CN106703096A - Method for performing industrial waste grabbing-loading operation by adopting variable-activity linkage mechanism equipped with revolute pair locking device - Google Patents
Method for performing industrial waste grabbing-loading operation by adopting variable-activity linkage mechanism equipped with revolute pair locking device Download PDFInfo
- Publication number
- CN106703096A CN106703096A CN201611084545.0A CN201611084545A CN106703096A CN 106703096 A CN106703096 A CN 106703096A CN 201611084545 A CN201611084545 A CN 201611084545A CN 106703096 A CN106703096 A CN 106703096A
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- China
- Prior art keywords
- connecting rod
- locking device
- driving lever
- industrial waste
- rotates
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 239000002440 industrial waste Substances 0.000 title claims abstract description 26
- 230000007246 mechanism Effects 0.000 title claims abstract description 20
- 238000000034 method Methods 0.000 title claims abstract description 11
- 210000000707 wrist Anatomy 0.000 claims abstract description 16
- 238000009434 installation Methods 0.000 claims description 15
- 230000005540 biological transmission Effects 0.000 abstract description 4
- 230000007547 defect Effects 0.000 abstract 1
- 230000033001 locomotion Effects 0.000 description 4
- 239000012530 fluid Substances 0.000 description 3
- 239000010720 hydraulic oil Substances 0.000 description 3
- 239000002699 waste material Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 238000012805 post-processing Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—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
-
- 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
-
- 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
- E02F3/302—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 an additional link
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The invention provides a method for performing industrial waste grabbing-loading operation by adopting a variable-activity linkage mechanism equipped with a revolute pair locking device. The method is characterized in that the variable-activity linkage mechanism equipped with the revolute pair locking device comprises a base 19, a second driving rod 21, a second connecting rod 2, an upper arm 4, a wrist connecting rod 7, a first driving rod 17, a large arm 9, a fourth connecting rod 14, a first connecting rod 12, a servo driving device and a third connecting rod 10; a first electromagnetic locking device 23 is mounted on a second revolute pair 15; a second electromagnetic locking device 24 is mounted on a tenth revolute pair 3; the servo driving device comprises a first servo motor and a second servo motor; the first servo motor and the second servo motor are connected with the first driving rod 17 and the second driving rod 21, so as to drive the first driving rod 17 and the second driving rod 21 to rotate; and the first electromagnetic locking device 23 and the second electromagnetic locking device 24 are locked in an electromagnetic manner. According to the method provided by the invention, a conventional hydraulic transmission mechanism is replaced by a variable-degree-of-freedom linkage transmission mechanism, thereby overcoming the defects that a hydraulic system is complex and the oil leakage possibility is high.
Description
Technical field
It is particularly a kind of to be carried out containing the change mobility linkage for rotating secondary locking device the present invention relates to mechanical field
Industrial waste grabs dress operational method.
Background technology
Because the personnel of labour market are in short supply, the increasing that human cost rises year by year and enterprise is realized to labour protection
By force, promote industrial waste and grab extensive use of the installation in industrial waste crawl loading operation.It is organic that industrial waste grabs installation
Tool formula and fluid pressure type two types, it is hydraulic-driven that current industrial waste grabs most of mechanical arm of installation, due to hydraulic drive
Using hydraulic oil as the medium of transmission power, there is problems with：Its startability is poor, easily because after inner member abrasion
Leakage, and the hydraulic oil of leakage is produced to pollute the environment, hydraulic oil temperature influence is larger, and gross efficiency is relatively low, makes an uproar sometimes
Sound and vibration.It sometimes appear that the phenomenon such as overheat, powerless in work；Hydraulic Elements requirement on machining accuracy is high, and matching requirements are strict, system
Make more difficult, maintenance requires that technology is higher in use, and difficulty is larger.The increase of installation function is grabbed with industrial waste,
Its hydraulic system becomes increasingly complex, and breaks down with more sudden, disguised.It is to utilize machine that mechanical industrial waste grabs installation
Tool driving member realize industrial waste grab dress action, have the advantages that it is sturdy and durable, but traditional single-degree-of-freedom is mechanically industrial
Waste material is grabbed installation and can not complete the action of complexity, and range of application is extremely limited, and mechanical controllable mechanism electric industry waste material grabs dress
Machine, hydraulic drive is instead of with linkage, when driving lever is driven by servomotor, easily realizes automation, NC postprocessing control
System, solves some shortcomings of hydraulic system presence, but there is the control for needing outfit and linkage free degree equivalent amount
Motor is controlled big and high cost the problem of mechanism's weight, movement inertia that complex structure is brought.
