CN203008006U - Mini-type multi-freedom-degree controllably-mechanism-type crowd shovel excavating and loading mechanism - Google Patents
Mini-type multi-freedom-degree controllably-mechanism-type crowd shovel excavating and loading mechanism Download PDFInfo
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- CN203008006U CN203008006U CN 201220738410 CN201220738410U CN203008006U CN 203008006 U CN203008006 U CN 203008006U CN 201220738410 CN201220738410 CN 201220738410 CN 201220738410 U CN201220738410 U CN 201220738410U CN 203008006 U CN203008006 U CN 203008006U
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Abstract
Disclosed is a mini-type multi-freedom-degree controllably-mechanism-type crowd shovel excavating and loading mechanism which comprises a frame, a first branched chain, a second branched chain, a third branched chain and a bucket. The first branched chain is composed of a first driving rod and a first connecting rod; one end of the first driving rod is connected with the frame through a first revolute pair, and the other end of the first driving rod is connected with one end of the first connecting rod through a second revolute pair; the other end of the first connecting rod is connected with the bucket through a third revolute pair; the second branched chain is composed of a second driving rod and a second connecting rod; one end of the second driving rod is connected with the frame through a fourth revolute pair, and the other end of the second driving rod is connected with one end of the second connecting rod through a fifth revolute pair; the other end of the second connecting rod is connected with the bucket through a sixth revolute pair; the third branched chain is composed of a third driving rod and a third connecting rod; one end of the third driving rod is connected with the frame through a seventh revolute pair, and the other end of the third driving rod is connected with the third connecting rod through an eighth revolute pair; and the other end of the third connecting rod is connected with the bucket through a ninth revolute pair. The mini-type multi-freedom-degree structure-type crowd shovel excavating and loading mechanism is simple in structure, low in manufacturing cost, simple to maintain, and very suitable for manufacturing a mini-type excavating and loading all-in-one machine.
Description
Technical field
The utility model relates to engineering machinery field, particularly a kind of miniature multiple degrees of freedom controllable-mechanism type crowd shovel loader-digger structure.
Background technology
The single device that loader-digger is comprised of three building implementss.A loader-digger has comprised: power assembly, load terminal, digging end.Every equipment all designs for the work of particular type.On typical building site, the excavator operator need to use all these three ingredients just can finish the work usually.Because loading operation is different to the requirement of equipment degree of freedom with digging operation, when carrying out loading operation, need to control to load to bring in and complete, when needs carry out mining task, need to excavate to bring in to complete, loader-digger is because of system complex, reliability is lower, and the maintaining cost is higher.
along with the development of motor technology and the raising of control technology, the multiple degrees of freedom controllable mechanism provides wide development space for engineering machinery, the linkage low cost of manufacture, reliability and durability, control system is simple, can complete comparatively complicated action, small-sized miniature engineering machinery, because of supporting capacity little, linkage is stressed little, the controllable mechanism practicality is stronger, owing to having replaced hydraulic drive with linkage, when driving lever during by driven by servomotor, easily realize automation, numerical control control, but the miniature loader-digger structure of multiple degrees of freedom controllable-mechanism type class of establishment is also few at present, certain structures is complicated, be difficult to be applied in engineering reality.
Summary of the invention
The purpose of this utility model is that the problem that prior art exists provides a kind of miniature multiple degrees of freedom controllable-mechanism type crowd shovel loader-digger structure, satisfy under traditional loader job requirements prerequisite in assurance, make this loader-digger structure have structure as far as possible simple, cheap, practical, maintaining is simple, high reliability, simultaneously certain loading operation can be satisfied, also simple digging operation can be completed.
The utility model achieves the above object by technical scheme once:
A kind of miniature multiple degrees of freedom controllable-mechanism type crowd shovel loader-digger structure comprises frame, the first side chain, the second side chain, the 3rd side chain, scraper bowl.
Described the first side chain is comprised of the first driving lever, first connecting rod, described the first driving lever one end is connected with frame by the first revolute pair, the other end is connected with first connecting rod one end by the second revolute pair, and the first connecting rod other end is connected with scraper bowl by the 3rd revolute pair.
Described the second side chain is comprised of the second driving lever, second connecting rod, described the second driving lever one end is connected with frame by the 4th revolute pair, the other end is connected with second connecting rod one end by the 5th revolute pair, and the second connecting rod other end is connected with scraper bowl by the 6th revolute pair.
