CN106638734A - Electric linear driven controllable connecting rod type excavator with function of locking metamorphism - Google Patents
Electric linear driven controllable connecting rod type excavator with function of locking metamorphism Download PDFInfo
- Publication number
- CN106638734A CN106638734A CN201611033902.0A CN201611033902A CN106638734A CN 106638734 A CN106638734 A CN 106638734A CN 201611033902 A CN201611033902 A CN 201611033902A CN 106638734 A CN106638734 A CN 106638734A
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- China
- Prior art keywords
- connecting rod
- rotating secondary
- rotating
- electromagnetic brake
- rod
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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
- E02F3/30—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 a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/301—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 a dipper-arm pivoted on a cantilever beam, i.e. boom with more than two arms (boom included), e.g. two-part boom with additional dipper-arm
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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
- E02F3/369—Devices to connect parts of a boom or an arm
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention discloses an electric linear driven controllable connecting rod type excavator with the function of locking metamorphism. The electric linear driven controllable connecting rod type excavator is of the following feature structure: one end of an electric push rod is also connected with a rack; the other end of the electric push rod is connected with one end of a third connecting rod; the other end of the third connecting rod is connected with a first corner of a triangular connecting plate; a second corner of the triangular connecting plate is connected with one end of a fourth connecting rod; the other end of the fourth connecting rod is connected with a fifth connecting rod; one end of the fifth connecting rod is connected with a bucket rod; the other end of the fifth connecting rod is connected with one end of a sixth connecting rod; the other end of the sixth connecting rod is connected with a scraper bucket; one end of a seventh connecting rod is connected with the bucket rod; the other end of the seventh connecting rod is connected with one end of an eighth connecting rod; the other end of the eighth connecting rod is connected with an electromagnetic brake; the electromagnetic brake is installed on a large arm; one end of a ninth connecting rod is connected with the electromagnetic brake; and the other end of the ninth connecting rod is connected with a seventh rotation pair, the electric push rod and the third connecting rod simultaneously. According to the electric linear driven controllable connecting rod type excavator, with adoption of an electric driven controllable mechanism, a drive system composed of a servo motor can control an excavator working device and can realize flexible movement and programmable intelligent work.
Description
Technical field
The present invention relates to mechanical field, specifically a kind of controllable link-type of electric power linear drives with locking metamorphic function
Excavator.
Background technology
Excavator is a kind of common engineering machinery, in being mainly used in various earthwork constructions.Wherein hydraulic crawler excavator is to answer
With widest class excavator, but hydraulic system manufacturing cost is high, and the problems such as easily there is oil leak, these are all that fluid pressure type digs
The long-standing thorny problem of pick machine.And traditional single-degree-of-freedom mechanical digging machine, it is commonly called as " power shovel ", can only not realize simply and not
The track output that can change, therefore can not be applied in extensive field as hydraulic excavator.
Controllable mechanism is the Disciplinary Frontiers of modern mechanisms research, and it has flexible, output campaign high precision, operation speed
Degree is fast, and bearing capacity waits by force many advantages, controllable mechanism to include adjustable mechanism, variable-input mechanism and hybrid drive, becomes defeated
Enter mechanism and refer to that the driving means of mechanism with single degree of freedom replace constant speed motor by micro-processor controlled servomotor, so as to improve from
Moving part kinetic characteristic, Hybrid Input Five―bar Mechanism is driven using motor of different nature (constant motor and servomotor), in machine
There is a good compromise in tool performance and cost, to adapt to working flexibility feature, be well positioned to meet modern mechanical controllable, adjustable
Requirement, in the epoch of flexible production, hybrid drive has very big application space.
