CN203049643U - Multi-degree-of-freedom controllable mechanism type sugarcane loader driven by discrete speed changing and manpower in combined mode - Google Patents
Multi-degree-of-freedom controllable mechanism type sugarcane loader driven by discrete speed changing and manpower in combined mode Download PDFInfo
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- CN203049643U CN203049643U CN 201320074182 CN201320074182U CN203049643U CN 203049643 U CN203049643 U CN 203049643U CN 201320074182 CN201320074182 CN 201320074182 CN 201320074182 U CN201320074182 U CN 201320074182U CN 203049643 U CN203049643 U CN 203049643U
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Abstract
A multi-degree-of-freedom controllable mechanism type sugarcane loader driven by discrete speed changing and manpower in a combined mode comprises a combustion motor, a transmission device, and a multi-degree-of-freedom linkage mechanism. The multi-degree-of-freedom linkage mechanism comprises a rack, a swing arm lifting mechanism, a lower wishbone turnover mechanism, and an upper wishbone turnover mechanism, wherein the upper wishbone turnover mechanism is driven and controlled by a manpower winch, driving links of the swing arm lifting mechanism and the lower wishbone turnover mechanism are driven by the combustion motor. Under control of a clutch of the transmission device and a reversing device, start and stop of rotation of all driving links and switchover between positive-direction drive and reverse-direction drive are achieved. Through mutual cooperation of the swing arm lifting mechanism, the lower wishbone turnover mechanism and the upper wishbone turnover mechanism, loading operation of cargoes such as sugarcane is achieved. The sugarcane loader avoids defects that a hydraulic system is high in accuracy requirement of manufacturing, high in production cost, prone to be broken and the like and overcomes electric power supply limit caused by the fact that a motor drives a multi-degree-of-freedom mechanism, facilitates achievement of field operation and improves practicability and convenience.
Description
Technical field
The utility model relates to engineering machinery field, particularly discrete speed change and manpower combination drive multiple degrees of freedom controllable mechanism formula sugar-cane loader.
Background technology
Sugar-cane loader is a kind ofly to be widely used in that sugarcane is loaded and a kind of engineering machinery of numerous occasions such as straw loading and unloading, timber carrying, changes different grab buckets, just can conveniently realize grabbing sugarcane, grabs timber, grabs steel pipe, operation such as material grasping.The sugar-cane loader kind is more, use maximum fluid pressure type sugar-cane loader operating efficiency height at present, can load and unload sugarcane at short notice, significantly improved efficiency, alleviated people's labour intensity, but, existing sugar-cane loader also exists many shortcomings, owing to adopt hydraulic system, the hydraulic components accuracy of manufacture requires height, manufacturing and maintaining cost height thereof, hydraulic system is subject to such environmental effects, especially under low temperature or hot environment, occurs situations such as unable or vibration easily.
The multiple degrees of freedom controllable mechanism can be used for substituting traditional hydraulic system, many deficiencies of avoiding hydraulic system to exist, but the multiple degrees of freedom controllable mechanism generally adopts driven by servomotor, has the restriction of supply of electric power, is not easy to realize field construction.
Summary of the invention
The purpose of this utility model is that the problem that prior art exists provides discrete speed change and manpower combination drive multiple degrees of freedom controllable mechanism formula sugar-cane loader, satisfy under the prerequisite of conventional hydraulic sugar-cane loader job requirements guaranteeing, to avoid the hydraulic pressure sugar-cane loader Hydraulic Elements accuracy of manufacture to require easily shortcoming such as influenced by ambient temperature of high, manufacturing and maintaining cost height thereof, operating efficiency.And swing arm lifting mechanism and lower fork switching mechanism be by internal combustion engine drive, on pitch switching mechanism and driven by manpower, avoided the restriction of supply of electric power, be fit to open-air sugarcane car loading operation.Simultaneously, because last fork switching mechanism adopts manpower to drive, simplified machine construction widely, it is also greatly convenient to operate.
