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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Abstract
A four-degree-of-freedom link operating mechanism with compound hinges is characterized in that a bottom seat is connected with a track moving device through a slewing device, three pairs of parallel and symmetric bases are arranged on the bottom seat, the middle base pair is hinged with one end of a large arm, the other end of the large arm is hinged with the middle of a small arm, one end of the small arm is hinged with a tail actuator, the other end of the small arm is hinged with piston rods of small arm oil cylinders, cylinder jackets of the small arm oil cylinders are hinged with the bases at one end of the bottom seat, the bases at the other end of the bottom seat are hinged with one end of pull rods, the pull rods and piston rods of large arm oil cylinders are respectively hinged with the middles of corresponding rockers to form two symmetrically distributed compound hinges, cylinder jackets of the large arm oil cylinders are hinged with the large arm, one end of each rocker is hinged with the middle of the large arm while the other ends of the rockers are hinged with cylinder jackets of tail actuator oil cylinders, and piston rods of the tail actuator oil cylinders are hinged with the tail actuator. The four-degree-of-freedom link operating mechanism with the compound hinges has the advantages of high rigidity, large operating space, high bearing capability and convenience for 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)
1. four-degree-of-freedom connecting rod operating mechanism of containing multiple hinge; It is characterized in that: base (1) is connected with caterpillar drive device (10) through slewing equipment; Base (1) 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 (9); The other end of this big arm (9) is connected with forearm (3) middle part through hinge; One end of this forearm (3) is connected with a position of end effector (4) through hinge, and the other end of above-mentioned forearm (3) is connected with the piston rod end of a pair of forearm oil cylinder (2) through hinge, and the cylinder sleeve end of this forearm oil cylinder (2) is connected with the pair of base of base (1) one end through hinge; The pair of base of base (1) other end is connected with an end of a pair of pull bar (7) through hinge; The piston rod end of this a pair of pull bar (7) and a pair of big arm oil cylinder (8) and the middle part of a pair of rocking bar (6) 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 (8) is connected through the position of hinge with big arm (9); One end of above-mentioned a pair of rocking bar (6) is connected through the hinge in the both sides, middle part of big arm (9); Above-mentioned rocking bar (6) other end is connected with the cylinder sleeve end of a pair of end effector oil cylinder (5) through hinge, and the piston rod end of this end effector oil cylinder (5) is connected with another position of end effector (4) through hinge.
2. a kind of four-degree-of-freedom connecting rod operating mechanism of containing multiple hinge according to claim 1; It is characterized in that: the cylinder sleeve end of the both sides, middle part of above-mentioned big arm (9) and a pair of end effector oil cylinder (5) and an end of a pair of rocking bar (6) are connected through the hinge respectively and form the multiple hinge of two symmetrical distributions, and the other end of above-mentioned rocking bar (6) is connected with an end of pull bar (7) through hinge.
3. the four-degree-of-freedom connecting rod operating mechanism of containing multiple hinge according to claim 1 and 2 is characterized in that: above-mentioned a pair of forearm oil cylinder (2) can be replaced by a bigger forearm oil cylinder of specification.
4. the four-degree-of-freedom connecting rod operating mechanism of containing multiple hinge according to claim 1 and 2 is characterized in that: the interchangeable position of the piston rod of above-mentioned each oil cylinder and cylinder sleeve.
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 Withdrawn - After Issue 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 Withdrawn - After Issue
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 |