CN203568278U - Large-workspace multi-degree-of-freedom controlled structure type spading and loading integrated transport cart - Google Patents
Large-workspace multi-degree-of-freedom controlled structure type spading and loading integrated transport cart Download PDFInfo
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- CN203568278U CN203568278U CN201320816552.0U CN201320816552U CN203568278U CN 203568278 U CN203568278 U CN 203568278U CN 201320816552 U CN201320816552 U CN 201320816552U CN 203568278 U CN203568278 U CN 203568278U
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Abstract
The utility model provides a large-workspace multi-degree-of-freedom controlled structure type spading and loading integrated transport cart, which comprises two parallel executing mechanism subchains, wherein the two parallel executing mechanism subchains can control plane motion of a bucket space where two main arm rods are located, and can carry out controllable adjustment on the bucket for controlling actions, such as upwards rotating and downwards turning, of the bucket. Plane control is realized by resultant motion of the transport cart and an executing mechanism chain comprising closed-loop subchains, and spatial motion of the bucket is realized by connection between the transport cart and two symmetric parallel subchains, so that the dynamics performance of the bucket space is good, the working space is large, the balancing performance is good, the structure reliability is high, the structure is compact, the control is simple, rod pieces can be made into light rods, the transport cart can forwardly and reversely travel and unload, and can be applied to more occasions, full power drive is realized, and emission and noise pollution are avoided.
Description
Technical field
The utility model relates to environmental sanitation mechanical field, particularly a kind of large working space multiple degree of freedom controllable-mechanism type shovel dress one transport trolley.
Background technology
Waste-skip is usually used in house refuse, building waste etc. to be transported to garbage loading embeading place or destructor plant.For the city of population concentration, the quantity of refuse that produce every day is very large, and urban land is limited, processes in time increasing rubbish extremely urgent, and the birth of cleaning cart has solved this difficult problem.Cleaning cart not only can help sanitationman to clear up in time rubbish, and likely rubbish is turned waste into wealth at scene, alleviated greatly sanitationman's working strength, cleaning cart is as a member in novel industry (special-use vehicle field) simultaneously, driven the development of periphery industry, increase people's job opportunity, alleviated social employment pressure, promoted to a certain extent expanding economy.But along with reconstruction of village-in-city, tear open face demolish squatter buildings, the engineering such as old city reconstruction implements in high gear, building waste generation is also growing with each passing day.People are when enjoying urban civilization, also in the worry that brought by building waste.Building waste is appropriation of land not only, also produces a large amount of noxious waste pollution environment and harm people's health, if cleaning not in time will have endless trouble.Common cleaning cart is only applicable to the house refuse of the barreleds such as municipal environmental sanitation, industrial enterprise, property residential quarter, and needs artificial shovel dress to waste time and energy for rubbish in heaps, if run into larger and heavy rubbish, can seem unable to do what one wishes.
Tradition cram packer mostly is common boxed truck, load during rubbish vehicle parking in dumping place, then by manpower by rubbish entrucking, or use loader entrucking.Rubbish loading process is loaded down with trivial details time-consuming, and need to consume a large amount of labour powers, and the cost of garbage transporting is raise, but inefficiency.
Have at present a class house refuse transport trolley, after rubbish entrucking, garbage bulk can be compressed, be convenient to transportation, but use time need a large amount of manpowers garbage shovel is put into waste-skip, waste time and energy.
Summary of the invention
The utility model is to provide a kind of can shovel the waste-skip that fills and transport and can conveniently unload voluntarily, the shortcoming that overcomes existing waste-skip product palpus manual loading or use loader to load, reduced the use of auxiliary facility in loading process, reduced work capacity, reduced cost, and can overcome that Hydraulic Elements requirement on machining accuracy is high, maintaining is difficult, high cost shortcoming, easy to utilize.
