CN106120907A - A kind of multiple-unit connecting rod drives high stability electro-hydraulic controlled skidding formula fork wood machine - Google Patents
A kind of multiple-unit connecting rod drives high stability electro-hydraulic controlled skidding formula fork wood machine Download PDFInfo
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- CN106120907A CN106120907A CN201610463418.5A CN201610463418A CN106120907A CN 106120907 A CN106120907 A CN 106120907A CN 201610463418 A CN201610463418 A CN 201610463418A CN 106120907 A CN106120907 A CN 106120907A
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- fork
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- 239000002023 wood Substances 0.000 title claims abstract description 64
- 230000007246 mechanism Effects 0.000 claims abstract description 52
- 230000003028 elevating effect Effects 0.000 claims abstract description 34
- 230000008520 organization Effects 0.000 claims abstract description 14
- 239000007788 liquid Substances 0.000 claims 1
- 238000013461 design Methods 0.000 abstract description 12
- 230000005540 biological transmission Effects 0.000 abstract description 7
- 230000035939 shock Effects 0.000 abstract description 4
- 238000011161 development Methods 0.000 abstract description 2
- 239000012530 fluid Substances 0.000 description 12
- 238000010586 diagram Methods 0.000 description 5
- 238000005265 energy consumption Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 239000011295 pitch Substances 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
- 230000000694 effects Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 230000001737 promoting effect Effects 0.000 description 2
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 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
- 230000007423 decrease Effects 0.000 description 1
- 230000005611 electricity Effects 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
- 238000004886 process control Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000009993 protective function 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
- 238000013519 translation Methods 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/34—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with bucket-arms, i.e. a pair of arms, e.g. manufacturing processes, form, geometry, material of bucket-arms directly pivoted on the frames of tractors or self-propelled machines
- E02F3/3414—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with bucket-arms, i.e. a pair of arms, e.g. manufacturing processes, form, geometry, material of bucket-arms directly pivoted on the frames of tractors or self-propelled machines the arms being pivoted at the rear of the vehicle chassis, e.g. skid steer loader
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—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
- E02F3/40—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)
- Fluid-Pressure Circuits (AREA)
Abstract
A kind of multiple-unit connecting rod drives high stability electro-hydraulic controlled skidding formula fork wood machine, including multiple-unit bar-link drive, swing arm elevating mechanism, fork bucket 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 sliding fork wood machine high capacity operation power demand.Based on pascal's principle, it is applied to pitch in wood mechanism type design as connecting rod using hydraulic cylinder, the problem being effectively improved two driving chain discontinuity equalizations of lifting swing arm in design in the past, improves 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 bar-link drive 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, particularly a kind of multiple-unit connecting rod drives the electro-hydraulic controlled cunning of high stability
Shifting formula 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 multiple-unit connecting rod drives high stability electro-hydraulic
Controlled skidding formula fork wood machine, this kind of sliding fork wood machine utilizes controllable mechanism technology and uses brand-new configuration to design so that it is both had
Have that existing controllable-mechanism type loading mechanization intelligence degree is high, flexibility ratio is good, transmission efficiency advantages of higher, solve controlled machine simultaneously
Structure formula loading mechanization power performance is poor, load capacity is weak, swing arm elevating mechanism poor stability, lack effective overload protection and suction
Shake the engineering problems such as means, and the mechanical efficiency effectively overcoming conventional hydraulic formula sliding fork wood machine to exist is low, noise pollution serious, intelligence
The problems such as level is low can be changed, make these sliding fork wood facility have preferable dynamic performance and bearing stability, have relatively simultaneously
Strong vibration resistance and overload protection performance.
The present invention reaches above-mentioned purpose by the following technical programs: a kind of multiple-unit connecting rod drives that high stability is electro-hydraulic can
Control sliding fork wood machine, including multiple-unit bar-link drive, swing arm elevating mechanism, fork bucket controlling organization and frame.
Described multiple-unit bar-link drive includes the first driving side chain, the second driving side chain, bent axle, and described first drives
Side chain includes 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
Being connected with first connecting rod one end by the second revolute pair, the described first connecting rod other end is connected with bent axle by the 3rd revolute pair,
Described second drives side chain to include the second driving lever, second connecting rod, and the 4th revolute pair and machine is passed through in described second driving lever one end
Frame connects, 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 is by the 6th rotation
Pair is connected with bent axle, and described bent axle is connected with frame by the 7th revolute pair, the 8th revolute pair.