The utility model achieves the above object by the following technical programs: a kind of discrete speed change and manpower combination drive multiple degrees of freedom controllable mechanism formula sugar-cane loader, comprise frame, swing arm lifting mechanism, lower fork switching mechanism and go up the fork switching mechanism, its structure and connected mode are:
Described swing arm lifting mechanism comprises first driving lever, first connecting rod, swing arm, described swing arm is connected with frame by the 4th revolute pair, described first driving lever, one end is connected with frame by first revolute pair, the other end is connected with first connecting rod one end by second revolute pair, the first connecting rod other end is connected with swing arm by the 3rd revolute pair
Described lower fork switching mechanism is by second driving lever, second connecting rod, rocking bar, pull bar, lower fork connects, described second driving lever, one end is connected with frame by the 7th revolute pair, the other end is connected with second connecting rod one end by the 8th revolute pair, the second connecting rod other end is connected with rocking bar one end by the 9th revolute pair, rocking bar is connected with swing arm by the 5th revolute pair, the rocking bar other end is connected with pull bar one end by the tenth revolute pair, the pull bar other end is connected with lower fork by the 11 revolute pair, lower fork is connected with swing arm by the 6th revolute pair
The described fork switching mechanism of going up is by bracing frame, capstan winch, the 5th connecting rod, third connecting rod, the 4th connecting rod, last fork, pulley, spring, wire rope is formed, support frame as described above one end is connected with frame by the 4th revolute pair, the other end is by the 14 revolute pair, the 15 revolute pair respectively with capstan winch, the 5th connecting rod connects, the 5th connecting rod connecting rod is connected with lower fork by the 16 revolute pair, described third connecting rod one end is connected with swing arm by the 6th revolute pair, the other end is by the 17 revolute pair, the 13 revolute pair respectively with pulley, the 4th connecting rod connects, described the 4th connecting rod is connected with last fork by the 18 revolute pair, described upward fork is connected down by the 12 revolute pair to be stuck, described wire rope one end is connected on the bracing frame, and the other end is connected with capstan winch by pulley.
The control method of described discrete speed change and manpower combination drive multiple degrees of freedom controllable mechanism formula sugar-cane loader comprises the steps:
Power by the internal combustion engine input is distributed to first driving lever of swing arm lifting mechanism, second driving lever of lower fork switching mechanism through transfer case, by the startup of first, second driving lever constant speed constant speed actuation movement of Clutch Control with stop, controlled the switching of the positive and negative direction actuation movement of each driving lever by reversing arrangement, under two the positive and negative direction constant speed of driving lever actuation movement and the effect that stops to drive, the motion that cooperatively interacts of swing arm lifting mechanism, lower fork switching mechanism, realize its complexity, variable motion output, i.e. the entrucking action of various sugarcanes is finished in grab bucket.
The described fork switching mechanism of going up is controlled the upset of going up fork, the described fork of going up compresses lower fork under the effect of spring tightening force, fork is in impaction state on this moment, rotate capstan winch by manpower, last fork overcomes the spring tightening force and opens under wire rope drives, fork is in open configuration on this moment, when the capstan winch backward rotation, then under the effect of spring tightening force, last fork returns to impaction state.
Described first driving lever, second driving lever are driven by rack-mounted internal combustion engine, internal combustion engine drive systems is made up of first clutch, second clutch, three-clutch, first reversing arrangement, second reversing arrangement, reducer, transfer case, and transfer case is given each driving lever with power distribution.During work, according to the handling operation requirement, by the operation of second clutch, three-clutch and first reversing arrangement, second reversing arrangement being realized the control to this Discrete Finite variable speed drives and manually driven combination drive multiple degrees of freedom controllable mechanism formula sugar-cane loader first driving lever, second driving lever, last fork switching mechanism is controlled by capstan winch by manpower, and then by swing arm lifting mechanism, lower fork switching mechanism, on pitch cooperatively interacting of switching mechanism, finish sugarcane and other items handling operation.