The utility model achieves the above object by the following technical programs: a kind of large working space multiple degree of freedom controllable-mechanism type shovel dress one transport trolley, and its structure and connection mode are:
The actuating unit subchain of described parallel connection is by car body 1, the first principal arm bar 7, the second principal arm bar 12, the first driving lever 5, the second driving lever 8, the first rocking lever 2, the second rocking lever 10, first connecting rod 6, second connecting rod 9, third connecting rod 3, the 4th connecting rod 4, the 5th connecting rod 13, the 6th connecting rod 11 and scraper bowl 14 are formed by connecting, car body 1 is connected with first principal arm bar 7 one end by the first revolute pair 31, first connecting rod 6 one end are connected with the first principal arm bar 12 by the second revolute pair 29, first connecting rod 6 other ends are connected with first driving lever 5 one end by the 3rd revolute pair 18, first driving lever 5 other ends are connected with car body 1 by the 4th revolute pair 17, first principal arm bar 7 other ends connect by the 5th revolute pair 30 second principal arm bar 12 one end, second principal arm bar 12 other ends are connected with scraper bowl 14 by the 6th revolute pair 26, second connecting rod 9 is connected with the second principal arm bar 12 by the 7th revolute pair 21, second connecting rod 9 other ends are connected with second driving lever 8 one end by the 8th revolute pair 20, second driving lever 8 other ends are connected with car body 1 by the 9th revolute pair 19, first rocking lever 2 one end are connected with first principal arm bar 7 one end by the tenth revolute pair 27, second rocking lever 10 one end are connected with the second principal arm bar 12 by the 11 revolute pair 28, third connecting rod 3 one end are connected with the first rocking lever 2 by the 12 revolute pair 16, third connecting rod 3 other ends are connected with the second rocking lever 10 by the 13 revolute pair 24, the 4th connecting rod 4 one end are connected with the first rocking lever 2 by the 14 revolute pair 15, the 4th connecting rod 4 other ends are connected with the second rocking lever 10 by the 15 revolute pair 22, the 5th connecting rod 13 one end are connected with the second rocking lever 10 by the 13 revolute pair 24, the 5th connecting rod 13 other ends are connected with scraper bowl 14 by the 16 revolute pair 25, the 6th connecting rod 11 one end are connected with the second rocking lever 10 by the 15 revolute pair 15, the 6th connecting rod 11 other ends are connected with scraper bowl 14 by the 17 revolute pair 23,
Described first rotate, the 4th revolute pair and the 9th revolute pair is positioned on car body and rotation axis is parallel to each other, the 6th revolute pair, the 16 revolute pair and the 17 revolute pair is positioned on scraper bowl and the mutual equality of rotation axis, the rotation axis of all the other revolute pairs is parallel to each other.
Outstanding advantages of the present utility model is:
1, the described transport trolley of this invention not only can forward travel, carry out hauling operation, and can backward going, carry out loading operation, this invention is overlapped independently control system by two and is controlled respectively travelling of transport trolley and shovel dress, and transport trolley can complete the work of shovel dress voluntarily, without supernumerary or equipment, shovel dress, loading transportation is simple, and work capacity is little, and traffic cost is low;
2, by parallel closed loop subchain, improved the rigidity of mechanism of wheel loaders, and the design of closed loop subchain mechanism type improves the working space of robot greatly, can avoid the dead center position of mechanism, micromatic setting can make the sphere of action of robot larger, and Neng Shi mechanism better keeps balance;
3, this transport trolley connects scraper bowl space by multiple parallel closed loop subchains, motor is mounted on four-bar mechanism joint, by the kinematic pair on four-bar mechanism, drive closed loop chain movement, thereby indirectly drive scraper bowl, make mobility and the activity space of scraper bowl larger, can reduce active moment, above turn and under to stir work more convenient;
4, adopt multiple degree of freedom controllable mechanism, can realize flexible output, the motion characteristics of mechanism and dynamic characteristic are good, have advantages of compact conformation, cumulative errors are little, precision is high, driving efficiency is high, dynamic response is good, reliability is high; , adopt storage battery power is provided, there are low power consuming, zero-emission, low noise, energy-conserving and environment-protective; Simple in structure, low cost of manufacture, is convenient to maintaining, is conducive to apply.
Accompanying drawing explanation
Fig. 1 is the first structural representation of a kind of large working space multiple degree of freedom controllable-mechanism type shovel dress one transport trolley described in the utility model.