Driving lever contained by described multiple-unit bar-link drive is driven control by controllable motor by electric drive system
System, described multiple-unit bar-link drive under the control of a computer system, can be by after the power coupling of multiple power units
Exported by bent axle, inputted by multiple stage small-power controllable motor so that this multiple-unit bar-link drive achieves, high-power,
The purpose of high torque power output, solves that the output of traditional controlled charging crane servomotor power is little, driving torque is low etc. asks
Topic.It addition, according to the power demand of sliding fork wood machine, can conveniently select the multiple power unit shape such as Unit four, Unit six
Formula, improves this multiple-unit bar-link drive power adaptability.
Described swing arm elevating mechanism includes the first lifting side chain, the second lifting side chain, swing arm, and described swing arm passes through the 9th turn
Dynamic pair, the tenth revolute pair are connected with frame, and described first lifting side chain includes third connecting rod, the first hydraulic cylinder, and the described 3rd even
Bar one end is connected by key or other modes are fixing with bent axle, and the other end is by the 11st revolute pair and first hydraulic cylinder one end
Connecting, the described first hydraulic cylinder other end is connected with swing arm by the 12nd revolute pair, and described second lifting side chain includes the 4th
Connecting rod, the second hydraulic cylinder, described fourth link one end is connected by key or other modes and bent axle are fixing, and the other end passes through the
13 revolute pairs are connected with the second hydraulic cylinder, and the described second hydraulic cylinder other end is connected with swing arm by the 14th 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 first control side chain, the second control side chain, upper fork, lower fork, the first linear drives
Device, the second linear actuator, described first controls side chain includes the 5th connecting rod, the first rocking arm, the 3rd linear actuator, described the
Five connecting rod one end are connected with frame by the 15th revolute pair, and the other end is connected with the first rocking arm by the 16th revolute pair, institute
State the first rocking arm and be connected with swing arm by the 17th revolute pair, described 3rd linear actuator one end pass through the 18th revolute pair and
First rocking arm connects, and the other end is connected with lower fork by the 19th revolute pair, described second control side chain include six-bar linkage, the
Two rocking arms, the 4th linear actuator, described six-bar linkage one end is connected with frame by the 20th revolute pair, and the other end passes through
21st revolute pair is connected with the second rocking arm, and described second rocking arm is connected with swing arm by the 22nd revolute pair, and described the
Four linear actuator one end are connected with the second rocking arm by the 23rd revolute pair, the other end pass through the 24th revolute pair and under
Fork connects, and described lower fork is connected with swing arm by the 25th revolute pair, the 26th revolute pair, and described upper fork is by the 20th
Seven revolute pairs, the 28th revolute pair are connected with lower fork, described first linear actuator one end by the 29th revolute pair with
Lower fork connects, and the other end is connected with upper fork by the 30th revolute pair, and described second linear actuator one end passes through the 31st
Revolute pair is connected with lower fork, and the other end is connected with upper fork by the 32nd revolute pair.
Described fork bucket controlling organization is by the first linear actuator, the second linear actuator, the 3rd linear actuator, the 4th 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.
Described a kind of multiple-unit connecting rod drives high stability electro-hydraulic controlled skidding formula fork wood machine in the volume of each electric drive system
Under process control, complete loading operation.This multiple-unit connecting rod drives high stability electro-hydraulic controlled skidding formula fork wood machine both to have existing
The features such as controlled charging crane intelligence degree is high, energy consumption is low, dynamic property good, good reliability, simultaneously because Hydraulic Elements
Introduce so that it is there is the plurality of advantages of fluid pressure type loader, be in particular in: the first lifting of (1) described swing arm elevating mechanism
After side chain and the second lifting side chain introduce Hydraulic Elements, described first hydraulic cylinder and the second hydraulic cylinder can be connected by hydraulic line
Realizing parallel connection, according to pascal's principle, in two cylinder bodies, fluid pressure is identical, can be effectively improved two liters of descending branch of swing arm elevating mechanism
The problem of chain unbalance stress, improves moved arm lifting stability, extends the service life of each component of swing arm elevating mechanism；(2) described
After first lifting side chain of swing arm elevating mechanism and the second lifting side chain introduce Hydraulic Elements, sliding fork wood can be effectively improved
The resistance to shock of machine；(3), after the first lifting side chain and second of described swing arm elevating mechanism lifts side chain introducing hydraulic cylinder, sliding
Shifting formula fork wood is during mechanical shovel pretends industry, when the load born is in tolerance zone, hydraulic cylinder can be considered one non-telescoping
Two power bars play the effect of transmission power, if the load born exceedes tolerance zone, the relief valve on hydraulic cylinder is opened, and plays overload
Protective effect.Based on These characteristics, described multiple-unit connecting rod drives high stability electro-hydraulic controlled skidding formula fork wood machine to compare existing
Controlled charging crane is had to have more preferable dynamic performance, bearing stability, vibration resistance and the longer use brought therewith
Life-span, and be easier to realize overload protection function, there is stronger future in engineering applications 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
Unload needed for operation under degree of freedom and work space requirement, there is preferable kinesiology and dynamic performance, swing arm elevating mechanism, fork
Bucket controlling organization, by using plane-parallel type design and use Hydraulic Elements, not only greatly improves the firm of this sliding fork wood machine
Property and job stabilization, and have and preferably lift translation.This sliding fork wood machine had both had controllable-mechanism type charging crane
The features such as tool energy consumption is low, transmission efficiency is high, intelligence degree is high, good reliability, are provided simultaneously with fluid pressure type sliding fork wood machine work
The features such as device shock resistance is good, overload protection performance strong, lifting good stability.
