CN203008005U - Self-adjusting type controlled mechanism type miniature multi-freedom-degree loading mechanism - Google Patents
Self-adjusting type controlled mechanism type miniature multi-freedom-degree loading mechanism Download PDFInfo
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- CN203008005U CN203008005U CN 201220738425 CN201220738425U CN203008005U CN 203008005 U CN203008005 U CN 203008005U CN 201220738425 CN201220738425 CN 201220738425 CN 201220738425 U CN201220738425 U CN 201220738425U CN 203008005 U CN203008005 U CN 203008005U
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- revolute pair
- connecting rod
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- movable arm
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Abstract
The utility model provides a self-adjusting type controlled mechanism type miniature multi-freedom-degree loading mechanism which comprises a machine frame, a movable arm, a bucket overturning branched chain, a movable arm lifting branched chain and a bucket, wherein one end of the movable arm is arranged on the machine frame by an eighth revolute pair and a ninth revolute pair, and the other end of the movable arm is connected with the bucket by a fourteenth revolute pair and a thirteenth revolute pair. The bucket overturning branched chain is composed of a first driving rod and a third connecting rod. One end of the first driving rod is connected with the machine frame by a tenth revolute pair, and the other end of the first driving rod is connected with one end of the third connecting rod by an eleventh revolute pair. The other end of the third connecting rod is connected with the bucket by a twelfth volute pair, one end of a second driving rod in the movable arm lifting branched chain is connected with the machine frame and one end of the first connecting rod, the other end of the first connecting rod is connected with a cross beam, one end of the third driving rod is connected with the machine frame, the other end of the third driving rod is connected with one end of the second connecting rod, the other end of the second connecting rod is connected with the cross beam, and the cross beam is connected on the movable arm. Compares with other controlled loading mechanisms, due to design of the cross beam, the self-adjusting type controlled mechanism type miniature multi-freedom-degree loading mechanism avoids locking and rigid damage produced by desynchrony when two servo motors simultaneously drive the movable arm.
Description
Technical field
The utility model relates to engineering machinery field, particularly the miniature multiple degrees of freedom loader mechanism of a kind of self-adjustable controllable-mechanism type.
Background technology
Loader is a kind of restoration in earth-rock construction machinery that is widely used in the construction projects such as highway, railway, building, water power, and it is mainly used in the loose unpacked materials such as shovel dress soil, sandstone, also can dig operation to the slight shovel of the works such as ore, pan soil.Hydraulic loader is a most widely used class loader, but the hydraulic system maintenance maintenance is complicated, and cost is high, and hydraulic system is subject to such environmental effects, especially under low temperature or hot environment, the situations such as unable or vibration easily occur.the controllable-mechanism type elevating conveyor, replaced hydraulic drive with linkage, when driving lever during by driven by servomotor, easily realize automation, numerical control control, although solved the some shortcomings that hydraulic system exists, but owing to adopting motor-driven, often exist moment of torsion too small, can't satisfy the problems such as work requirements, in order to improve moment of torsion, general solution is to adopt several motors to drive simultaneously same driving lever, but when servomotor drives simultaneously, owing to there being various errors, often be difficult to synchronous, when several motors drive a driving lever simultaneously, stuck and hard breakdown easily appears, affected the overall performance of whole loader mechanism.
Micro loading machine is widely used in agricultural production, small-sized work progress because of its maneuverability, and micro loading machine is because supporting capacity is little, and the link transmission required torque is less, and is therefore, higher by the controlled micro loading machine practicality of driven by servomotor.
Summary of the invention
The purpose of this utility model is that the problem that prior art exists provides a kind of self-adjustable controllable-mechanism type miniature multiple degrees of freedom loader mechanism, guaranteeing to satisfy under traditional micro loading machine job requirements and linkage prerequisite simple in structure, make this loader mechanism have a connecting rod number few, cost is low, supporting capacity is large, volume is little, high reliability, the stuck and hard breakdown phenomenon that occurs in the time of will avoiding two same driving levers of motor-driven simultaneously.
The utility model achieves the above object by the following technical programs:
The miniature multiple degrees of freedom loader mechanism of a kind of self-adjustable controllable-mechanism type comprises frame, swing arm, scraper bowl upset side chain, swing arm lifting side chain, scraper bowl.
Described swing arm one end is arranged on frame by the 8th revolute pair, the 9th revolute pair, and the other end is connected with scraper bowl by the 14 revolute pair, the 13 revolute pair.
Described scraper bowl upset side chain is comprised of the first driving lever, third connecting rod, described the first driving lever one end is connected with frame by the tenth revolute pair, the other end is connected with third connecting rod one end by the 11 revolute pair, and the third connecting rod other end is connected with scraper bowl by the 12 revolute pair.The first driving lever is by rack-mounted driven by servomotor.