Variable Freedom Mechanism is by the functional requirement that is combined into new topological structure to adapt to different phase.Can apply at present
It is also little in actual Variable Freedom Mechanism, had not seen and be applied to the Variable Freedom Mechanism that industrial waste grabs installation.
The content of the invention
It is an object of the invention to provide a kind of industry is carried out containing the change mobility linkage for rotating secondary locking device
Waste material grabs dress operational method, overcomes fluid pressure type industrial waste to grab installation hydraulic system element required precision high, complex structure, leakiness
Oily the shortcomings of, the motor of open-chain structure is overcome to be required for being arranged on the shortcoming of joint position, and cause controllable drive motor
Quantity less than industrial waste grab installation linkage the free degree, overcome existing machinery formula electric industry waste material grab mounting mechanism need
The shortcoming for being equipped with the controlled motor with linkage free degree equivalent amount to be controlled, simplifies the complexity of structure,
The weight of reducing mechanism, movement inertia, volume and cost.To achieve the above object, the one kind that provides of the invention contains rotation pair lock
The change mobility linkage of tight device carries out industrial waste and grabs dress operational method, it is characterised in that described to contain the secondary locking of rotation
The change mobility linkage of device includes：Base 19, the second driving lever 21, second connecting rod 2, upper arm 4, wrist connecting rod 7, first
Driving lever 17, large arm 9, fourth link 14, first connecting rod 12, servo drive and third connecting rod 10；The base 19 is pacified
On removable revolving dial；Described one end of second driving lever 21 is connected on base 19 by eighth-turn dynamic secondary 20, and second
The other end of driving lever 21 rotates secondary 1 and is connected with the one end of second connecting rod 2 by the 9th, and the other end of second connecting rod 2 is rotated by the tenth
Secondary 3 are connected with the one end of upper arm 4, and the other end of upper arm 4 rotates secondary 6 and is connected on wrist connecting rod 7 by the 11st；Described first actively
The one end of bar 17 rotates secondary 16 and is connected on base 19 by the 6th, the other end of the first driving lever 17 by the 7th rotate secondary 18 with it is big
The one end of arm 9 connects, and the other end of large arm 9 rotates secondary 8 and is connected on wrist connecting rod 7 by the 5th；The one end of the fourth link 14 leads to
Cross the first rotation secondary 13 and be connected on base 19, the other end of fourth link 14 rotates secondary 15 with first connecting rod 12 1 by second
End connection, the other end of first connecting rod 12 rotates secondary 11 and is connected with third connecting rod 10 by the 3rd, and the other end of third connecting rod 10 leads to
The 4th rotation secondary 5 is crossed to be connected on upper arm 4；Rotated second and first electromagnetic locking device 23 is installed on secondary 15；At the tenth turn
Second electromagnetic locking device 24 is installed on dynamic secondary 3；Servo drive includes the first servomotor, the second servomotor, with
First driving lever 17, the second driving lever 21 connect to drive it to rotate；First locking device 23 and the second locking device 24 are used
Electromagnetic mode is locked, and according to different working conditions, tight lock is selected respectively or is opened.
Before industrial waste crawl loading operation, base 19 is coupled together with rubber-tyred or crawler type walking mechanism, by hand
Wrist connecting rod 7 is coupled together with the wrist 27 of installation, paw 28 is grabbed；Grab when pretending industry and carrying out, watched by the first servomotor, second
Taking motor drives the first driving lever 17 and the second driving lever 21 to be rotated, and makes linkage complete to grab to pretend industry.