With the development and the raising of control technology of motor technology, controllable mechanism provides wide development for engineering machinery
Space, the multiple degrees of freedom controllable mechanism driven by controlled motor not only has working space big, flexible movements, complexity can be completed and
Variable movement locus output, while also having low cost of manufacture, the advantages of maintaining is simple, controllable-mechanism type excavator by
In instead of hydraulic drive with multiple degrees of freedom linkage, it is to avoid hydraulic system requirement on machining accuracy is high, maintaining cost
Height, easily the problems such as generation oil leak, and motor is generally arranged on joint by other excavator machines, so can cause to dig
Pick machine equipment rotary inertia is big, is also easy to produce that residual oscillation, dynamic performance are poor, and transmission efficiency is low.
The content of the invention
The present invention is directed to the deficiencies in the prior art, there is provided a kind of controllable company of electric power linear drives with locking metamorphic function
Rod-type excavator.
To achieve these goals, present invention employs technical scheme below：
A kind of controllable link-type excavator of electric power linear drives with locking metamorphic function, it is characterised in that including machine
Frame, large arm, dipper, scraper bowl, first connecting rod, second connecting rod, electric pushrod, third connecting rod, triangular connecting plate, fourth link,
Five connecting rods, six-bar linkage, seven-link assembly, the 8th connecting rod, the 9th connecting rod,
Large arm one end is connected in frame by rotating secondary one, and the large arm other end is connected by rotating secondary two with dipper one end
Connect, the dipper other end is connected on scraper bowl by rotating secondary three,
First connecting rod one end is connected in frame by rotating secondary four, and the first connecting rod other end is by rotating secondary five and second
Connecting rod one end connects, and the second connecting rod other end is connected in large arm by rotating secondary six,
Electric pushrod one end is connected in frame also by rotating secondary one, and the electric pushrod other end is by rotating secondary seven and the
Three connecting rod one end connect, and the third connecting rod other end is connected by rotating secondary eight with first jiao of triangular connecting plate, triangular connecting plate
Second jiao be connected with fourth link one end by rotating secondary nine, the fourth link other end is connected to the 5th company by rotation pair ten
On bar, the 5th connecting rod one end is connected on dipper by rotating secondary 11, and the 5th connecting rod other end is by rotating secondary 12 and the
Six-bar linkage one end connects, and the six-bar linkage other end is connected on scraper bowl by rotating secondary 13, and seven-link assembly one end is by rotating
Secondary 14 are connected on dipper, and the seven-link assembly other end is connected by rotating secondary 15 with the 8th connecting rod one end, and the 8th connecting rod is another
One end is connected on electromagnetic brake, and electromagnetic brake is arranged in large arm, and the 9th connecting rod one end is connected on electromagnetic brake,
The 9th connecting rod other end is connected with electric pushrod and third connecting rod simultaneously by rotating secondary seven.
Compared with prior art, the beneficial effect that the present invention possesses：
The present invention not only has big multiple degrees of freedom controllable mechanism working space, flexible movements, can complete Comlex-locus
The advantage of output, compares by oil-engine driven multi-freedom-degreecontrollable controllable mechanism type excavator, present invention employs driven by power
Controllable mechanism, can realize being controlled digger operating device by the drive system being made up of servomotor, it is possible to achieve
Flexibility campaign and intelligent programmable work, and not only make it have the repertoire of conventional excavators, and improve mechanism
The stability and operating efficiency of motion.Motor is arranged on equipment base, existing moving operation machinery arm is overcome
Motor is arranged on joint, produced poor rigidity, rotary inertia reacts insensitive greatly, is also easy to produce residual oscillation, and joint is missed
The shortcomings of difference is easily accumulated, with simple structure, the advantages of with low cost.
Description of the drawings
Fig. 1 is a kind of controllable link-type excavator of electric power linear drives with locking metamorphic function of the present invention
Structural representation.
Specific embodiment
Technical scheme is further elaborated below by embodiment.