Described swing arm lifting side chain is comprised of the second driving lever, the 3rd driving lever, first connecting rod, second connecting rod, crossbeam, the second driving lever one end is connected on frame by the first revolute pair, the other end is connected with first connecting rod one end by the second revolute pair, the first connecting rod other end is connected with crossbeam by the 3rd revolute pair, the 3rd driving lever one end is connected with frame by the 5th revolute pair, the other end is connected with second connecting rod one end by the 6th revolute pair, the second connecting rod other end is connected with crossbeam by the 7th revolute pair, and crossbeam is connected on swing arm by the 4th revolute pair.The second driving lever, the 3rd driving lever are by rack-mounted driven by servomotor.
Miniature multiple degrees of freedom loader mechanism the second driving lever of described a kind of self-adjustable controllable-mechanism type, the 3rd driving lever velocity of rotation can require independent adjustment the within the specific limits according to specific works, and scraper bowl upset side chain, swing arm lifting side chain cooperatively interact and complete loading operation.
The utility model outstanding advantages is:
1, satisfy under the prerequisite of the simple job requirements of traditional micro loading machine in assurance, adopt brand-new Designing Linkages, reduced the connecting rod usage quantity, reduced cost, simultaneously due to simple in structure, improved reliability.
2, owing to having added beam design, allow to a certain extent the existence of servomotor kinematic error, and be unlikely to cause the hard breakdown of motor and connecting rod, thereby improved reliability, improved the mechanical property of loader mechanism, when improving moment of torsion.
3, the miniature multiple degrees of freedom loader mechanism of this self-adjustable controllable-mechanism type adopts link transmission to substitute traditional hydraulic drive, not only reduced manufacturing cost, be easy to simultaneously maintaining, avoided the adverse effect of the environmental factors such as temperature to hydraulic work system, because each driving lever is driven by servomotor, easily be automated, numerical control.
4, due to micro loading machine because supporting capacity is little, link transmission required torque less, because swing arm is driven by two swing arms, this kind loader mechanism practicality is higher, can be widely used in agricultural production, small-sized work progress, the while by driven by servomotor, has flexibility preferably due to each driving lever, reaction speed is fast, has broad prospect of application.
Description of drawings
Fig. 1 is the miniature multiple degrees of freedom loader mechanism of a kind of self-adjustable controllable-mechanism type described in the utility model schematic diagram.
Fig. 2 is the miniature multiple degrees of freedom loader mechanism of a kind of self-adjustable controllable-mechanism type described in the utility model swing arm front view.
Fig. 3 is the miniature multiple degrees of freedom loader mechanism of a kind of self-adjustable controllable-mechanism type described in the utility model scraper bowl schematic diagram.
Fig. 4 is the miniature multiple degrees of freedom loader mechanism of a kind of self-adjustable controllable-mechanism type described in the utility model scraper bowl upset side chain schematic diagram.
Fig. 5 is the miniature multiple degrees of freedom loader mechanism of a kind of self-adjustable controllable-mechanism type described in the utility model lateral view.
Fig. 6 is the miniature multiple degrees of freedom loader mechanism of a kind of self-adjustable controllable-mechanism type described in the utility model crossbeam schematic diagram.
Fig. 7 is the miniature multiple degrees of freedom loader mechanism of a kind of self-adjustable controllable-mechanism type described in the utility model swing arm lifting side chain schematic diagram.
Fig. 8 is the miniature multiple degrees of freedom loader mechanism of a kind of self-adjustable controllable-mechanism type described in the utility model floor map.
The specific embodiment
Below by accompanying drawing, the technical solution of the utility model is described further.
Contrast Fig. 1, the miniature multiple degrees of freedom loader mechanism of a kind of self-adjustable controllable-mechanism type comprise frame 1, swing arm 14, scraper bowl upset side chain, swing arm lifting side chain, scraper bowl 21.
Contrast Fig. 1, Fig. 2, Fig. 3, described swing arm 14 1 ends are arranged on frame 1 by the 8th revolute pair 13, the 9th revolute pair 20, and the other end is connected with scraper bowl 21 by the 14 revolute pair 23, the 13 revolute pair 22.