Described the 3rd side chain is comprised of the 3rd driving lever, third connecting rod, described the 3rd driving lever one end is connected with frame by the 7th revolute pair, the other end is connected with third connecting rod one end by the 8th revolute pair, and the third connecting rod other end is connected with scraper bowl by the 9th revolute pair.
Described the first driving lever, the second driving lever, the 3rd driving lever are by rack-mounted driven by servomotor, by the servomotor on the first side chain, the second side chain, the 3rd side chain is controlled, coordinate the excavation loading operation of completing the loader-digger structure.
The utility model outstanding advantages is:
1, this loader-digger structure can satisfy loading operation, can satisfy again certain excavation, shovel and dig operation, and shovel digs, loading operation completes under an equipment, and is simple in structure, reliability is high, satisfy equipment shovel dig, under prerequisite that the loading operation degree of freedom requires, connecting rod quantity is used few, not only save cost, and significantly reduced the weight of loader mechanism shaft portion, improved the reliability of shaft portion.
2, the miniature crowd shovel loader-digger of this multiple degrees of freedom controllable-mechanism type structure has replaced the conventional hydraulic transmission by the linkage that servomotor drives, avoided hydraulic system structure complicated, maintaining high in cost of production shortcoming, because each driving lever is driven by servomotor, control system is simple, not only is easy to programming Control, and is easy to realize equipment automation, numerical control.
3, because miniature engineering machinery supporting capacity is little, in the multiple degrees of freedom controllable mechanism, each rod member is stressed less, so the miniature crowd shovel loader-digger of this multiple degrees of freedom controllable-mechanism type structure practicality is stronger, more can need by satisfying the market.
Description of drawings
Fig. 1 is a kind of miniature multiple degrees of freedom controllable-mechanism type crowd shovel loader-digger structure schematic diagram described in the utility model.
Fig. 2 is a kind of miniature multiple degrees of freedom controllable-mechanism type crowd shovel loader-digger structure described in the utility model the first side chain schematic diagram.
Fig. 3 is a kind of miniature multiple degrees of freedom controllable-mechanism type crowd shovel loader-digger structure scraper bowl schematic diagram described in the utility model.
Fig. 4 is a kind of miniature multiple degrees of freedom controllable-mechanism type crowd shovel loader-digger structure described in the utility model the second side chain schematic diagram.
Fig. 5 is a kind of miniature multiple degrees of freedom controllable-mechanism type crowd shovel loader-digger structure described in the utility model the 3rd side chain schematic diagram.
Fig. 6 is a kind of miniature multiple degrees of freedom controllable-mechanism type crowd shovel loader-digger structure operation schematic diagram described in the utility model.
Fig. 7 is a kind of miniature multiple degrees of freedom controllable-mechanism type crowd shovel loader-digger schematic diagram described in the utility model
The specific embodiment
Below by accompanying drawing, the technical solution of the utility model is described further.
Contrast Fig. 1, a kind of miniature multiple degrees of freedom controllable-mechanism type crowd shovel loader-digger structure comprises frame 1, the first side chain, the second side chain, the 3rd side chain, scraper bowl 8.
Contrast Fig. 1, Fig. 2, Fig. 3, described the first side chain is comprised of the first driving lever 3, first connecting rod 5, described the first driving lever 3 one ends are connected with 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, and first connecting rod 5 other ends are connected with scraper bowl 8 by the 3rd revolute pair 7.
Contrast Fig. 1, Fig. 3, Fig. 4, described the second side chain is comprised of the second driving lever 6, second connecting rod 12, described the second driving lever 6 one ends are connected with frame 1 by the 4th revolute pair 17, the other end is connected with second connecting rod 12 1 ends by the 5th revolute pair 13, and second connecting rod 12 other ends are connected with scraper bowl 8 by the 6th revolute pair 10.
Contrast Fig. 1, Fig. 3, Fig. 5, described the 3rd side chain is comprised of the 3rd driving lever 15, third connecting rod 11, described the 3rd driving lever 15 1 ends are connected with frame 1 by the 7th revolute pair 16, the other end is connected with third connecting rod 11 1 ends by the 8th revolute pair 14, and third connecting rod 11 other ends are connected with scraper bowl 8 by the 9th revolute pair 9.
