CN106120913A - A kind of multiple-unit linear drives four mobility heavy type high capacity loads robot - Google Patents
A kind of multiple-unit linear drives four mobility heavy type high capacity loads robot Download PDFInfo
- Publication number
- CN106120913A CN106120913A CN201610463398.1A CN201610463398A CN106120913A CN 106120913 A CN106120913 A CN 106120913A CN 201610463398 A CN201610463398 A CN 201610463398A CN 106120913 A CN106120913 A CN 106120913A
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- CN
- China
- Prior art keywords
- revolute pair
- cylinder body
- swing arm
- scraper bowl
- bent axle
- Prior art date
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/422—Drive systems for bucket-arms, front-end loaders, dumpers or the like
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/34—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with bucket-arms, i.e. a pair of arms, e.g. manufacturing processes, form, geometry, material of bucket-arms directly pivoted on the frames of tractors or self-propelled machines
- E02F3/3405—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with bucket-arms, i.e. a pair of arms, e.g. manufacturing processes, form, geometry, material of bucket-arms directly pivoted on the frames of tractors or self-propelled machines and comprising an additional linkage mechanism
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
Abstract
A kind of multiple-unit linear drives four mobility heavy type high capacity is loaded robot, including multiple-unit straight line driving mechanism, swing arm elevating mechanism, scraper bowl controlling organization etc..Multiple-unit straight line driving mechanism is driven by organizing linear actuator more, realizes power high-power, high torque by bent axle and exports, meets actuator 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 introducing of the design of the plane-parallel type of scraper bowl controlling organization and multiple-unit straight line driving mechanism and Hydraulic Elements is greatly improved its bearing capacity and resistance to shock; and easily realize overload protection function, it is particularly well-suited to manufacture heavy high capacity and loads robot.
Description
Technical field
The present invention relates to loader field, particularly a kind of multiple-unit linear drives four mobility heavy type high capacity loader
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
Problem offer a kind of multiple-unit linear drives four mobility heavy type that prior art exists is provided
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 linear drives four mobility heavy type is high
Load robot, including multiple-unit straight line driving mechanism, swing arm elevating mechanism, scraper bowl controlling organization and frame.
Described multiple-unit straight line driving mechanism includes swing arm multiple-unit straight line driving mechanism and scraper bowl multiple-unit linear drives
Mechanism, described swing arm multiple-unit straight line driving mechanism includes the first linear actuator, the second linear actuator, frame, the first song
Axle, described first linear actuator one end is connected with frame by the first revolute pair, and the other end passes through the second revolute pair and first
Bent axle connects, and described second linear actuator one end is connected with frame by the 3rd revolute pair, and the other end passes through the 4th revolute pair
Being connected with the first bent axle, described first bent axle is connected with frame by the 5th revolute pair, the 6th revolute pair.Described scraper bowl multiple-unit
Straight line driving mechanism includes the 3rd linear actuator, the 4th linear actuator, the second bent axle, described 3rd linear actuator one end
Being connected with frame by the 7th revolute pair, the other end is connected with the second bent axle by the 8th revolute pair, described 4th linear drives
Device one end is connected with frame by the 9th revolute pair, and the other end is connected with the second bent axle by the tenth revolute pair, and described second is bent
Axle is connected with frame by the 11st revolute pair, the 12nd revolute pair.
Described first linear actuator, the second linear actuator, the 3rd linear actuator, the 4th linear actuator are and watch
Taking electric cylinder, described multiple-unit straight line driving mechanism under the control of a computer system, can be by multiple stage small-power linear drives
After the power coupling of device, realize high-power, the purpose of high torque power output by the first bent axle, the second bent axle, solve biography
The problems such as system controllable loading mechanism controllable motor cost is high, power is little, driving torque is low, improve the carrying of this loading robot
Ability.It addition, this multiple-unit straight line driving mechanism has stronger power adaptability, can select according to different power demand
The linear actuator of the varying numbers such as Unit four, Unit six drives, and meets large, medium and small type and loads robot power demand.
