CN109667299A - It is a kind of that dress operational method is grabbed using mobile closed chain link mechanism waste material - Google Patents
It is a kind of that dress operational method is grabbed using mobile closed chain link mechanism waste material Download PDFInfo
- Publication number
- CN109667299A CN109667299A CN201710961610.1A CN201710961610A CN109667299A CN 109667299 A CN109667299 A CN 109667299A CN 201710961610 A CN201710961610 A CN 201710961610A CN 109667299 A CN109667299 A CN 109667299A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- driving lever
- hinged
- lever
- link
- Prior art date
- 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.)
- Withdrawn
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—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
- E02F3/306—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 telescopic dipper-arm or boom
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Crushing And Grinding (AREA)
Abstract
It is a kind of that dress operational method is grabbed using mobile closed chain link mechanism waste material, it is characterized in that the closed chain link mechanism includes: pedestal, revolving platform, telescoping mechanism, elevating mechanism, wrist and gripper, driving device, it is characterised in that its telescoping mechanism includes: the first driving lever, fourth link, the 5th connecting rod, first connecting rod and pitch lever；One end of first driving lever and fourth link is connect by hinge with revolving platform, and one end of the 5th connecting rod and the other end of the first driving lever are hinged, and one end of first connecting rod and the other end of the 5th connecting rod are hinged, and one end of pitch lever and the other end of first connecting rod are hinged；The other end of fourth link and the middle part of first connecting rod are hinged.Driving device includes two servo motors, connect with the first driving lever and the second driving lever, drives respectively to the first driving lever and the second driving lever respectively.The present invention improve grab installation traveling comfort and reliability, no accumulated error, precision it is higher；Compact-sized, rigidity is high, and large carrying capacity, inertia are low, dynamic property is good.
Description
Technical field
The present invention relates to mechanical engineering field, in particular to a kind of grabbed using mobile closed chain link mechanism waste material pretends industry
Method.
Background technique
Since the personnel of labour market are in short supply, the human cost increasing that labour protection is realized by soaring and enterprise year by year
By force, it promotes industrial waste and grabs 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 industrial waste, which grabs most of mechanical arm of installation, at present, due to hydraulic drive
Medium using hydraulic oil as transmitting power, have the following problems: its startability is poor, is easy because after internal element abrasion
Leakage is generated, and the hydraulic oil leaked pollutes the environment；Hydraulic oil is affected by temperature larger, and gross efficiency is lower, makes an uproar sometimes
Sound and vibration.It sometimes appear that overheat, phenomena such as powerless in work；Hydraulic Elements requirement on machining accuracy is high, and matching requirements are stringent, system
More difficulty is made, maintenance requires technology higher in use, and difficulty is larger.As industrial waste grabs the increase of installation function,
Its hydraulic system becomes increasingly complex, and breaks down with more sudden, concealment.It is to utilize machine that mechanical industrial waste, which grabs installation,
Tool driving member realizes industrial waste crawl loading movement, has many advantages, such as sturdy and durable, but traditional single-degree-of-freedom is mechanical
Industrial waste, which grabs installation, cannot complete complicated movement, and application range is extremely limited, mechanical controllable mechanism electric industry waste material
Installation is grabbed, with link mechanism instead of hydraulic drive, when driving lever is driven by servo motor, automation easy to accomplish, numerical control
Change control, solves some shortcomings existing for hydraulic system.
Summary of the invention
Dress operational method is grabbed using mobile closed chain link mechanism waste material the purpose of the present invention is to provide a kind of, overcomes liquid
Pressure type industrial waste grabs the disadvantages of installation hydraulic system element required precision is high, structure is complicated, easy oil leakage, while solving open chain knot
Structure driving motor is all mounted on the position in joint, and the inertia that causes to roll over is big, dynamic property decline, and accumulated error is big, carrying
The problem of ability is small, structure is complicated.Dress operational method is grabbed using mobile closed chain link mechanism waste material the present invention provides a kind of,
It is characterized in that the closed chain link mechanism includes: pedestal, revolving platform, telescoping mechanism, elevating mechanism, driving device, spy
Sign is that its telescoping mechanism includes: the first driving lever, fourth link, the 5th connecting rod, first connecting rod and pitch lever；First actively
One end of bar and fourth link is connect by hinge with revolving platform, and one end of the 5th connecting rod and the other end of the first driving lever are cut with scissors
It connects, one end of first connecting rod and the other end of the 5th connecting rod are hinged, and one end of pitch lever and the other end of first connecting rod are hinged；The
The other end of double leval jib and the middle part of first connecting rod are hinged, and elevating mechanism includes the second driving lever and third connecting rod, and second is main
One end of lever is connect by hinge with revolving platform, and the other end of the second driving lever of one end of second connecting rod is hinged, and third connects
One end of bar and the other end of second connecting rod are hinged；The top of wrist connecting rod and the other end of pitch lever are hinged, lower part and third
The other end of connecting rod is hinged, is hinged in the middle part of third connecting rod and fourth link.Driving device includes two servo motors, respectively
It connect with the first driving lever and the second driving lever, the first driving lever and the second driving lever is driven respectively.
Before industrial waste grabs loading operation, pedestal 3 is connected with rubber-tyred or crawler type walking mechanism, by wrist
Connecting rod 11 grabs the wrist 10 of installation with industrial waste, gripper 12 connects；Grab pretend industry carry out when, pass through motor driven first
Driving lever 2 and the second driving lever 8 are rotated, and grab link mechanism completion and pretend industry.