The outstanding advantage of the utility model is:
1, satisfies under the prerequisite of fluid pressure type sugar-cane loader operation in assurance, adopt the connecting rod transmission to substitute traditional hydraulic drive, not only avoided the Hydraulic Elements accuracy of manufacture require high, the hydraulic oil temperature influence is serious, hydraulic system breaks down is difficult for checking and shortcoming such as eliminating, and linkage has cheap for manufacturing costly, maintaining required low.
2, satisfying under the prerequisite of handling operation, adopt discrete speed change and manually driven combination drive, by the control of clutch and reversing arrangement, realize the discrete speed change input of multiple degrees of freedom linkage driving lever, do not need continuously variable transmission, simple in structure, easy to operate.And utilize the manually-operated capstan winch to control by assembly pulley and pitch the folding of pitching on the switching mechanism, not only reduced the connecting rod usage quantity, the deadweight of shaft portion, and operate more convenient.
3, adopt internal combustion engine drive and manpower to drive, control by mechanical devices such as clutch and reversing arrangements, overcome motor-driven and the supply of electric power restriction that causes, be easy to realize field construction.
Description of drawings
Fig. 1 is the front view of discrete speed change described in the utility model and manpower combination drive multiple degrees of freedom controllable mechanism formula sugar-cane loader.
Fig. 2 is the swing arm lifting mechanism schematic diagram of discrete speed change described in the utility model and manpower combination drive multiple degrees of freedom controllable mechanism formula sugar-cane loader.
Fig. 3 is the lower fork switching mechanism schematic diagram of discrete speed change described in the utility model and manpower combination drive multiple degrees of freedom controllable mechanism formula sugar-cane loader.
Fig. 4 is the capstan winch support schematic diagram of discrete speed change described in the utility model and manpower combination drive multiple degrees of freedom controllable mechanism formula sugar-cane loader.
Fig. 5 is that going up of discrete speed change described in the utility model and manpower combination drive multiple degrees of freedom controllable mechanism formula sugar-cane loader pitched the switching mechanism schematic diagram.
Fig. 6 is the crotch schematic diagram of discrete speed change described in the utility model and manpower combination drive multiple degrees of freedom controllable mechanism formula sugar-cane loader.
Fig. 7 is the drive system schematic diagram of discrete speed change described in the utility model and manpower combination drive multiple degrees of freedom controllable mechanism formula sugar-cane loader.
Fig. 8 is the front view of discrete speed change described in the utility model and manpower combination drive multiple degrees of freedom controllable mechanism formula sugar-cane loader.
Fig. 9 is the lateral view of discrete speed change described in the utility model and manpower combination drive multiple degrees of freedom controllable mechanism formula sugar-cane loader.
The specific embodiment
Below by drawings and Examples the technical solution of the utility model is described further.
Contrast Fig. 1, discrete speed change described in the utility model and manpower combination drive multiple degrees of freedom controllable mechanism formula sugar-cane loader, by frame 1, swing arm lifting mechanism, lower fork switching mechanism, on pitch switching mechanism and form.
Contrast Fig. 1, Fig. 2, described swing arm lifting mechanism comprises first driving lever 2, first connecting rod 3, swing arm 6, described swing arm 6 is connected with frame 1 by the 4th revolute pair 24, described first driving lever, 2 one ends are connected with frame 1 by first revolute pair 19, the other end is connected with first connecting rod 3 one ends by second revolute pair 20, and first connecting rod 3 other ends are connected with swing arm 6 by the 3rd revolute pair 21.6 landings of described swing arm lifting mechanism control swing arm.