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
Three revolute pairs, the 14th revolute pair are connected with frame, and described first lifting side chain includes first connecting rod, the first cylinder body, the first work
Stopper rod, described first 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
Five 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 16th revolute pair, and described second lifting side chain includes second connecting rod, the second cylinder
Body, the second piston rod, described second connecting rod 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 17th 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 18th 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,
Multiple-unit straight line driving mechanism provides power by the first bent axle for swing arm elevating mechanism.Owing to controllable loading mechanism is due to swing arm
Elevating mechanism is plane parallel mechanism, because manufacturing, processing, assembling equal error, particularly when loader unbalance loading, makes
Become 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, shadow
Ring the service life of actuator.Described multiple-unit linear drives four mobility heavy type high capacity loads robot by introducing the
One moving sets, the second moving sets, it is ensured that swing arm elevating mechanism first, second swing arm lifting side chain has adjustable activity
Degree, 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 second shifting
Dynamic secondary being automatically adjusted, in can realizing two cylinder bodies, fluid pressure is identical, and then realizes two swing arm lifting side chains under uneven loading action
Stress balance, improves swing arm two and lifts the problem of side chain unbalance stress, improve moved arm lifting stability, extend swing arm elevator
The service life of each component of structure.It addition, the introducing of Hydraulic Elements is effectively improved the vibration resistance of swing arm elevating mechanism, and pass through
In the first cylinder body or the second cylinder body, introduce the auxiliary equipments such as relief valve, the overload protection of swing arm elevating mechanism can be realized easily
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 the tenth
Nine revolute pairs, the 20th revolute pair are connected with swing arm, and described first controls side chain includes third connecting rod, the 3rd cylinder body, the 3rd work
Stopper rod, the first rocking arm, the first pull bar, described third connecting rod one end is fixed even with the second bent axle by strong or other connected mode
Connecing, the other end is connected with the 3rd cylinder body by the 21st revolute pair, and described 3rd cylinder body is lived by three moving sets and the 3rd
Stopper rod connects, and described 3rd piston rod is connected with the first rocking arm by the 22nd revolute pair, and described first rocking arm passes through second
13 revolute pairs are connected with swing arm, and described first pull bar one end is connected with the first rocking arm by the 24th revolute pair, the other end
Being connected with scraper bowl by the 25th revolute pair, described second controls side chain includes fourth link, the 4th cylinder body, the 4th piston
Bar, the second rocking arm, the second pull bar, described fourth link one end is fixed even with the second bent axle by strong or other connected mode
Connecing, the other end is connected with the 4th cylinder body by the 26th 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 27th revolute pair, and described second rocking arm passes through second
18 revolute pairs are connected with swing arm, and described second pull bar one end is connected with the second rocking arm by the 29th revolute pair, the other end
It is connected with scraper bowl by the 30th revolute pair.
Scraper bowl controlling organization is realized power by scraper bowl multiple-unit straight line driving mechanism by the second bent axle and inputs, and realizes shovel
The flip-flop movement of bucket, the introducing of scraper bowl multiple-unit straight line driving mechanism improves emergence power and the load capacity of scraper bowl.In order to carry
High shovel dress stability, improves dynamic property, and described scraper bowl controlling organization uses the design form of plane parallel mechanism, in order to overcome
Because manufacturing, processing, assembling equal error, particularly when loader unbalance loading, two scraper bowls are caused to control side chain stress not
Equal problem, by introducing three moving sets, the 4th moving sets, it is ensured that scraper bowl controlling organization first, second controls side chain tool
There is adjustable mobility, according to pascal's principle, utilize hydraulic line by parallel, by the 3rd to the 3rd cylinder body and the 4th cylinder body
Moving sets, being automatically adjusted of the 4th moving sets, in can realizing two cylinder bodies, fluid pressure is identical, and then realizes two control under uneven loading action
The stress balance of side chain processed, improves scraper bowl controlling organization two and controls the problem of side chain unbalance stress, improves and loads robot work
Industry stability, extends the service life of each component of scraper bowl controlling organization.It addition, the introducing of Hydraulic Elements is effectively improved scraper bowl control
The vibration resistance of mechanism processed, and by introducing the auxiliary equipments such as relief valve in the 3rd cylinder body or the 4th cylinder body, can be easily
Realize the overload protection function of scraper bowl controlling organization.
