pair the 16, the 16th revolute pair 17.
Described first driving lever the 2, second driving lever the 8, the 3rd driving lever the 67, the 4th driving lever 64 is passed through by controllable motor
Electric drive system is driven controlling, and described multiple-unit bar-link drive under the control of a computer system, can be by multiple
Exported by first bent axle the 55, second bent axle 60 after the power coupling of power unit, so that this multiple-unit bar-link drive
Achieve and inputted by multiple stage small-power controllable motor, high-power, the purpose of high torque power output, solve traditional controlled loading
The problems such as mechanism's servomotor power output is little, driving torque is low, are effectively increased holding of this loading robot by this design
Loading capability, it addition, according to different power needs, can conveniently select the driving side chain of the varying number such as Unit four, Unit six
It is driven, makes this multiple-unit bar-link drive have stronger power adaptability, large, medium and small type can be met and load machine
People's power demand.
Comparison Fig. 1, Fig. 2, Fig. 9, described swing arm elevating mechanism includes that swing arm 24, first lifts side chain and second liter of descending branch
Chain, described swing arm 24 is connected with frame 1 by the 17th revolute pair the 14, the 18th revolute pair 15, described first lifting side chain bag
Including the 5th connecting rod the 18, first cylinder body 20, first piston bar 22, key or other connected mode are passed through in described 5th connecting rod 18 one end
Fixing with the first bent axle 55 and be connected, the other end is connected with the first cylinder body 20 by the 19th revolute pair 19, described first cylinder body 20
Being connected with first piston bar 22 one end by the first moving sets 21, described first piston bar 22 other end passes through the 20th revolute pair
56 are connected with swing arm 24, and described second lifting side chain includes six-bar linkage the 32, second cylinder body the 31, second piston rod 29, and described the
Six-bar linkage 32 one end is by strong or other connected mode is fixing with the first bent axle 55 is connected, and the other end passes through the 21st and rotates
Secondary 33 are connected with the second cylinder body 31, and described second cylinder body 31 is connected with second piston rod 29 one end by the second moving sets 30, the
Two piston rod 29 other ends are connected with swing arm 24 by the 22nd revolute pair 28.
In practical engineering application, described first cylinder body the 20, first moving sets 21, first piston bar 22 can use a hydraulic cylinder
Replacing, described second cylinder body the 31, second moving sets 30 and the second piston rod 29 can replace with another hydraulic cylinder, loading robot
In operation process, swing arm multiple-unit bar-link drive provides power by the first bent axle 55 for swing arm elevating mechanism.Due to can
Control loader mechanism is plane parallel mechanism due to swing arm elevating mechanism, because manufacturing, processing, assembling equal error, particularly at dress
When carrier aircraft unbalance loading, cause swing arm two parallel drive side chain unbalance stress, have impact on lifting stability, it is easy to cause portion
Divide the overload damage of component, affect the service life of actuator.Described multiple-unit connecting rod drives four mobility heavy type high capacities
Load robot by introducing first moving sets the 21, second moving sets 30, it is ensured that swing arm elevating mechanism first, second swing arm liter
Descending branch chain has adjustable mobility, according to pascal's principle, utilizes hydraulic line by the first cylinder body 20 and the second cylinder body 31
Parallel connection, by being automatically adjusted of first moving sets the 21, second moving sets 30, in can realizing two cylinder bodies, fluid pressure is identical, and then
Realize the stress balance of two swing arm lifting side chains under uneven loading action, improve swing arm 24 liang and lift the problem of side chain unbalance stress,
Improve swing arm 24 and lift stability, extend the service life of each component of swing arm elevating mechanism.It addition, the introducing of Hydraulic Elements is effective
Improve the vibration resistance of swing arm elevating mechanism, and attached by introducing relief valve in the first cylinder body 20 or the second cylinder body 31 etc.
Device, can realize the overload protection function of swing arm elevating mechanism easily.