Contrast Fig. 1, Fig. 3, Fig. 8, described lower fork switching mechanism is by second driving lever 16, second connecting rod 15, rocking bar 4, pull bar 5, lower fork 8 connects, described second driving lever, 16 1 ends are connected with frame 1 by the 7th revolute pair 25, the other end is connected with second connecting rod 15 1 ends by the 8th revolute pair 26, second connecting rod 15 other ends are connected with rocking bar 4 one ends by the 9th revolute pair 27, rocking bar 4 is connected with swing arm 6 by the 5th revolute pair 23, rocking bar 4 other ends are connected with pull bar 5 one ends by the tenth revolute pair 28, pull bar 5 other ends are connected with lower fork 8 by the 11 revolute pair 29, lower fork 8 is connected with swing arm 6 by the 6th revolute pair 22,8 upsets of described lower fork switching mechanism control lower fork.
Contrast Fig. 1, Fig. 4, Fig. 5, Fig. 6, Fig. 8, Fig. 9, described go up the fork switching mechanism by bracing frame 17, capstan winch 14, the 5th connecting rod 13, third connecting rod 7, the 4th connecting rod 10, on pitch 9, pulley 11, spring 18, wire rope 12 form.Support frame as described above 17 1 ends are connected with frame 1 by the 4th revolute pair 24, the other end is by the 14 revolute pair 33, the 15 revolute pair 32 respectively with capstan winch 14, the 5th connecting rod 13 connects, the 5th connecting rod 13 is connected with lower fork 8 by the 16 revolute pair 34, described third connecting rod 7 one ends are connected with swing arm 6 by the 6th revolute pair 22, the other end is by the 17 revolute pair 35, the 13 revolute pair 31 respectively with pulley 11, the 4th connecting rod 10 connects, described the 4th connecting rod 10 is connected with last fork 9 by the 18 revolute pair 36, the described fork 9 gone up is connected on the lower fork 8 by the 12 revolute pair 30, described wire rope 12 1 ends are connected on the bracing frame 17, the other end is connected with capstan winch 14 by pulley 11, the described fork switching mechanism of going up is controlled the upset of going up fork 9, the described fork 9 of going up compresses lower fork 8 under spring 18 tightening force effects, fork 9 is in impaction state on this moment, rotate capstan winch 14 by manpower, last fork 9 overcomes spring 18 tightening forces and opens under wire rope 12 drives, fork 9 is in open configuration on this moment, when the capstan winch backward rotation, then under spring 18 tightening force effects, on pitch 9 and return to impaction state.
Contrast Fig. 1, Fig. 2, Fig. 3, Fig. 5, Fig. 7, Fig. 8, Fig. 9, described discrete speed change and manpower combination drive multiple degrees of freedom controllable mechanism formula sugar-cane loader, first driving lever 2, second driving lever 16 drives control by rack-mounted constant-seed motor or internal combustion engine 37, when adopting internal combustion engine 37 to drive, internal combustion engine 37 drive systems are by first clutch 38, second clutch 41, three-clutch 43, first reversing arrangement 42, second reversing arrangement 44, reducer 39, transfer case 40 is formed, transfer case 40 is given each driving lever with power distribution, during this multiple degrees of freedom controllable mechanism formula sugar-cane loader work, according to the handling operation requirement, by to second clutch 41, three-clutch 43 and first reversing arrangement 42, the operation of second reversing arrangement 44 realizes this discrete speed change and manually driven combination drive multiple degrees of freedom controllable mechanism formula sugar-cane loader first driving lever 2, the control of second driving lever 16, last fork switching mechanism is controlled by capstan winch 14 by manpower, and then by the swing arm lifting mechanism, the lower fork switching mechanism, cooperatively interacting of last fork switching mechanism finished sugarcane and other items handling operation.