The present invention uses controllable many bar closed chain mechanisms, and the motor for overcoming open-chain structure is required for being arranged on joint position
The shortcoming put, improves the stationarity and reliability of arm operation, and without accumulated error, precision is higher；Compact conformation, rigidity is high,
Large carrying capacity, inertia are low, dynamic property is good, arm motion track flexible and diverse.Install locking device additional on linkage,
And allow it that specific rotation pair is locked and loosened according to the different operating modes of mechanism, and the free degree of mechanism is reduced in good time, realize
In the case where expected requirement is completed, the quantity of the controllable drive motor for using less than industrial waste grab installation linkage from
It is to be capable of achieving two degrees of freedom industrial waste to grab and pretend industry using a driving lever by spending, overcomes existing industrial waste to grab installation needs
The shortcoming for being equipped with the controlled motor with linkage free degree equivalent amount to be controlled, simplifies the complexity of structure, drop
The weight of low mechanism, movement inertia, volume and cost, increased the controllability and stability of mechanism, improve operating efficiency.Together
When also overcome fluid pressure type industrial waste grab installation hydraulic system element required precision be high, complex structure, easy oil leakage, reliability
Difference, the low shortcoming of transmission efficiency.
Brief description of the drawings
Fig. 1 is of the present invention a kind of to carry out industrial waste and grab containing the change mobility linkage for rotating secondary locking device
Fill the operating diagram of operational method.
Specific embodiment
A kind of change mobility linkage containing rotation secondary locking device carries out industrial waste and grabs dress operational method, and it is special
Levy is that the change mobility linkage containing rotation secondary locking device includes：Base 19, the second driving lever 21, second connect
Bar 2, upper arm 4, wrist connecting rod 7, the first driving lever 17, large arm 9, fourth link 14, first connecting rod 12, servo drive and
Third connecting rod 10；The base 19 is arranged on removable revolving dial；Described one end of second driving lever 21 passes through eighth-turn
Dynamic secondary 20 are connected on base 19, and the other end of the second driving lever 21 rotates secondary 1 and is connected with the one end of second connecting rod 2 by the 9th, the
The other end of two connecting rod 2 rotates secondary 3 and is connected with the one end of upper arm 4 by the tenth, and the other end of upper arm 4 rotates secondary 6 and connects by the 11st
Onto wrist connecting rod 7；Described one end of first driving lever 17 rotates secondary 16 and is connected on base 19 by the 6th, the first driving lever 17
The other end rotates secondary 18 and is connected with the one end of large arm 9 by the 7th, and the other end of large arm 9 is connected to wrist and connects by the 5th rotation secondary 8
On bar 7；The one end of the fourth link 14 rotates pair 13 and is connected on base 19 by first, and the other end of fourth link 14 passes through
Second rotates secondary 15 is connected with the one end of first connecting rod 12, and the other end of first connecting rod 12 rotates secondary 11 with third connecting rod 10 by the 3rd
Connection, the other end of third connecting rod 10 rotates secondary 5 and is connected on upper arm 4 by the 4th；Rotated second and the is provided with secondary 15
One electromagnetic locking device 23；Rotated the tenth and second electromagnetic locking device 24 is installed on secondary 3；Servo drive includes first
Servomotor, the second servomotor, are connected to drive it to rotate with the first driving lever 17, the second driving lever 21；First locking dress
Put 23 and second locking device 24 locked using electromagnetic mode, according to different working conditions, tight lock is selected respectively or is beaten
Open, before industrial waste crawl loading operation, base 19 is coupled together with rubber-tyred or crawler type walking mechanism, by wrist connecting rod
7 couple together with the wrist 27 of installation, paw 28 is grabbed；Grab when pretending industry and carrying out, by the first servomotor, the second servomotor
Drive the first driving lever 17 and the second driving lever 21 to be rotated, make linkage complete to grab to pretend industry.