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.Hydraulic cylinder is applied to pitch in wood mechanism type design as connecting rod, introduced hydraulic cylinder main uses not as
Existing fluid pressure type engineering machinery, is used for driving equipment to do work, but transmits power as connecting rod, and adjusted by minute movement
Joint unbalance loading, improves swing arm elevating mechanism lifting stability, it is to avoid the problems such as hydraulic system mechanical efficiency is low, decreases hydraulic pressure unit
The wear problem of part, 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 bar-link drive, 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 bar-link drive has stronger power and adapts to
Property, the driving side chain of the varying number such as Unit four, Unit six according to different power demand, can be selected to drive, meet light-duty and
Heavy all kinds of sliding fork wood mechanomotive force requirement.
4, comparing existing controlled charging crane, sliding fork wood facility of the present invention have more preferable dynamic property with reliable
Property.The introducing of the Hydraulic Elements such as hydraulic cylinder makes this robot be provided with good antivibration and shock-absorbing capacity.Swing arm elevating mechanism leads to
Cross cylinder body in parallel, it is achieved that uneven loading action downward moving arm two lifts the stress balance of side chain, improve uneven the asking of each member stress
Topic, improves the lifting stability of swing arm, extends the service life of each component, improves the reliability of sliding fork wood machine,
Sliding fork wood facility the most of the present invention have more overload protection means, by drawing on swing arm elevating mechanism hydraulic cylinder
Enter the auxiliary equipments such as relief valve, be easier to realize the overload protection performance of sliding fork wood 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 that a kind of multiple-unit connecting rod of the present invention drives the fork wood machine signal of high stability electro-hydraulic controlled skidding formula
Figure.
Fig. 2 is that a kind of multiple-unit connecting rod of the present invention drives high stability electro-hydraulic controlled skidding formula fork wood machine frame to show
It is intended to.
Fig. 3 is one of multiple-unit bar-link drive schematic diagram of the present invention.
Fig. 4 is the two of multiple-unit bar-link drive schematic diagram of the present invention.
Fig. 5 is multiple-unit bar-link drive bent axle schematic diagram of the present invention.
Fig. 6 is swing arm elevating mechanism schematic diagram of the present invention.
Fig. 7 is fork bucket controlling organization lower fork structural scheme of mechanism of the present invention.
Fig. 8 is to pitch structural scheme of mechanism on fork bucket controlling organization of the present invention.
Fig. 9 is that a kind of multiple-unit connecting rod of the present invention drives high stability electro-hydraulic controlled skidding formula fork wood machine plane to regard
Figure.
Figure 10 is that a kind of multiple-unit connecting rod of the present invention drives the fork wood machine work of high stability electro-hydraulic controlled skidding formula
Schematic diagram.
Detailed description of the invention
Below by way of drawings and Examples, technical scheme is described further.