Claims (1)
1. speed change and manpower combination drive multiple degrees of freedom controllable mechanism formula sugar-cane loader disperse, comprise internal combustion engine, transmission device, multiple degrees of freedom linkage, the multiple degrees of freedom linkage comprises frame, swing arm lifting mechanism, lower fork switching mechanism and goes up the fork switching mechanism, it is characterized in that:
Described swing arm lifting mechanism comprises first driving lever, first connecting rod, swing arm, described swing arm is connected with frame by the 4th revolute pair, described first driving lever, one end is connected with frame by first revolute pair, the other end is connected with first connecting rod one end by second revolute pair, the first connecting rod other end is connected with swing arm by the 3rd revolute pair
Described lower fork switching mechanism is by second driving lever, second connecting rod, rocking bar, pull bar, lower fork, described second driving lever, one end is connected with frame by the 7th revolute pair, the other end is connected with second connecting rod one end by the 8th revolute pair, the second connecting rod other end is connected with rocking bar one end by the 9th revolute pair, rocking bar is connected with swing arm by the 5th revolute pair, the rocking bar other end is connected with pull bar one end by the tenth revolute pair, the pull bar other end is connected with lower fork by the 11 revolute pair, lower fork is connected with swing arm by the 6th revolute pair
The described fork switching mechanism of going up is by bracing frame, capstan winch, the 5th connecting rod, third connecting rod, the 4th connecting rod, last fork, pulley, spring, wire rope is formed, support frame as described above one end is connected with frame by the 4th revolute pair, the other end is by the 14 revolute pair, the 15 revolute pair respectively with capstan winch, the 5th connecting rod connects, the 5th connecting rod connecting rod is connected with lower fork by the 16 revolute pair, described third connecting rod one end is connected with swing arm by the 6th revolute pair, the other end is by the 17 revolute pair, the 13 revolute pair respectively with pulley, the 4th connecting rod connects, described the 4th connecting rod is connected with last fork by the 18 revolute pair, described upward fork is connected down by the 12 revolute pair to be stuck, described wire rope one end is connected on the bracing frame, the other end is connected with capstan winch by pulley
Described transmission device comprises first clutch, first reducer, transfer case, second clutch, first reversing arrangement, three-clutch and second reversing arrangement, is connected by shaft coupling.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320074182 CN203049643U (en) | 2013-02-08 | 2013-02-08 | Multi-degree-of-freedom controllable mechanism type sugarcane loader driven by discrete speed changing and manpower in combined mode |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201320074182 CN203049643U (en) | 2013-02-08 | 2013-02-08 | Multi-degree-of-freedom controllable mechanism type sugarcane loader driven by discrete speed changing and manpower in combined mode |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103132551A (en) * | 2013-02-08 | 2013-06-05 | 广西叶茂机电自动化有限责任公司 | Discrete variable speed and human hybrid driving multi-freedom-degree controllable mechanism type sugarcane loading machine |
| CN103741731A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Mine power-driven excavator with plane controllable mechanism |
| CN106609525A (en) * | 2016-11-30 | 2017-05-03 | 广西大学 | Method of carrying out industrial waste seizing and loading operation by adopting dual-servo motor driven variable-degree-of-freedom multi-link mechanism |
| CN107053189A (en) * | 2016-12-23 | 2017-08-18 | 广西大学 | A kind of three-dimensional combination drive multi link controllable type welding robot |
| CN109264626A (en) * | 2017-07-18 | 2019-01-25 | 山东交通学院 | A kind of four-degree-of-freedom hybrid drive formula fork truck robot |
-
2013
- 2013-02-08 CN CN 201320074182 patent/CN203049643U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103132551A (en) * | 2013-02-08 | 2013-06-05 | 广西叶茂机电自动化有限责任公司 | Discrete variable speed and human hybrid driving multi-freedom-degree controllable mechanism type sugarcane loading machine |
| CN103741731A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Mine power-driven excavator with plane controllable mechanism |
| CN106609525A (en) * | 2016-11-30 | 2017-05-03 | 广西大学 | Method of carrying out industrial waste seizing and loading operation by adopting dual-servo motor driven variable-degree-of-freedom multi-link mechanism |
| CN107053189A (en) * | 2016-12-23 | 2017-08-18 | 广西大学 | A kind of three-dimensional combination drive multi link controllable type welding robot |
| CN109264626A (en) * | 2017-07-18 | 2019-01-25 | 山东交通学院 | A kind of four-degree-of-freedom hybrid drive formula fork truck robot |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130710 Termination date: 20150208 |
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| EXPY | Termination of patent right or utility model |