CN202430761U - Four-degree-of-freedom link operating mechanism with compound hinges - Google Patents
Four-degree-of-freedom link operating mechanism with compound hinges Download PDFInfo
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- CN202430761U CN202430761U CN2011205546095U CN201120554609U CN202430761U CN 202430761 U CN202430761 U CN 202430761U CN 2011205546095 U CN2011205546095 U CN 2011205546095U CN 201120554609 U CN201120554609 U CN 201120554609U CN 202430761 U CN202430761 U CN 202430761U
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- forearm
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- 230000007246 mechanism Effects 0.000 title claims abstract description 21
- 150000001875 compounds Chemical class 0.000 title claims abstract description 10
- 239000012636 effector Substances 0.000 claims abstract description 25
- 210000000245 forearm Anatomy 0.000 claims abstract description 22
- 238000010586 diagram Methods 0.000 description 9
- 238000009412 basement excavation Methods 0.000 description 4
- 238000009826 distribution Methods 0.000 description 4
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
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Abstract
一种含有复铰的四自由度连杆工作机构，底座通过回转装置与履带运动装置连接，底座上有三对平行对称的基座，其中间的一对基座与大臂一端铰接，该大臂另一端与小臂中部铰接，该小臂一端与末端执行器铰接；上述小臂另一端与小臂油缸的活塞杆铰接，该小臂油缸的缸套与底座一端的基座铰接；底座另一端的基座与拉杆的一端铰接，该拉杆和大臂油缸的活塞杆以及摇杆的中部分别通过铰链连接而形成两个对称分布的复铰；上述大臂油缸的缸套与大臂铰接，上述摇杆一端与大臂的中部铰接；上述摇杆另一端与末端执行器油缸的缸套铰接，该末端执行器油缸的活塞杆与末端执行器铰接。本实用新型具有刚度较高，工作空间大，承载能力强，方便实时控制的特点。
A four-degree-of-freedom connecting rod working mechanism with compound hinges. The base is connected to the crawler movement device through a slewing device. There are three pairs of parallel and symmetrical bases on the base. The middle pair of bases is hinged to one end of the boom. The boom The other end is hinged with the middle part of the forearm, and one end of the forearm is hinged with the end effector; the other end of the above-mentioned forearm is hinged with the piston rod of the forearm cylinder, and the cylinder liner of the forearm cylinder is hinged with the base at one end of the base; the other end of the base is The base of the base is hinged with one end of the pull rod, and the pull rod and the piston rod of the boom cylinder and the middle part of the rocker are respectively connected by hinges to form two symmetrically distributed compound hinges; the cylinder liner of the boom cylinder is hinged with the boom, and the above One end of the rocker is hinged to the middle of the boom; the other end of the rocker is hinged to the cylinder sleeve of the end effector cylinder, and the piston rod of the end effector cylinder is hinged to the end effector. The utility model has the characteristics of high rigidity, large working space, strong bearing capacity and convenient real-time control.
Description
Technical field
The utility model relates to a kind of a kind of mechanism innovation of mechanical arm, designs a kind of innovation of connecting rod operating mechanism of the four-degree-of-freedom that contains multiple hinge especially.
Background technology
Mechanism is the core of machine equipment, and the innovation of mechanism is the key of machine equipment innovation always, and it is extremely important to the scientific and technological level core competitiveness that improves China's mechanized equipment that exploitation has the mechanism of independent intellectual property right accordingly.Realize function operation devices such as excavation, loading, carrying, it is comparatively general to use linkage.Chinese patent CN2559619Y relates to a kind of loader is just changeing eight connecting rod operating mechanisms; Chinese patent CN201687021U relates to a kind of loader is just changeing six-bar mechanism, and in addition, common excavator operating mechanism also is that connecting rod is formed.Yet existing connecting rod equipment mostly has pluses and minuses separately, and the working space that has is big, but supporting capacity is low; Otherwise supporting capacity is high, and working space is again little, thereby has influenced the operating efficiency of mechanized equipment.
Summary of the invention
The purpose of the utility model provides that a kind of rigidity is higher, and working space is big, the four-degree-of-freedom connecting rod operating mechanism of containing multiple hinge that supporting capacity is strong.Base is connected with the caterpillar drive device through slewing equipment; Base is provided with the pedestal of three pairs of parallel symmetries; Pair of base wherein is connected through the end of hinge with big arm; The other end of this big arm is connected with the forearm middle part through hinge, and an end of this forearm is connected with a position of end effector through hinge; The other end of above-mentioned forearm is connected with the piston rod end of a pair of forearm oil cylinder through hinge, and the cylinder sleeve end of this forearm oil cylinder is connected with the pair of base of base one end through hinge, and above-mentioned a pair of forearm oil cylinder can be replaced by a bigger forearm oil cylinder of specification; The pair of base of the base other end is connected with an end of a pair of pull bar through hinge, and the piston rod end of the other end of this a pair of pull bar and a pair of big arm oil cylinder and the middle part of a pair of rocking bar are connected through the hinge respectively and form the multiple hinge of two symmetrical distributions; The cylinder sleeve end of above-mentioned big arm oil cylinder is connected through the hinge with a position of big arm, and an end of above-mentioned a pair of rocking bar is connected through the hinge in the both sides, middle part of big arm; The above-mentioned rocking bar other end is connected with the cylinder sleeve end of a pair of end effector oil cylinder through hinge, and the piston rod end of this end effector oil cylinder is connected with another position of end effector through hinge.Also can be; The cylinder sleeve end of above-mentioned a pair of end effector oil cylinder and an end of a pair of rocking bar are connected through the hinge respectively and form the multiple hinge of two symmetrical distributions in the both sides, middle part of big arm; The other end of above-mentioned rocking bar is connected with an end of pull bar through hinge, and the annexation of other rod member is constant.The interchangeable position of the piston rod of above-mentioned each oil cylinder and cylinder sleeve.