Fig. 2 is the first rocking lever and the second rocking lever structural representation of a kind of large working space multiple degree of freedom controllable-mechanism type shovel dress one transport trolley described in the utility model.
Fig. 3 is the first principal arm bar structural representation of a kind of large working space multiple degree of freedom controllable-mechanism type shovel dress one transport trolley described in the utility model.
Fig. 4 is the second principal arm bar connection diagram of a kind of large working space multiple degree of freedom controllable-mechanism type shovel dress one transport trolley described in the utility model.
Fig. 5 is the second structural representation of a kind of large working space multiple degree of freedom controllable-mechanism type shovel dress one transport trolley described in the utility model.
Fig. 6 is the schematic top plan view of a kind of large working space multiple degree of freedom controllable-mechanism type shovel dress one transport trolley described in the utility model.
Fig. 7 is the first work schematic diagram of a kind of large working space multiple degree of freedom controllable-mechanism type shovel dress one transport trolley described in the utility model.
Fig. 8 is the second work schematic diagram of a kind of large working space multiple degree of freedom controllable-mechanism type shovel dress one transport trolley described in the utility model
Fig. 9 is the 3rd work schematic diagram of a kind of large working space multiple degree of freedom controllable-mechanism type shovel dress one transport trolley described in the utility model.
Figure 10 is the overall schematic of a kind of large working space multiple degree of freedom controllable-mechanism type shovel dress one transport trolley described in the utility model
The specific embodiment
Below in conjunction with drawings and Examples, the technical solution of the utility model is described further.
Contrast Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 and Fig. 6, a kind of large working space multiple degree of freedom controllable-mechanism type shovel dress one transport trolley, its structure and connection mode are:
The actuating unit subchain of described parallel connection is by car body 1, the first principal arm bar 7, the second principal arm bar 12, the first driving lever 5, the second driving lever 8, the first rocking lever 2, the second rocking lever 10, first connecting rod 6, second connecting rod 9, third connecting rod 3, the 4th connecting rod 4, the 5th connecting rod 13, the 6th connecting rod 11 and scraper bowl 14 are formed by connecting, car body 1 is connected with first principal arm bar 7 one end by the first revolute pair 31, first connecting rod 6 one end are connected with the first principal arm bar 12 by the second revolute pair 29, first connecting rod 6 other ends are connected with first driving lever 5 one end by the 3rd revolute pair 18, first driving lever 5 other ends are connected with car body 1 by the 4th revolute pair 17, first principal arm bar 7 other ends connect by the 5th revolute pair 30 second principal arm bar 12 one end, second principal arm bar 12 other ends are connected with scraper bowl 14 by the 6th revolute pair 26, second connecting rod 9 is connected with the second principal arm bar 12 by the 7th revolute pair 21, second connecting rod 9 other ends are connected with second driving lever 8 one end by the 8th revolute pair 20, second driving lever 8 other ends are connected with car body 1 by the 9th revolute pair 19, first rocking lever 2 one end are connected with first principal arm bar 7 one end by the tenth revolute pair 27, second rocking lever 10 one end are connected with the second principal arm bar 12 by the 11 revolute pair 28, third connecting rod 3 one end are connected with the first rocking lever 2 by the 12 revolute pair 16, third connecting rod 3 other ends are connected with the second rocking lever 10 by the 13 revolute pair 24, the 4th connecting rod 4 one end are connected with the first rocking lever 2 by the 14 revolute pair 15, the 4th connecting rod 4 other ends are connected with the second rocking lever 10 by the 15 revolute pair 22, the 5th connecting rod 13 one end are connected with the second rocking lever 10 by the 13 revolute pair 24, the 5th connecting rod 13 other ends are connected with scraper bowl 14 by the 16 revolute pair 25, the 6th connecting rod 11 one end are connected with the second rocking lever 10 by the 15 revolute pair 15, the 6th connecting rod 11 other ends are connected with scraper bowl 14 by the 17 revolute pair 23,
Described first rotate, the 4th revolute pair and the 9th revolute pair is positioned on car body and rotation axis is parallel to each other, the 6th revolute pair, the 16 revolute pair and the 17 revolute pair is positioned on scraper bowl and the mutual equality of rotation axis, the rotation axis of all the other revolute pairs is parallel to each other.