Comparison Fig. 1, a kind of multiple-unit connecting rod of the present invention drives high stability electro-hydraulic controlled skidding formula fork wood machine, bag
Include multiple-unit bar-link drive, 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 bar-link drive includes the first driving side chain, second drives
Dynamic side chain, bent axle 51, described first drives side chain to include the first driving lever 44, first connecting rod 42, described first driving lever 44 1
End is connected with frame 1 by the first revolute pair 45, and the other end is connected with first connecting rod 42 one end by the second revolute pair 43, described
First connecting rod 42 other end is connected with bent axle 51 by the 3rd revolute pair 52, and described second drives side chain to include the second driving lever
47, second connecting rod 49, described second driving lever 47 one end is connected with frame 1 by the 4th revolute pair 46, and the other end passes through the 5th
Revolute pair 48 is connected with second connecting rod 49 one end, and described second connecting rod 49 other end is by the 6th revolute pair 53 with bent axle 51 even
Connecing, described bent axle 51 is connected with frame 1 by the 7th revolute pair the 41, the 8th revolute pair 50.
Driving lever contained by described multiple-unit bar-link drive is driven control by controllable motor by electric drive system
System, described multiple-unit bar-link drive under the control of a computer system, can be by after the power coupling of multiple power units
Exported by bent axle 51, inputted by multiple stage small-power controllable motor so that this multiple-unit bar-link drive achieves, big merit
Rate, high torque power output purpose, solve traditional controlled charging crane servomotor power output little, driving torque is low
Problem.It addition, according to the power demand of sliding fork wood machine, can conveniently select the multiple power unit such as Unit four, Unit six
Form, improves this multiple-unit bar-link drive power adaptability.
Comparison Fig. 1, Fig. 2, Fig. 6, described swing arm elevating mechanism includes the first lifting side chain, the second lifting side chain, swing arm 3,
Described swing arm 3 is connected with frame 1 by the 9th revolute pair the 30, the tenth revolute pair 31, and described first lifting side chain includes the 3rd even
Bar the 34, first hydraulic cylinder 2, described third connecting rod 34 one end is connected by key or other modes are fixing with bent axle 51, the other end
Being connected with first hydraulic cylinder 2 one end by the 11st revolute pair 35, described first hydraulic cylinder 2 other end passes through the 12nd revolute pair
37 are connected with swing arm 3, and described second lifting side chain includes fourth link the 32, second hydraulic cylinder 36, described fourth link 32 one end
Being connected by key or other modes are fixing with bent axle 51, the other end is connected by the 13rd revolute pair 33 and the second hydraulic cylinder 36
Connecing, described second hydraulic cylinder 36 other end is connected with swing arm 3 by the 14th revolute pair 38.
During sliding fork wood machine operation, owing to swing arm elevating mechanism is plane parallel mechanism, by the first hydraulic cylinder 2
It is connected by hydraulic line with the second hydraulic cylinder 36, 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 swing arm 3 and lift stability, extend
The service life of each component of swing arm elevating mechanism.The antivibration of swing arm elevating mechanism can be effectively improved by the introducing of Hydraulic Elements
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 real easily
The overload protection function of existing swing arm elevating mechanism.
Comparison Fig. 1, Fig. 2, Fig. 7, Fig. 8, described fork bucket controlling organization include the first control side chain, second control side chain, on
Fork 6, lower fork the 4, first linear actuator the 7, second linear actuator 8, described first controls side chain includes the 5th connecting rod 13, first
Rocking arm the 17, the 3rd linear actuator 10, described 5th connecting rod 13 one end is connected with frame 1 by the 15th revolute pair 15, another
End is connected with the first rocking arm 17 by the 16th revolute pair 16, and described first rocking arm 17 is by the 17th revolute pair 18 and swing arm 3
Connecting, described 3rd linear actuator 10 one end is connected with the first rocking arm 17 by the 18th revolute pair 19, and the other end passes through the
19 revolute pairs 5 are connected with lower fork 4, and described second controls side chain includes six-bar linkage the 12, second rocking arm the 27, the 4th linear drives
Device 11, described six-bar linkage 12 one end is connected with frame 1 by the 20th revolute pair 14, and the other end is by the 21st rotation
Secondary 28 are connected with the second rocking arm 27, and described second rocking arm 27 passes through the 22nd revolute pair 29 and is connected with swing arm 3, described 4th straight
Line drive 11 one end is connected with the second rocking arm 27 by the 23rd revolute pair 26, and the other end passes through the 24th revolute pair 9
Being connected with lower fork 4, described lower fork 4 is connected with swing arm 3 by the 25th revolute pair the 20, the 26th revolute pair 21, described on
Fork 6 is connected with lower fork 4 by the 27th revolute pair the 22, the 28th revolute pair 24, and described first linear actuator 7 one end leads to
Crossing the 29th revolute pair 23 to be connected with lower fork 4, the other end is connected with upper fork 6 by the 30th revolute pair 39, described second straight
Line drive 8 one end is connected with lower fork 4 by the 31st revolute pair 25, and the other end passes through the 32nd revolute pair 40 with upper
Fork 6 connection.