Contrast Fig. 1, Fig. 6, Fig. 7, described the first driving lever 3, the second driving lever 6, the 3rd driving lever 15 are by the driven by servomotor that is arranged on frame 1, by the servomotor on the first side chain, the second side chain, the 3rd side chain is controlled, coordinate the excavation loading operation of completing the loader-digger structure.
Claims (2)
1. a miniature multiple degrees of freedom controllable-mechanism type crowd shovel loader-digger structure, comprise frame, the first side chain, the second side chain, the 3rd side chain, scraper bowl, it is characterized in that:
Described the first side chain is comprised of the first driving lever, first connecting rod, described the first driving lever one end is connected with frame by the first revolute pair, the other end is connected with first connecting rod one end by the second revolute pair, and the first connecting rod other end is connected with scraper bowl by the 3rd revolute pair
Described the second side chain is comprised of the second driving lever, second connecting rod, described the second driving lever one end is connected with frame by the 4th revolute pair, the other end is connected with second connecting rod one end by the 5th revolute pair, and the second connecting rod other end is connected with scraper bowl by the 6th revolute pair
Described the 3rd side chain is comprised of the 3rd driving lever, third connecting rod, described the 3rd driving lever one end is connected with frame by the 7th revolute pair, the other end is connected with third connecting rod one end by the 8th revolute pair, and the third connecting rod other end is connected with scraper bowl by the 9th revolute pair.
2. a kind of miniature multiple degrees of freedom controllable-mechanism type crowd shovel loader-digger structure according to claim 1, it is characterized in that: described 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 201220738410 CN203008006U (en) | 2012-12-28 | 2012-12-28 | Mini-type multi-freedom-degree controllably-mechanism-type crowd shovel excavating and loading mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220738410 CN203008006U (en) | 2012-12-28 | 2012-12-28 | Mini-type multi-freedom-degree controllably-mechanism-type crowd shovel excavating and loading mechanism |
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| CN203008006U true CN203008006U (en) | 2013-06-19 |
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| CN 201220738410 Expired - Fee Related CN203008006U (en) | 2012-12-28 | 2012-12-28 | Mini-type multi-freedom-degree controllably-mechanism-type crowd shovel excavating and loading mechanism |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102995674A (en) * | 2012-12-28 | 2013-03-27 | 广西大学 | Miniature multi-freedom-degree controllable mechanical type crowd shovel excavating loading mechanism |
| CN103711160A (en) * | 2013-12-17 | 2014-04-09 | 广西大学 | Two-DOF (degree of freedom) controllable mechanical loading mechanism |
| CN103726526A (en) * | 2013-12-16 | 2014-04-16 | 广西大学 | High-reliability controllable mechanical loading mechanism with two degrees of freedom |
| CN103726527A (en) * | 2013-12-16 | 2014-04-16 | 广西大学 | Nine-bar two-degree-of-freedom novel mechanical loading mechanism |
| CN106272352A (en) * | 2016-09-06 | 2017-01-04 | 广西大学 | A kind of parallel institution formula robot palletizer |
| CN106337450A (en) * | 2016-09-06 | 2017-01-18 | 广西大学 | Controllable mechanism type excavating robot |
| CN106400863A (en) * | 2016-09-06 | 2017-02-15 | 广西大学 | Three-dimensional high-precision excavator |
-
2012
- 2012-12-28 CN CN 201220738410 patent/CN203008006U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102995674A (en) * | 2012-12-28 | 2013-03-27 | 广西大学 | Miniature multi-freedom-degree controllable mechanical type crowd shovel excavating loading mechanism |
| CN103726526A (en) * | 2013-12-16 | 2014-04-16 | 广西大学 | High-reliability controllable mechanical loading mechanism with two degrees of freedom |
| CN103726527A (en) * | 2013-12-16 | 2014-04-16 | 广西大学 | Nine-bar two-degree-of-freedom novel mechanical loading mechanism |
| CN103711160A (en) * | 2013-12-17 | 2014-04-09 | 广西大学 | Two-DOF (degree of freedom) controllable mechanical loading mechanism |
| CN106272352A (en) * | 2016-09-06 | 2017-01-04 | 广西大学 | A kind of parallel institution formula robot palletizer |
| CN106337450A (en) * | 2016-09-06 | 2017-01-18 | 广西大学 | Controllable mechanism type excavating robot |
| CN106400863A (en) * | 2016-09-06 | 2017-02-15 | 广西大学 | Three-dimensional high-precision excavator |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130619 Termination date: 20151228 |
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| EXPY | Termination of patent right or utility model |