Described a kind of multiple-unit linear drives four mobility heavy type high capacity loads robot at multiple-unit straight line driving
Under the programming Control of structure, complete loading operation.During industry pretended by loading robot shovel, the load born when actuator exists
During tolerance zone, the moving sets in swing arm elevating mechanism and scraper bowl controlling organization only balances first, second by the way of fine setting
Lifting side chain or first, second controls the stress of side chain, the bar group being now made up of cylinder body, moving sets, piston rod in each side chain
Can be considered a non-telescoping Force transmission parts, if the load that this loading robot bears exceedes tolerance zone, by opening
Relief valve on cylinder body, plays overload protective function.Based on These characteristics, described multiple-unit linear drives four mobility is heavy
High capacity loads robot and compares existing controllable loading mechanism and have more preferable dynamic performance, bearing stability, reliability, with
And higher load capacity and vibration resistance, it is more suitable for manufacturing heavy high capacity and loads robot.
The present invention has the prominent advantages that:
1, on the premise of ensureing that meeting loading operation requires, this loading robot uses the connecting rod driven by electric drive system to pass
The dynamic Hydraulic Power Transmission System that instead of conventional load machine equipment, it is to avoid low, the poor reliability of hydraulic system mechanical efficiency etc.
Problem, compares fluid pressure type loader, and this loading robot has the features such as low energy consumption, low noise, emission-free discharge.It addition, should
The dynamical system loading robot have employed the controllable electric drive system that computer programming controls, and compares existing fluid pressure type engineering machine
Tool, has automatization and intelligence degree advantages of higher, and actuator is handled and controlled simply, it is achieved that NC postprocessing operation.
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 straight line driving mechanism, are greatly improved this loading machine
The bearing capacity of people, is particularly well-suited to manufacture heavy engineering construction robot；This multiple-unit straight line driving mechanism has stronger
Power adaptability, according to different power demand, can select the linear actuator of the varying number such as Unit four, Unit six to drive,
Meet large, medium and small type and load 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 linear drives four mobility heavy type high capacity of the present invention loads robot execution machine
Structure schematic diagram.
Fig. 2 is that a kind of multiple-unit linear drives four mobility heavy type high capacity loading robot frame of the present invention shows
It is intended to.
Fig. 3 is one of swing arm multiple-unit straight line driving mechanism schematic diagram of the present invention.
Fig. 4 is the two of swing arm multiple-unit straight line driving mechanism schematic diagram of the present invention.
Fig. 5 is swing arm multiple-unit straight line driving mechanism bent axle schematic diagram of the present invention.
Fig. 6 is one of scraper bowl multiple-unit straight line driving mechanism schematic diagram of the present invention.
Fig. 7 is the two of scraper bowl multiple-unit straight line driving mechanism schematic diagram of the present invention.
Fig. 8 is scraper bowl multiple-unit straight line driving mechanism 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 linear drives four mobility heavy type high capacity of the present invention loads robot plane
View.
Figure 12 is that multiple-unit linear drives four mobility heavy type high capacity of the present invention loading machine is manually made 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 linear drives four mobility heavy type high capacity of the present invention loads robot, bag
Include multiple-unit straight line driving mechanism, 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 straight line driving mechanism includes that swing arm is many
Unit straight line driving mechanism and scraper bowl multiple-unit straight line driving mechanism, described swing arm multiple-unit straight line driving mechanism includes that first is straight
Line drive the 2, second linear actuator 8, frame the 1, first bent axle 7, described first linear actuator 2 one end is by the first rotation
Secondary 10 are connected with frame 1, and the other end is connected with the first bent axle 7 by the second revolute pair 5, described second linear actuator 8 one end
Being connected with frame 1 by the 3rd revolute pair 9, the other end is connected with the first bent axle 7 by the 4th revolute pair 6, described first bent axle 7
It is connected with frame 1 by the 5th revolute pair the 11, the 6th revolute pair 12.Described scraper bowl multiple-unit straight line driving mechanism includes that the 3rd is straight
Line drive the 54, the 4th linear actuator the 58, second bent axle 56, the 7th revolute pair is passed through in described 3rd linear actuator 54 one end
53 are connected with frame 1, and the other end is connected with the second bent axle 56 by the 8th revolute pair 55, described 4th linear actuator 58 one end
Being connected with frame 1 by the 9th revolute pair 59, the other end is connected with the second bent axle 56 by the tenth revolute pair 57, and described second is bent
Axle 56 is connected with frame 1 by the 11st revolute pair the 16, the 12nd revolute pair 17.