The present invention is a kind of to grab dress operational method using mobile closed chain link mechanism waste material, compared with open-chain structure, improves
The stationarity and reliability of arm operation, no accumulated error, precision are higher；Compact-sized, rigidity is high, and large carrying capacity is used to
Measure that low, dynamic property is good, arm motion track flexible and diverse.It overcomes fluid pressure type industrial waste and grabs installation hydraulic system element
The disadvantages of required precision is high, structure is complicated, easy oil leakage.
Detailed description of the invention
Fig. 1 is a kind of operation schematic diagram grabbed using mobile closed chain link mechanism progress industrial waste and pretend industry.
Specific embodiment
Dress operational method is grabbed using mobile closed chain link mechanism waste material the present invention provides a kind of, comprising: pedestal 3 returns
Turn platform 1, telescoping mechanism, elevating mechanism, wrist 10 and gripper 12, driving device, it is characterised in that its telescoping mechanism includes:
One driving lever 2, fourth link 15, the 5th connecting rod 4, first connecting rod 6 and pitch lever 9；First driving lever 2 and fourth link 15
One end is connect by hinge with revolving platform 1, and one end of the 5th connecting rod 4 and the other end of the first driving lever 2 are hinged, first connecting rod
6 one end and the other end of the 5th connecting rod 4 are hinged, and one end of pitch lever 9 and the other end of first connecting rod 6 are hinged；Fourth link
The middle part of 15 other end and first connecting rod 6 is hinged, and elevating mechanism includes the second driving lever 8 and third connecting rod 13, and second is main
One end of lever 8 is connect by hinge with revolving platform 1, and the other end of the second driving lever of one end 8 of second connecting rod 7 is hinged, the
One end of three-link 13 and the other end of second connecting rod 7 are hinged；The top of wrist connecting rod 11 and the other end of pitch lever 9 are hinged,
Lower part and the other end of third connecting rod 13 are hinged, and the middle part of third connecting rod 13 and fourth link 15 is hinged.Driving device includes
Two servo motors are connect with the first driving lever 2 and the second driving lever 8 respectively, respectively to the first driving lever 2 and the second driving lever
8 are driven.
Before industrial waste grabs loading operation, pedestal 3 is connected with rubber-tyred or crawler type walking mechanism, by wrist
Connecting rod 11 grabs the wrist 10 of installation with industrial waste, gripper 12 connects；Grab pretend industry carry out when, pass through motor driven first
Driving lever 2 and the second driving lever 8 are rotated, and grab link mechanism completion and pretend industry.
It grabs when pretending industry, passes through telescoping mechanism, corresponding movement is realized in elevating mechanism cooperation.When the first driving lever 2 to the right
Rotation, the second driving lever 8 turn right, it can be achieved that expanding-contracting action；First 2 bars of active turn left, and the second driving lever 8 is turned right
It moves, it can be achieved that pitching motion；When the first driving lever 2 turns left, the second driving lever 8 turns left, it can be achieved that lifting action.It is logical
Cross the track abundant that the corner control of two servo motors of driving device may be implemented grab installation claw flexible and diverse
Movement.
Claims (1)
1. a kind of grab dress operational method using mobile closed chain link mechanism waste material, it is characterised in that the closed chain link mechanism packet
It includes: pedestal, revolving platform, telescoping mechanism, elevating mechanism, driving device, it is characterised in that its telescoping mechanism includes: the first active
Bar, fourth link, the 5th connecting rod, first connecting rod and pitch lever；One end of first driving lever and fourth link by hinge with
Revolving platform connection, one end of the 5th connecting rod and the other end of the first driving lever are hinged, one end of first connecting rod and the 5th connecting rod
The other end it is hinged, one end of pitch lever and the other end of first connecting rod are hinged；The other end of fourth link and first connecting rod
Middle part is hinged, and elevating mechanism includes the second driving lever and third connecting rod, and one end of the second driving lever is flat by hinge and revolution
Platform connection, the other end of the second driving lever of one end of second connecting rod is hinged, one end of third connecting rod and the other end of second connecting rod
Hingedly；The top of wrist connecting rod and the other end of pitch lever are hinged, and the other end of lower part and third connecting rod is hinged, third connecting rod and
It is hinged in the middle part of fourth link.Driving device includes two servo motors, is connected respectively with the first driving lever and the second driving lever
It connects, the first driving lever and the second driving lever is driven respectively, before industrial waste grabs loading operation, by pedestal 3 and tire
Formula or crawler type walking mechanism connect, and wrist connecting rod 11 are grabbed the wrist 10 of installation with industrial waste, gripper 12 has been connect
Come；Grab pretend industry carry out when, be rotated by motor driven the first driving lever 2 and the second driving lever 8, make link mechanism
Completion, which is grabbed, pretends industry.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710961610.1A CN109667299A (en) | 2017-10-16 | 2017-10-16 | It is a kind of that dress operational method is grabbed using mobile closed chain link mechanism waste material |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710961610.1A CN109667299A (en) | 2017-10-16 | 2017-10-16 | It is a kind of that dress operational method is grabbed using mobile closed chain link mechanism waste material |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109667299A true CN109667299A (en) | 2019-04-23 |
Family
ID=66140218
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710961610.1A Withdrawn CN109667299A (en) | 2017-10-16 | 2017-10-16 | It is a kind of that dress operational method is grabbed using mobile closed chain link mechanism waste material |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109667299A (en) |
-
2017
- 2017-10-16 CN CN201710961610.1A patent/CN109667299A/en not_active Withdrawn
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190423 |
|
| WW01 | Invention patent application withdrawn after publication |