Comparison Fig. 1, Fig. 2, Figure 10, described scraper bowl controlling organization includes that scraper bowl 39, first controls side chain and second and controls to prop up
Chain, described scraper bowl 39 is connected with swing arm 24 by the 23rd revolute pair the 25, the 24th revolute pair 26, and described first controls to prop up
Chain includes seven-link assembly the 47, the 3rd cylinder body the 45, the 3rd piston rod the 43, first rocking arm the 36, first pull bar 38, described seven-link assembly 47
One end is connected by key or other connected mode are fixing with the second bent axle 60, and the other end passes through the 25th revolute pair 46 and the
Three cylinder bodies 45 connect, and described 3rd cylinder body 45 is connected with the 3rd piston rod 43 by three moving sets 44, described 3rd piston rod
43 are connected with the first rocking arm 36 by the 26th revolute pair 54, and described first rocking arm 36 by the 27th revolute pair 23 and moves
Arm 24 connects, and described first pull bar 38 one end is connected with the first rocking arm 36 by the 28th revolute pair 37, and the other end passes through the
29 revolute pairs 40 are connected with scraper bowl 39, and described second controls side chain includes the 8th connecting rod the 48, the 4th cylinder body the 50, the 4th piston
Bar the 52, second rocking arm the 34, second pull bar 42, described 8th connecting rod 48 one end is by strong or other connected mode and the second bent axle
60 fixing connections, the other end is connected with the 4th cylinder body 50 by the 30th revolute pair 49, and described 4th cylinder body 50 is by the 4th shifting
Dynamic secondary 51 are connected with the 4th piston rod 52, and described 4th piston rod 52 is connected by the 31st revolute pair 53 and the second rocking arm 34
Connecing, described second rocking arm 34 is connected with swing arm 24 by the 32nd revolute pair 27, and described second pull bar 42 one end passes through the 3rd
13 revolute pairs 35 are connected with the second rocking arm 34, and the other end is connected with scraper bowl 39 by the 34th revolute pair 41.
In practical engineering application, described 3rd cylinder body 45, three moving sets the 44, the 3rd piston rod 43 can use a hydraulic cylinder
Replacing, described 4th cylinder body the 50, the 4th moving sets 51 and the 4th piston rod 52 can replace with another hydraulic cylinder, loading robot
In operation process, scraper bowl multiple-unit bar-link drive provides power by the second bent axle 60 for swing arm elevating mechanism.On the one hand
In order to improve shovel dress stability, improve dynamic property, on the other hand in order to improve the load capacity of this loading robot, described shovel
Bucket controlling organization uses plane parallel mechanism design form, and is provided power by swing arm multiple-unit bar-link drive, significantly carries
Spading ability and the bearing capacity of this loading robot scraper bowl are risen.In order to avoid because manufacturing, processing, assembling equal error, special
It not when loader unbalance loading, cause two scraper bowls to control the problem of side chain unbalance stress, by introducing three moving sets
44, the 4th moving sets 51, it is ensured that scraper bowl controlling organization first, second controls side chain and has adjustable mobility, according to handkerchief
SIKA principle, utilize hydraulic line by parallel with the 4th cylinder body 50 for the 3rd cylinder body 45, by three moving sets the 44, the 4th moving sets
51 be automatically adjusted, in can realizing two cylinder bodies, fluid pressure is identical, and then it is flat to realize the stress of two control side chains under uneven loading action
Weighing apparatus, improves scraper bowl controlling organization two and controls the problem of side chain unbalance stress, improve and load robot job stabilization, extend
The service life of each component of scraper bowl controlling organization.It addition, the introducing of Hydraulic Elements is effectively improved the antivibration energy of scraper bowl controlling organization
Power, and by introducing the auxiliary equipments such as relief valve in the 3rd cylinder body 45 or the 4th cylinder body 50, scraper bowl control can be realized easily
The overload protection function of mechanism processed.
Comparison Fig. 1, Figure 11, Figure 12, described a kind of multiple-unit connecting rod drives four mobility heavy type high capacities to load robot
Under the programming Control of each electric drive system controllable motor, complete loading operation.During industry pretended by loading robot shovel, when
The load that actuator is born is when tolerance zone, and the moving sets in swing arm elevating mechanism and scraper bowl controlling organization is only by fine setting
Mode balance first, second lifting side chain or first, second control side chain stress, by cylinder body, moving sets, work in each side chain
The bar group that stopper rod is constituted can be considered a non-telescoping Force transmission parts, if the load that this loading robot bears exceedes model allowable
When enclosing, by opening the relief valve on cylinder body, play overload protective function.Based on These characteristics, described multiple-unit connecting rod drives
Dynamic four mobility heavy type high capacities load robot and compare existing controllable loading mechanism to have more preferable dynamic performance, carrying steady
Qualitative, reliability, and higher load capacity and vibration resistance, technical solutions according to the invention are particularly well-suited to design system
Make the heavy-duty loader device people of large-tonnage high capacity.