Described first linear actuator the 2, second linear actuator the 8, the 3rd linear actuator the 54, the 4th linear actuator 58
Being servo electric jar, described multiple-unit straight line driving mechanism under the control of a computer system, can be by straight for multiple stage small-power
After the power coupling of line drive, realize high-power, the purpose of high torque power output by first bent axle the 7, second bent axle 56,
Solve the problems such as tradition controllable loading mechanism controllable motor cost is high, power is little, driving torque is low, improve this loading machine
The bearing capacity of people.It addition, this multiple-unit straight line driving mechanism has stronger power adaptability, can want according to different power
Ask, select the linear actuator of the varying number such as Unit four, Unit six to drive, meet large, medium and small type and load robot power and want
Ask.
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 13rd revolute pair the 14, the 14th revolute pair 15, described first lifting side chain bag
Including first connecting rod the 18, first cylinder body 20, first piston bar 22, key or other connected mode are passed through in described first connecting rod 18 one end
Fixing with the first bent axle 7 and be connected, the other end is connected with the first cylinder body 20 by the 15th revolute pair 19, and described first cylinder body 20 leads to
Crossing the first moving sets 21 to be connected with first piston bar 22 one end, described first piston bar 22 other end passes through the 16th revolute pair 56
Being connected with swing arm 24, described second lifting side chain includes second connecting rod the 32, second cylinder body the 31, second piston rod 29, described second
Connecting rod 32 one end is by strong or other connected mode is fixing with the first bent axle 7 is connected, and the other end is by the 17th revolute pair 33
Being connected with the second cylinder body 31, described second cylinder body 31 is connected with second piston rod 29 one end by the second moving sets 30, and second lives
Stopper rod 29 other end is connected with swing arm 24 by the 18th 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, multiple-unit straight line driving mechanism provides power by the first bent axle 7 for swing arm elevating mechanism.Due to controlled loading
Mechanism is plane parallel mechanism due to swing arm elevating mechanism, because manufacturing, processing, assembling equal error, particularly inclined at loader
When carrying, cause swing arm two parallel drive side chain unbalance stress, have impact on lifting stability, it is easy to cause partial component
Overload damage, affect the service life of actuator.Described multiple-unit linear drives four mobility heavy type high capacity loader
Device people is by introducing first moving sets the 21, second moving sets 30, it is ensured that swing arm elevating mechanism first, second swing arm lifting side chain
There is adjustable mobility, according to pascal's principle, utilize hydraulic line that the first cylinder body 20 is in parallel with the second cylinder body 31, logical
Crossing 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 realizes unbalance loading
The stress balance of the lower two swing arm lifting side chains of effect, the problem improving swing arm 24 liang lifting side chain unbalance stress, improves swing arm
24 lifting stability, extend the service life of each component of swing arm elevating mechanism.It addition, the introducing of Hydraulic Elements is effectively improved swing arm
The vibration resistance of elevating mechanism, and by introducing the auxiliary equipments such as relief valve in the first cylinder body 20 or the second cylinder body 31, can
To 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 19th revolute pair the 25, the 20th revolute pair 26, and described first controls side chain bag
Include third connecting rod the 47, the 3rd cylinder body the 45, the 3rd piston rod the 43, first rocking arm the 36, first pull bar 38, described third connecting rod 47 one end
By strong or other connected mode is fixing with the second bent axle 56 is connected, the other end is by the 21st revolute pair 46 and triplex
Body 45 connects, and described 3rd cylinder body 45 is connected with the 3rd piston rod 43 by three moving sets 44, and described 3rd piston rod 43 leads to
Crossing the 22nd revolute pair 4 to be connected with the first rocking arm 36, described first rocking arm 36 is by the 23rd revolute pair 23 and swing arm 24
Connecting, described first pull bar 38 one end is connected with the first rocking arm 36 by the 24th revolute pair 37, and the other end passes through the 20th
Five revolute pairs 40 are connected with scraper bowl 39, and described second controls side chain includes fourth link the 48, the 4th cylinder body the 50, the 4th piston rod
52, second rocking arm the 34, second pull bar 42, described fourth link 48 one end is by strong or other connected mode and the second bent axle 56
Fixing connection, the other end is connected with the 4th cylinder body 50 by the 26th 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 with the second rocking arm 34 by the 27th revolute pair 3,
Described second rocking arm 34 is connected with swing arm 24 by the 28th revolute pair 27, and described second pull bar 42 one end passes through the 29th
Revolute pair 35 is connected with the second rocking arm 34, and the other end is connected with scraper bowl 39 by the 30th revolute pair 41.