Described fork bucket controlling organization by first linear actuator the 7, second linear actuator 8, the 3rd linear actuator 10, the
Four linear actuators 11 are driven controlling, it is achieved fork bucket captures operation to Caulis Sacchari sinensis, timber etc..Described fork bucket controlling organization comprises
Each linear actuator be servo electric jar.
Comparison Fig. 1, Fig. 9, Figure 10, described a kind of multiple-unit connecting rod drives high stability electro-hydraulic controlled skidding formula fork wood machine to exist
Under the programming Control of each electric drive system, complete loading operation.This multiple-unit connecting rod drives high stability electro-hydraulic controlled skidding formula
Fork wood machine had both had the features such as existing controlled charging crane intelligence degree high, energy consumption is low, dynamic property good, good reliability, with
Time due to the introducing of Hydraulic Elements so that it is there is the plurality of advantages of fluid pressure type loader, be in particular in: (1) described swing arm liter
After first lifting side chain of descending mechanism and the second lifting side chain introduce Hydraulic Elements, described first hydraulic cylinder 2 and the second hydraulic cylinder
36 can connect realization parallel connection by hydraulic line, and according to pascal's principle, in two cylinder bodies, fluid pressure is identical, can be effectively improved
Swing arm elevating mechanism two lifts the problem of side chain unbalance stress, improves moved arm lifting stability, extends each structure of swing arm elevating mechanism
The service life of part；(2) after the first lifting side chain and second of described swing arm elevating mechanism lifts side chain introducing Hydraulic Elements, can
To be effectively improved the resistance to shock of sliding fork wood machine；(3) the first lifting side chain and second of described swing arm elevating mechanism lifts
After side chain introduces hydraulic cylinder, during industry pretended by sliding fork wood mechanical shovel, when the load born is in tolerance zone, hydraulic cylinder
Can be considered that two non-telescoping power bars play the effect of transmission power, if the load born exceedes tolerance zone, on hydraulic cylinder
Relief valve open, play overload protective function.Based on These characteristics, described multiple-unit connecting rod drives that high stability is electro-hydraulic can
Control sliding fork wood machine compare existing controlled charging crane have more preferable dynamic performance, bearing stability, vibration resistance with
And the more long life brought therewith, and be easier to realize overload protection function, there is stronger future in engineering applications and send out
Exhibition potentiality.
Claims (2)
1. multiple-unit connecting rod drive high stability electro-hydraulic controlled skidding formula fork wood a machine, including multiple-unit bar-link drive,
Swing arm elevating mechanism, fork bucket controlling organization and frame, it is characterised in that:
Described multiple-unit bar-link drive includes the first driving side chain, the second driving side chain, bent axle, and described first drives side chain
Including the first driving lever, first connecting rod, described first driving lever one end is connected with frame by the first revolute pair, and the other end passes through
Second revolute pair is connected with first connecting rod one end, and the described first connecting rod other end is connected with bent axle by the 3rd revolute pair, described
Second drives side chain to include the second driving lever, second connecting rod, and described second driving lever one end is by the 4th revolute pair with frame even
Connecing, the other end is connected with second connecting rod one end by the 5th revolute pair, the described second connecting rod other end pass through the 6th revolute pair and
Bent axle connects, and described bent axle is connected with frame by the 7th revolute pair, the 8th revolute pair,
Described swing arm elevating mechanism includes the first lifting side chain, the second lifting side chain, swing arm, and described swing arm is by the 9th rotation
Secondary, the tenth revolute pair is connected with frame, and described first lifting side chain includes third connecting rod, the first hydraulic cylinder, described third connecting rod
One end is fixing with bent axle to be connected, and the other end is connected with first hydraulic cylinder one end by the 11st revolute pair, described first hydraulic cylinder
The other end is connected with swing arm by the 12nd revolute pair, and described second lifting side chain includes fourth link, the second hydraulic cylinder, described