Claims (2)
1. multiple-unit connecting rod drive four mobility heavy type high capacities load a robot, including multiple-unit bar-link drive,
Swing arm elevating mechanism, scraper bowl controlling organization and frame, it is characterised in that:
Described multiple-unit bar-link drive includes swing arm multiple-unit bar-link drive and scraper bowl multiple-unit bar-link drive,
Described swing arm multiple-unit bar-link drive includes the first driving side chain, second drives side chain, frame, the first bent axle, and described the
One drives side chain to include the first driving lever, first connecting rod, and described first driving lever one end is connected with frame by the first revolute pair,
The other end is connected with first connecting rod one end by the second revolute pair, and the described first connecting rod other end passes through the 3rd revolute pair and first
Bent axle connects, and described second drives side chain to include the second driving lever, second connecting rod, and described second driving lever one end passes through the 4th turn
Dynamic pair is connected with frame, and the other end is connected with second connecting rod one end by the 5th revolute pair, and the described second connecting rod other end passes through
6th revolute pair is connected with the first bent axle, and described first bent axle is connected with frame by the 7th revolute pair, the 8th revolute pair, described
Scraper bowl multiple-unit bar-link drive includes the 3rd driving side chain, the 4th driving side chain, the second bent axle, and the described 3rd drives side chain
Including the 3rd driving lever, third connecting rod, described 3rd driving lever one end is connected with frame by the 9th revolute pair, and the other end passes through
Tenth turn of revolute pair is connected with third connecting rod one end, and the described third connecting rod other end is by the 11st revolute pair with the second bent axle even
Connecing, the described 4th drives side chain to include the 4th driving lever, fourth link, and the 12nd revolute pair is passed through in described 4th driving lever one end
Being connected with frame, the other end is connected with fourth link one end by the 13rd revolute pair, and the described fourth link other end passes through the
14 revolute pairs are connected with the second bent axle, and described second bent axle is connected with frame by the 15th revolute pair, the 17th 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 passes through the 17th turn
Dynamic pair, the 18th revolute pair are connected with frame, and described first lifting side chain includes the 5th connecting rod, the first cylinder body, first piston bar,
Described 5th connecting rod one end is fixing with the first bent axle to be connected, and the other end is connected with the first cylinder body by the 19th revolute pair, described
First cylinder body is connected with first piston bar one end by the first moving sets, and the described first piston bar other end is by the 20th rotation
Pair is connected with swing arm, and described second lifting side chain includes six-bar linkage, the second cylinder body, the second piston rod, described six-bar linkage one
Holding be connected fixing with the first bent axle, the other end is connected with the second cylinder body by the 21st revolute pair, and described second cylinder body passes through
Second moving sets and second piston rod one end connect, and the second piston rod other end is connected with swing arm by the 22nd revolute pair,
Described scraper bowl controlling organization includes that scraper bowl, the first control side chain and second control side chain, and described scraper bowl passes through the 23rd
Revolute pair, the 24th revolute pair are connected with swing arm, and described first controls side chain includes seven-link assembly, the 3rd cylinder body, the 3rd work
Stopper rod, the first rocking arm, the first pull bar, described seven-link assembly one end is fixing with the second bent axle to be connected, and the other end passes through the 25th
Revolute pair is connected with the 3rd cylinder body, and described 3rd cylinder body is connected by three moving sets and the 3rd piston rod, described 3rd piston
Bar is connected with the first rocking arm by the 26th revolute pair, and described first rocking arm is by the 27th revolute pair with swing arm 24 even
Connecing, described first pull bar one end is connected with the first rocking arm by the 28th revolute pair, and the other end passes through the 29th revolute pair
Being connected with scraper bowl, described second controls side chain includes the 8th connecting rod, the 4th cylinder body, the 4th piston rod, the second rocking arm, second draws
Bar, described 8th connecting rod one end is fixing with the second bent axle to be connected, and the other end is connected with the 4th cylinder body by the 30th revolute pair, institute
Stating the 4th cylinder body to be connected by the 4th moving sets and the 4th piston rod, described 4th piston rod is by the 31st revolute pair and the
Two rocking arms connect, and described second rocking arm is connected with swing arm by the 32nd revolute pair, and described second pull bar one end passes through the 3rd
13 revolute pairs are connected with the second rocking arm, and the other end is connected with scraper bowl by the 34th revolute pair.
Multiple-unit connecting rod the most according to claim 1 drives four mobility heavy type high capacities to load robot, and its feature exists
In: described first cylinder body and the second cylinder body are in parallel, and described 3rd cylinder body, the 4th cylinder body are in parallel, described first driving lever, the second master
Lever, the 3rd driving lever, the 4th driving lever are driven by controllable motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610463389.2A CN106120906A (en) | 2016-06-24 | 2016-06-24 | A kind of multiple-unit connecting rod drives four mobility heavy type high capacities to load robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610463389.2A CN106120906A (en) | 2016-06-24 | 2016-06-24 | A kind of multiple-unit connecting rod drives four mobility heavy type high capacities to load robot |
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| Publication Number | Publication Date |
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| CN106120906A true CN106120906A (en) | 2016-11-16 |
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|---|---|---|---|
| CN201610463389.2A Pending CN106120906A (en) | 2016-06-24 | 2016-06-24 | A kind of multiple-unit connecting rod drives four mobility heavy type high capacities to load robot |
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| Country | Link |
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| CN (1) | CN106120906A (en) |
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2016
- 2016-06-24 CN CN201610463389.2A patent/CN106120906A/en active Pending
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Application publication date: 20161116 |