Scraper bowl controlling organization is realized power by scraper bowl multiple-unit straight line driving mechanism by the second bent axle 56 and inputs, and realizes
The flip-flop movement of scraper bowl 39, the introducing of scraper bowl multiple-unit straight line driving mechanism improves emergence power and the load capacity of scraper bowl.For
Improving shovel dress stability, improve dynamic property, described scraper bowl controlling organization uses the design form of plane parallel mechanism, in order to
Overcome because manufacturing, processing, assembling equal error, particularly when loader unbalance loading, cause two scraper bowls to control side chain and be subject to
The problem that power is uneven, by introducing three moving sets the 44, the 4th moving sets 51, it is ensured that scraper bowl controlling organization first, second is controlled
Side chain processed has adjustable mobility, according to pascal's principle, utilizes hydraulic line by the 3rd cylinder body 45 and the 4th cylinder body 50
Parallel connection, by being automatically adjusted of three moving sets the 44, the 4th moving sets 51, in can realizing two cylinder bodies, fluid pressure is identical, and then
Realize the stress balance of two control side chains under uneven loading action, improve scraper bowl controlling organization two and control asking of side chain unbalance stress
Topic, improves and loads robot job stabilization, extend the service life of each component of scraper bowl controlling organization.It addition, Hydraulic Elements
Introducing be effectively improved the vibration resistance of scraper bowl controlling organization, and let out by introducing in the 3rd cylinder body 45 or the 4th cylinder body 50
The auxiliary equipments such as pressure valve, can realize the overload protection function of scraper bowl controlling organization easily.
Comparison Fig. 1, Fig. 8, Figure 11, Figure 12, described a kind of multiple-unit linear drives four mobility heavy type high capacity loader
Device people, under the programming Control of multiple-unit straight line driving mechanism, completes loading operation.During industry pretended by loading robot shovel,
When the load that actuator is born is in tolerance zone, the moving sets in swing arm elevating mechanism and scraper bowl controlling organization is only by micro-
The mode adjusted balances first, second lifting side chain or first, second and controls the stress of side chain, now by cylinder body, shifting in each side chain
Dynamic bar group secondary, piston rod composition can be considered a non-telescoping Force transmission parts, if the load that this loading robot bears surpasses
When crossing tolerance zone, by opening the relief valve on cylinder body, play overload protective function.Based on These characteristics, described is the most single
Linear drives four mobility heavy type high capacity loading robot of unit compares existing controllable loading mechanism and has more preferable kinetics
Energy, bearing stability, reliability, and higher load capacity and vibration resistance, be more suitable for manufacturing heavy high capacity and load
Robot.