Contrast Fig. 1, Fig. 4, described scraper bowl upset side chain is comprised of the first driving lever 15, third connecting rod 17, described the first driving lever 15 1 ends are connected with frame 1 by the tenth revolute pair 24, the other end is connected with third connecting rod 17 1 ends by the 11 revolute pair 16, and third connecting rod 17 other ends are connected with scraper bowl 21 by the 12 revolute pair 18.The first driving lever 15 is by the driven by servomotor that is arranged on frame 1.
contrast Fig. 1, Fig. 5, Fig. 6, Fig. 7, described swing arm lifting side chain is by the second driving lever 3, the 3rd driving lever 9, first connecting rod 5, second connecting rod 11, crossbeam 7 forms, the second driving lever 3 one ends are connected on frame 1 by the first revolute pair 2, the other end is connected with first connecting rod 5 one ends by the second revolute pair 4, first connecting rod 5 other ends are connected with crossbeam 7 by the 3rd revolute pair 6, the 3rd driving lever 9 one ends are connected with frame 1 by the 5th revolute pair 8, the other end is connected with second connecting rod 11 1 ends by the 6th revolute pair 10, second connecting rod 11 other ends are connected with crossbeam 7 by the 7th revolute pair 12, crossbeam 7 is connected on swing arm 14 by the 4th revolute pair 19.The second driving lever 3, the 3rd driving lever 9 are by the driven by servomotor that is arranged on frame 1.
Contrast Fig. 1, Fig. 7, Fig. 8, miniature multiple degrees of freedom loader mechanism the second driving lever 3 of described a kind of self-adjustable controllable-mechanism type, the 3rd driving lever 9 velocities of rotation can require independent adjustment the within the specific limits according to specific works, and scraper bowl upset side chain, swing arm lifting side chain cooperatively interact and complete loading operation.
Claims (2)
1. the miniature multiple degrees of freedom loader mechanism of self-adjustable controllable-mechanism type, comprise frame, swing arm, scraper bowl upset side chain, swing arm lifting side chain, scraper bowl, it is characterized in that:
Described swing arm one end is arranged on frame by the 8th revolute pair, the 9th revolute pair, and the other end is connected with scraper bowl by the 14 revolute pair, the 13 revolute pair,
Described scraper bowl upset side chain is comprised of the first driving lever, third connecting rod, described the first driving lever one end is connected with frame by the tenth revolute pair, the other end is connected with third connecting rod one end by the 11 revolute pair, and the third connecting rod other end is connected with scraper bowl by the 12 revolute pair
Described swing arm lifting side chain is comprised of the second driving lever, the 3rd driving lever, first connecting rod, second connecting rod, crossbeam, the second driving lever one end is connected on frame by the first revolute pair, the other end is connected with first connecting rod one end by the second revolute pair, the first connecting rod other end is connected with crossbeam by the 3rd revolute pair, the 3rd driving lever one end is connected with frame by the 5th revolute pair, the other end is connected with second connecting rod one end by the 6th revolute pair, the second connecting rod other end is connected with crossbeam by the 7th revolute pair, and crossbeam is connected on swing arm by the 4th revolute pair.
2. the miniature multiple degrees of freedom loader mechanism of a kind of self-adjustable controllable-mechanism type according to claim 1, it is characterized in that: the first driving lever, the second driving lever, the 3rd driving lever are by rack-mounted driven by servomotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220738425 CN203008005U (en) | 2012-12-28 | 2012-12-28 | Self-adjusting type controlled mechanism type miniature multi-freedom-degree loading mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220738425 CN203008005U (en) | 2012-12-28 | 2012-12-28 | Self-adjusting type controlled mechanism type miniature multi-freedom-degree loading mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN203008005U true CN203008005U (en) | 2013-06-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220738425 Withdrawn - After Issue CN203008005U (en) | 2012-12-28 | 2012-12-28 | Self-adjusting type controlled mechanism type miniature multi-freedom-degree loading mechanism |
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| CN (1) | CN203008005U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103015471A (en) * | 2012-12-28 | 2013-04-03 | 广西大学 | Self-adjusting controllable mechanism-type micro MDOF (multiple degrees of freedom) loading mechanism |
| CN115142488A (en) * | 2021-03-31 | 2022-10-04 | 纳博特斯克有限公司 | Construction machine, drive system, and drive device |
-
2012
- 2012-12-28 CN CN 201220738425 patent/CN203008005U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103015471A (en) * | 2012-12-28 | 2013-04-03 | 广西大学 | Self-adjusting controllable mechanism-type micro MDOF (multiple degrees of freedom) loading mechanism |
| CN103015471B (en) * | 2012-12-28 | 2015-06-10 | 广西大学 | Self-adjusting controllable mechanism-type micro MDOF (multiple degrees of freedom) loading mechanism |
| CN115142488A (en) * | 2021-03-31 | 2022-10-04 | 纳博特斯克有限公司 | Construction machine, drive system, and drive device |
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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: 20130619 Effective date of abandoning: 20150610 |
|
| RGAV | Abandon patent right to avoid regrant |