Fourth link one end is fixing with bent axle to be connected, and the other end is connected with the second hydraulic cylinder by the 13rd revolute pair, described second liquid
The cylinder pressure other end is connected with swing arm by the 14th revolute pair,
Described fork bucket controlling organization include the first control side chain, second control side chain, upper fork, lower fork, the first linear actuator, the
Two linear actuators, described first controls side chain includes the 5th connecting rod, the first rocking arm, the 3rd linear actuator, and the described 5th even
Bar one end is connected with frame by the 15th revolute pair, and the other end passes through the 16th revolute pair and is connected with the first rocking arm, and described the
One rocking arm is connected with swing arm by the 17th revolute pair, and the 18th revolute pair and first is passed through in described 3rd linear actuator one end
Rocking arm connects, and the other end is connected with lower fork by the 19th revolute pair, and described second control side chain includes six-bar linkage, second shakes
Arm, the 4th linear actuator, described six-bar linkage one end is connected with frame by the 20th revolute pair, and the other end passes through second
11 revolute pairs are connected with the second rocking arm, and described second rocking arm is connected with swing arm by the 22nd revolute pair, described 4th straight
Line drive one end is connected with the second rocking arm by the 23rd revolute pair, and the other end is by the 24th revolute pair with lower fork even
Connecing, described lower fork is connected with swing arm by the 25th revolute pair, the 26th revolute pair, and described upper fork is by the 27th turn
Dynamic pair, the 28th revolute pair are connected with lower fork, and the 29th revolute pair and lower fork is passed through in described first linear actuator one end
Connecting, the other end is connected with upper fork by the 30th revolute pair, and described second linear actuator one end is by the 31st rotation
Pair is connected with lower fork, and the other end is connected with upper fork by the 32nd revolute pair.
Multiple-unit connecting rod the most according to claim 1 drives high stability electro-hydraulic controlled skidding formula fork wood machine, and its feature exists
In: described first driving lever, the second driving lever are driven by controllable motor, and described first hydraulic cylinder and the second hydraulic cylinder are in parallel, institute
State the first linear actuator, the second linear actuator, the 3rd linear actuator, the 4th linear actuator are servo electric jar.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610463418.5A CN106120907A (en) | 2016-06-24 | 2016-06-24 | A kind of multiple-unit connecting rod drives high stability electro-hydraulic controlled skidding formula fork wood machine |
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|---|---|---|---|
| CN201610463418.5A CN106120907A (en) | 2016-06-24 | 2016-06-24 | A kind of multiple-unit connecting rod drives high stability electro-hydraulic controlled skidding formula fork wood machine |
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| CN106120907A true CN106120907A (en) | 2016-11-16 |
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| CN201610463418.5A Pending CN106120907A (en) | 2016-06-24 | 2016-06-24 | A kind of multiple-unit connecting rod drives high stability electro-hydraulic controlled skidding formula fork wood machine |
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| CN202689065U (en) * | 2012-06-14 | 2013-01-23 | 上蔡县恒通机械有限公司 | Single-line dual-connection dual-swing combined force arm of grass grabbing machine |
| CN103306323A (en) * | 2013-06-29 | 2013-09-18 | 张璐 | Crankshaft trencher |
| CN103526786A (en) * | 2013-10-13 | 2014-01-22 | 临颍县颍机机械制造有限公司 | Grass-grabbing machine with bucket provided with grabbing teeth |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61207728A (en) * | 1985-03-13 | 1986-09-16 | Katsunori Tanada | Hydraulic openable bucket device |
| US6357993B1 (en) * | 2000-02-17 | 2002-03-19 | Farmers' Factory Company | Construction equipment implement and method |
| CN1989301A (en) * | 2004-05-21 | 2007-06-27 | 洋马株式会社 | Loading apparatus |
| CN201390981Y (en) * | 2009-03-24 | 2010-01-27 | 谭春良 | Sugarcane loading machine |
| CN102720230A (en) * | 2012-06-01 | 2012-10-10 | 燕山大学 | Motion redundancy face shovel excavating mechanism capable of reducing lifting energy consumption |
| CN202689065U (en) * | 2012-06-14 | 2013-01-23 | 上蔡县恒通机械有限公司 | Single-line dual-connection dual-swing combined force arm of grass grabbing machine |
| CN103306323A (en) * | 2013-06-29 | 2013-09-18 | 张璐 | Crankshaft trencher |
| CN103526786A (en) * | 2013-10-13 | 2014-01-22 | 临颍县颍机机械制造有限公司 | Grass-grabbing machine with bucket provided with grabbing teeth |
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