Claims (2)
1. the heavy type high capacity of multiple-unit linear drives four mobility load a robot, including multiple-unit straight line driving mechanism,
Swing arm elevating mechanism, scraper bowl controlling organization and frame, it is characterised in that:
Described multiple-unit straight line driving mechanism includes swing arm multiple-unit straight line driving mechanism and scraper bowl multiple-unit straight line driving mechanism,
Described swing arm multiple-unit straight line driving mechanism includes the first linear actuator, the second linear actuator, frame, the first bent axle, institute
Stating first linear actuator one end to be connected with frame by the first revolute pair, the other end is by the second revolute pair with the first bent axle even
Connecing, described second linear actuator one end is connected with frame by the 3rd revolute pair, and the other end passes through the 4th revolute pair and first
Bent axle connects, and described first bent axle is connected with frame by the 5th revolute pair, the 6th revolute pair, and described scraper bowl multiple-unit straight line drives
Motivation structure includes the 3rd linear actuator, the 4th linear actuator, the second bent axle, and described 3rd linear actuator one end is by the
Seven revolute pairs are connected with frame, and the other end is connected with the second bent axle by the 8th revolute pair, described 4th linear actuator one end
Being connected with frame by the 9th revolute pair, the other end is connected with the second bent axle by the tenth revolute pair, and described second bent axle passes through
11st revolute pair, the 12nd revolute pair are connected with frame,
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 13rd turn
Dynamic pair, the 14th revolute pair are connected with frame, and described first lifting side chain includes first connecting rod, the first cylinder body, first piston bar,
Described first 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 15th 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 16th rotation
Pair is connected with swing arm, and described second lifting side chain includes second connecting rod, the second cylinder body, the second piston rod, described second connecting rod one
End is fixing with the first bent axle to be connected, and the other end passes through the 17th revolute pair and is connected with the second cylinder body, and described second cylinder body passes through the
Two moving sets and second piston rod one end connect, and the second piston rod other end is connected with swing arm by the 18th 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 19th turn
Dynamic secondary, the 20th revolute pair is connected with swing arm, described first control side chain include third connecting rod, the 3rd cylinder body, the 3rd piston rod,
First rocking arm, the first pull bar, described third connecting rod one end is fixing with the second bent axle to be connected, and the other end passes through the 21st revolute pair
Being connected with the 3rd cylinder body, described 3rd cylinder body is connected by three moving sets and the 3rd piston rod, and described 3rd piston rod passes through
22nd revolute pair is connected with the first rocking arm, and described first rocking arm is connected with swing arm by the 23rd revolute pair, and described the
One pull bar one end is connected with the first rocking arm by the 24th revolute pair, and the other end is by the 25th revolute pair with scraper bowl even
Connecing, described second controls side chain includes fourth link, the 4th cylinder body, the 4th piston rod, the second rocking arm, the second pull bar, described the
Double leval jib 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 26th revolute pair, and the described 4th
Cylinder body is connected by the 4th moving sets and the 4th piston rod, and described 4th piston rod is by the 27th revolute pair and the second rocking arm
Connecting, described second rocking arm is connected with swing arm by the 28th revolute pair, and described second pull bar one end passes through the 29th turn
Dynamic pair is connected with the second rocking arm, and the other end is connected with scraper bowl by the 30th revolute pair.
Multiple-unit linear drives four mobility heavy type high capacity the most according to claim 1 loads robot, and its feature exists
In parallel in: described first cylinder body and the second cylinder body, described 3rd cylinder body, the 4th cylinder body are in parallel, described first linear actuator, the
Two linear actuators, the 3rd linear actuator, the 4th linear actuator are servo electric jar.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610463398.1A CN106120913A (en) | 2016-06-24 | 2016-06-24 | A kind of multiple-unit linear drives four mobility heavy type high capacity loads robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610463398.1A CN106120913A (en) | 2016-06-24 | 2016-06-24 | A kind of multiple-unit linear drives four mobility heavy type high capacity loads robot |
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| CN106120913A true CN106120913A (en) | 2016-11-16 |
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| WO2014089635A1 (en) * | 2012-12-13 | 2014-06-19 | BRODERICK, Jennifer, Jean | An improved bucket assembly |
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| CN201687020U (en) * | 2010-05-17 | 2010-12-29 | 厦门厦工机械股份有限公司 | Eight-bar linkage working mechanism of loader |
| JP2013170417A (en) * | 2012-02-22 | 2013-09-02 | Sanyo Kiki Co Ltd | Dump link mechanism for work machine |
| WO2014089635A1 (en) * | 2012-12-13 | 2014-06-19 | BRODERICK, Jennifer, Jean | An improved bucket assembly |
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Application publication date: 20161116 |