Claims (1)
1. a kind of change mobility linkage containing rotation secondary locking device carries out industrial waste and grabs dress operational method, its feature
It is that the change mobility linkage containing rotation secondary locking device includes：Base 19, the second driving lever 21, second connecting rod
2nd, upper arm 4, wrist connecting rod 7, the first driving lever 17, large arm 9, fourth link 14, first connecting rod 12, servo drive, the 3rd
Connecting rod 10, the first electromagnetic locking device 23 and the second electromagnetic locking device 24；Described one end of second driving lever 21 passes through eighth-turn
Dynamic secondary 20 are connected on base 19, and the other end of the second driving lever 21 rotates secondary 1 and is connected with the one end of second connecting rod 2 by the 9th, the
The other end of two connecting rod 2 rotates secondary 3 and is connected with the one end of upper arm 4 by the tenth, and the other end of upper arm 4 rotates secondary 6 and connects by the 11st
Onto wrist connecting rod 7；Described one end of first driving lever 17 rotates secondary 16 and is connected on base 19 by the 6th, the first driving lever 17
The other end rotates secondary 18 and is connected with the one end of large arm 9 by the 7th, and the other end of large arm 9 is connected to wrist and connects by the 5th rotation secondary 8
On bar 7；The one end of the fourth link 14 rotates pair 13 and is connected on base 19 by first, and the other end of fourth link 14 passes through
Second rotates secondary 15 is connected with the one end of first connecting rod 12, and the other end of first connecting rod 12 rotates secondary 11 with third connecting rod 10 by the 3rd
Connection, the other end of third connecting rod 10 rotates secondary 5 and is connected on upper arm 4 by the 4th；Rotated second and the is provided with secondary 15
One electromagnetic locking device 23；Rotated the tenth and second electromagnetic locking device 24 is installed on secondary 3；Servo drive includes first
Servomotor, the second servomotor, are connected to drive it to rotate with the first driving lever 17, the second driving lever 21；First locking dress
Put 23 and second locking device 24 locked using electromagnetic mode, industrial waste crawl loading operation before, by base 19 with wheel
Tire formula or crawler type walking mechanism are coupled together, and wrist connecting rod 7 is coupled together with the wrist 27 of installation, paw 28 is grabbed；Grab dress
When operation is carried out, the first driving lever 17 and the second driving lever 21 is driven to be revolved by the first servomotor, the second servomotor
Transhipment is dynamic, makes linkage complete to grab to pretend industry.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611084545.0A CN106703096A (en) | 2016-11-30 | 2016-11-30 | Method for performing industrial waste grabbing-loading operation by adopting variable-activity linkage mechanism equipped with revolute pair locking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611084545.0A CN106703096A (en) | 2016-11-30 | 2016-11-30 | Method for performing industrial waste grabbing-loading operation by adopting variable-activity linkage mechanism equipped with revolute pair locking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106703096A true CN106703096A (en) | 2017-05-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611084545.0A Pending CN106703096A (en) | 2016-11-30 | 2016-11-30 | Method for performing industrial waste grabbing-loading operation by adopting variable-activity linkage mechanism equipped with revolute pair locking device |
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| CN (1) | CN106703096A (en) |
Citations (7)
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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 |
| CN101666104A (en) * | 2009-09-30 | 2010-03-10 | 广西大学 | Excavating mechanism of controllable planar three degree of freedom |
| CN103132551A (en) * | 2013-02-08 | 2013-06-05 | 广西叶茂机电自动化有限责任公司 | Discrete variable speed and human hybrid driving multi-freedom-degree controllable mechanism type sugarcane loading machine |
| CN104032779A (en) * | 2014-06-27 | 2014-09-10 | 广西大学 | Multi-connecting-rod controllable mining mechanism with variable cell function |
| CN104594400A (en) * | 2014-12-25 | 2015-05-06 | 广西大学 | Rotatable multiple-connecting-rod controllable excavating mechanism having metamorphic function |
| CN106120904A (en) * | 2016-06-24 | 2016-11-16 | 山东交通学院 | A kind of multiple-unit linear drives plane three mobility fork wood machine |
-
2016
- 2016-11-30 CN CN201611084545.0A patent/CN106703096A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN101666104A (en) * | 2009-09-30 | 2010-03-10 | 广西大学 | Excavating mechanism of controllable planar three degree of freedom |
| CN103132551A (en) * | 2013-02-08 | 2013-06-05 | 广西叶茂机电自动化有限责任公司 | Discrete variable speed and human hybrid driving multi-freedom-degree controllable mechanism type sugarcane loading machine |
| CN104032779A (en) * | 2014-06-27 | 2014-09-10 | 广西大学 | Multi-connecting-rod controllable mining mechanism with variable cell function |
| CN104594400A (en) * | 2014-12-25 | 2015-05-06 | 广西大学 | Rotatable multiple-connecting-rod controllable excavating mechanism having metamorphic function |
| CN106120904A (en) * | 2016-06-24 | 2016-11-16 | 山东交通学院 | A kind of multiple-unit linear drives plane three mobility fork wood machine |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
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Application publication date: 20170524 |