The utility model is that the plane mechanism by two symmetrical, parallel constitutes from the base to the end effector, each plane mechanism, and end effector all is 4 to the degree of freedom of telecontrol equipment.Guaranteeing that the shape and size of each rod member can change under the constant situation of rod member number and annexation.
The utility model compared with prior art has following advantage:
(1) working space is big, and supporting capacity is high, helps improving loading armament-related work efficient.
(2) can realize multiple function, be applied to different occasions, like the weight carrying, heavy duty excavation etc.
(3) appropriate design compound hinges, simplified the analysis and the size design of mechanism.
Description of drawings
Fig. 1 is the three-dimensional simplified schematic diagram of the utility model embodiment 1.
Fig. 2 is the multiple hinge position simplified schematic diagram of Fig. 1.
Fig. 3 is the three-dimensional simplified schematic diagram of the excavation user mode of the utility model embodiment 1.
Fig. 4 is the three-dimensional simplified schematic diagram of the extracting user mode of the utility model embodiment 1.
Fig. 5 is the three-dimensional simplified schematic diagram of the utility model embodiment 2.
In the accompanying drawing, 1-base, 2-forearm oil cylinder, 3-forearm, 4-end effector, 5-end effector oil cylinder, 6-rocking bar, 7-pull bar, the big arm oil cylinder of 8-, the big arm of 9-.
The specific embodiment
Embodiment 1
In the three-dimensional simplified schematic diagram of a kind of four-degree-of-freedom connecting rod embodiment of operating mechanism 1 that contains multiple hinge shown in Figure 1; Base 1 is connected with caterpillar drive device 10 through slewing equipment; Base is provided with the pedestal of three pairs of parallel symmetries; Pair of base wherein is connected with big arm 9 bottoms through hinge R7, and the top of this big arm is connected with forearm 3 middle parts through hinge R10, and an end of this forearm is connected with a position of end effector 4 through hinge R3; The other end of above-mentioned forearm is connected with the piston rod end of a pair of forearm oil cylinder 2 through hinge R2, and the cylinder sleeve end of this forearm oil cylinder is connected with the pair of base of base one end through hinge R1; The pair of base of the base other end is connected with an end of a pair of pull bar 7 through hinge R5; The piston rod end of this a pair of pull bar and a pair of big arm oil cylinder 8 and the middle part of a pair of rocking bar 6 are connected the multiple hinge that forms two symmetrical distributions through hinge R9 respectively, and be as shown in Figure 2; The cylinder sleeve end of this big arm oil cylinder is connected with big arm middle part through hinge R6; One end of above-mentioned rocking bar is connected the both sides at big arm middle part through hinge R8; The other end of this rocking bar is connected with the end of the cylinder sleeve of a pair of end effector oil cylinder 5 through hinge R11, and the end of the piston rod of this end effector oil cylinder is connected with end effector through hinge R4.
In the three-dimensional simplified schematic diagram of the excavation user mode of the utility model embodiment 1 shown in Figure 3, end effector is the scraper bowl structure, and other rod member annexation is identical with Fig. 1.
In the three-dimensional simplified schematic diagram of the extracting user mode of the utility model embodiment 1 shown in Figure 4, end effector is the handgrip structure that is installed, and other rod member annexation is identical with Fig. 1.
Embodiment 2
In the three-dimensional simplified schematic diagram of a kind of four-degree-of-freedom connecting rod embodiment of operating mechanism 2 that contains multiple hinge shown in Figure 5; The cylinder sleeve end of a pair of end effector oil cylinder 5 and an end of a pair of rocking bar 6 are connected the both sides at big arm 9 middle parts respectively through hinge R9; Form the multiple hinge of two symmetrical distributions; The other end of above-mentioned rocking bar is connected the same Fig. 1 of the annexation of other members through hinge R11 with the end of pull bar.
Claims (4)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205546095U CN202430761U (en) | 2011-12-27 | 2011-12-27 | Four-degree-of-freedom link operating mechanism with compound hinges |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205546095U CN202430761U (en) | 2011-12-27 | 2011-12-27 | Four-degree-of-freedom link operating mechanism with compound hinges |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202430761U true CN202430761U (en) | 2012-09-12 |
Family
ID=46780222
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011205546095U Expired - Lifetime CN202430761U (en) | 2011-12-27 | 2011-12-27 | Four-degree-of-freedom link operating mechanism with compound hinges |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202430761U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102561425A (en) * | 2011-12-27 | 2012-07-11 | 燕山大学 | Four-degree-of-freedom connecting rod working mechanism containing composite hinges |
| CN104088309A (en) * | 2014-07-13 | 2014-10-08 | 李志勇 | Construction equipment on construction site |
-
2011
- 2011-12-27 CN CN2011205546095U patent/CN202430761U/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102561425A (en) * | 2011-12-27 | 2012-07-11 | 燕山大学 | Four-degree-of-freedom connecting rod working mechanism containing composite hinges |
| CN104088309A (en) * | 2014-07-13 | 2014-10-08 | 李志勇 | Construction equipment on construction site |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20120912 Effective date of abandoning: 20140416 |
|
| RGAV | Abandon patent right to avoid regrant |