Embodiment 1
A kind of controllable link-type excavator of electric power linear drives with locking metamorphic function, it is characterised in that including machine
Frame 31, large arm 17, dipper 18, scraper bowl 19, first connecting rod 20, second connecting rod 21, electric pushrod 22, third connecting rod 23, triangle connect
Fishplate bar 24, fourth link 25, the 5th connecting rod 26, six-bar linkage 27, seven-link assembly 28, the 8th connecting rod 29, the 9th connecting rod 30,
The one end of large arm 17 is connected in frame 31 by rotating secondary 1, and the other end of large arm 17 is by rotating secondary 22 and dipper
18 one end connect, and the other end of dipper 18 is connected on scraper bowl 19 by rotating secondary 33,
The one end of first connecting rod 20 is connected in frame 31 by rotating secondary 44, and the other end of first connecting rod 20 is secondary by rotating
55 are connected with the one end of second connecting rod 21, and the other end of second connecting rod 21 is connected in large arm 17 by rotating secondary 66,
The one end of electric pushrod 22 is connected in frame 31 also by rotating secondary 1, and the other end of electric pushrod 22 is by rotating
Secondary 77 are connected with the one end of third connecting rod 23, and the other end of third connecting rod 23 passes through rotate secondary 88 and triangular connecting plate 24 first jiao
Connection, second jiao of triangular connecting plate 24 is connected by rotating secondary 99 with the one end of fourth link 25, and the other end of fourth link 25 leads to
Cross rotation secondary 10 to be connected on the 5th connecting rod 26, the one end of the 5th connecting rod 26 is connected on dipper 18 by rotating secondary 11,
The other end of 5th connecting rod 26 is connected by rotating secondary 12 with the one end of six-bar linkage 27, and the other end of six-bar linkage 27 is by rotating
Secondary 13 are connected on scraper bowl 19, and the one end of seven-link assembly 28 is connected on dipper 18 by rotating secondary 14, seven-link assembly
28 other ends are connected by rotating secondary 15 with the one end of the 8th connecting rod 29, and the other end of the 8th connecting rod 29 is connected to electromagnetic brake
On 16, electromagnetic brake 16 is arranged in large arm 17, and the one end of the 9th connecting rod 30 is connected on electromagnetic brake 16, the 9th connecting rod 30
The other end is connected with electric pushrod 22 and third connecting rod 23 simultaneously by rotating secondary 77.
Electromagnetic brake 16 is to rotate secondary locking device, rotates secondary for opening or locking, when open, the 8th connecting rod
29 and the 9th the junction of connecting rod 30 be by rotating secondary connection so that the adjustable angle of the 8th connecting rod 29 and the 9th connecting rod 30,
And when locking, the junction of the 8th connecting rod 29 and the 9th connecting rod 30 to be fixedly connected, the 8th connecting rod 29 and the angle of the 9th connecting rod 30
Fixed, in a particular embodiment, electromagnetic brake 16 is secondary in large arm 17 by rotating, when the 8th connecting rod 29 and the 9th connects
When the angle of bar 30 is fixed, what the rigid body bar that the 8th connecting rod 29 and the 9th connecting rod 30 are linked to be also can be on the position of electromagnetic brake 16 turns
Dynamic secondary rotation.
Claims (1)
1. it is a kind of with locking metamorphic function the controllable link-type excavator of electric power linear drives, it is characterised in that including frame,
Large arm, dipper, scraper bowl, first connecting rod, second connecting rod, electric pushrod, third connecting rod, triangular connecting plate, fourth link, the 5th connect
Bar, six-bar linkage, seven-link assembly, the 8th connecting rod, the 9th connecting rod,
Large arm one end is connected in frame by rotating secondary one, and the large arm other end is connected by rotating secondary two with dipper one end, is struggled against
The bar other end is connected on scraper bowl by rotating secondary three,
First connecting rod one end is connected in frame by rotating secondary four, and the first connecting rod other end is by rotating secondary five and second connecting rod
One end connects, and the second connecting rod other end is connected in large arm by rotating secondary six,
Electric pushrod one end is connected in frame also by rotating secondary one, and the electric pushrod other end is connected by rotating the secondary seven and the 3rd
Bar one end connects, and the third connecting rod other end is connected by rotating secondary eight with first jiao of triangular connecting plate, and the of triangular connecting plate
Two jiaos are connected by rotating secondary nine with fourth link one end, and the fourth link other end is connected to the 5th connecting rod by rotating secondary ten
On, the 5th connecting rod one end is connected on dipper by rotating secondary 11, and the 5th connecting rod other end is by rotating secondary 12 and the 6th
Connecting rod one end connects, and the six-bar linkage other end is connected on scraper bowl by rotating secondary 13, and seven-link assembly one end is secondary by rotating
14 are connected on dipper, and the seven-link assembly other end is connected by rotating secondary 15 with the 8th connecting rod one end, and the 8th connecting rod is another
End is connected on electromagnetic brake, and electromagnetic brake is arranged in large arm, and the 9th connecting rod one end is connected on electromagnetic brake, the
The nine connecting rod other ends are connected with electric pushrod and third connecting rod simultaneously by rotating secondary seven.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611033902.0A CN106638734A (en) | 2016-11-18 | 2016-11-18 | Electric linear driven controllable connecting rod type excavator with function of locking metamorphism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611033902.0A CN106638734A (en) | 2016-11-18 | 2016-11-18 | Electric linear driven controllable connecting rod type excavator with function of locking metamorphism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106638734A true CN106638734A (en) | 2017-05-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611033902.0A Pending CN106638734A (en) | 2016-11-18 | 2016-11-18 | Electric linear driven controllable connecting rod type excavator with function of locking metamorphism |
Country Status (1)
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| CN (1) | CN106638734A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111395420A (en) * | 2020-04-30 | 2020-07-10 | 长沙中联恒通机械有限公司 | Excavating device and engineering truck |
| CN112031051A (en) * | 2020-08-19 | 2020-12-04 | 北京航空航天大学 | Metamorphic parallel six-connecting-rod bucket mechanism applied to face shovel excavator |
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| JPH07196286A (en) * | 1994-01-10 | 1995-08-01 | Mitsubishi Heavy Ind Ltd | Heavy weight installation work machine |
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| CN102561426A (en) * | 2012-01-12 | 2012-07-11 | 广西大学 | 3-dof (three degrees of freedom) controllable mechanism type excavator |
| CN104047313A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Multi-connecting-rod controllable excavating mechanism with active metamorphic function |
| CN104153407A (en) * | 2014-08-26 | 2014-11-19 | 广西大学 | Mechanical electric-locking type dual-driving electric excavator |
| CN104594401A (en) * | 2014-12-25 | 2015-05-06 | 广西大学 | Novel multi-freedom-degree controllable mechanical type excavating mechanism |
| CN105887950A (en) * | 2016-06-01 | 2016-08-24 | 广西大学 | Initiative metamorphic multi-link controllable mechanism type backhoe excavator |
| CN106002938A (en) * | 2016-06-12 | 2016-10-12 | 广西大学 | Linear rotation hybrid drive controllable mechanism type robot |
-
2016
- 2016-11-18 CN CN201611033902.0A patent/CN106638734A/en active Pending
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| JPH07196286A (en) * | 1994-01-10 | 1995-08-01 | Mitsubishi Heavy Ind Ltd | Heavy weight installation work machine |
| DE102004027203B4 (en) * | 2004-03-29 | 2010-01-14 | Komatsu Hanomag Gmbh | working vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111395420A (en) * | 2020-04-30 | 2020-07-10 | 长沙中联恒通机械有限公司 | Excavating device and engineering truck |
| CN112031051A (en) * | 2020-08-19 | 2020-12-04 | 北京航空航天大学 | Metamorphic parallel six-connecting-rod bucket mechanism applied to face shovel excavator |
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| SE01 | Entry into force of request for substantive examination | ||
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Application publication date: 20170510 |
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| RJ01 | Rejection of invention patent application after publication |