Described first rotate, the 4th revolute pair and the 9th revolute pair be positioned on car body and be parallel to each other, on the 6th revolute pair, the 16 revolute pair and the 17 revolute pair scraper bowl and mutually equality, the rotation axis of all the other revolute pairs is parallel to each other,
During the large working space multiple degree of freedom of described one controllable-mechanism type shovel dress one transport trolley backward going, by the shoveling mechanism shovel that move, pretend industry, the materials such as rubbish are tilted in self car body 1, then pass through forward travel, complete hauling operation.
Claims (1)
1. a large working space multiple degree of freedom controllable-mechanism type shovel dress one transport trolley, comprises two actuating unit subchains in parallel, it is characterized in that, concrete structure and connection mode are:
The actuating unit subchain of described parallel connection is by car body, the first principal arm bar, the second principal arm bar, the first driving lever, the second driving lever, the first rocking lever, the second rocking lever, first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod, the 5th connecting rod, the 6th connecting rod and scraper bowl are formed by connecting, car body is connected with first principal arm bar one end by the first revolute pair, first connecting rod one end is connected with the first principal arm bar by the second revolute pair, the first connecting rod other end is connected with first driving lever one end by the 3rd revolute pair, the first driving lever other end is connected with car body by the 4th revolute pair, the first principal arm bar other end connects by the 5th revolute pair second principal arm bar one end, the second principal arm bar other end is connected with scraper bowl by the 6th revolute pair, second connecting rod is connected with the second principal arm bar by the 7th revolute pair, the second connecting rod other end is connected with second driving lever one end by the 8th revolute pair, the second driving lever other end is connected with car body by the 9th revolute pair, first rocking lever one end is connected with first principal arm bar one end by the tenth revolute pair, second rocking lever one end is connected with the second principal arm bar by the 11 revolute pair, third connecting rod one end is connected with the first rocking lever by the 12 revolute pair, the third connecting rod other end is connected with the second rocking lever by the 13 revolute pair, the 4th connecting rod one end is connected with the first rocking lever by the 14 revolute pair, the 4th connecting rod other end is connected with the second rocking lever by the 15 revolute pair, the 5th connecting rod one end is connected with the second rocking lever by the 13 revolute pair, the 5th connecting rod other end is connected with scraper bowl by the 16 revolute pair, the 6th connecting rod one end is connected with the second rocking lever by the 14 revolute pair, the 6th connecting rod other end is connected with scraper bowl by the 17 revolute pair,
Described first rotate, the 4th revolute pair and the 9th revolute pair is positioned on car body and rotation axis is parallel to each other, the 6th revolute pair, the 16 revolute pair and the 17 revolute pair is positioned on scraper bowl and the mutual equality of rotation axis, the rotation axis of all the other revolute pairs is parallel to each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320816552.0U CN203568278U (en) | 2013-12-07 | 2013-12-07 | Large-workspace multi-degree-of-freedom controlled structure type spading and loading integrated transport cart |
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| CN201320816552.0U CN203568278U (en) | 2013-12-07 | 2013-12-07 | Large-workspace multi-degree-of-freedom controlled structure type spading and loading integrated transport cart |
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| CN203568278U true CN203568278U (en) | 2014-04-30 |
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| CN201320816552.0U Withdrawn - After Issue CN203568278U (en) | 2013-12-07 | 2013-12-07 | Large-workspace multi-degree-of-freedom controlled structure type spading and loading integrated transport cart |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103693340A (en) * | 2013-12-07 | 2014-04-02 | 广西大学 | Large-working-space multi-degree-of-freedom controllable mechanism-type shovel-loading integrated transport car |
| CN104476538A (en) * | 2014-12-12 | 2015-04-01 | 广西大学 | Five-degree-of-freedom controllable mechanism mobile mechanical arm with ten connecting links |
-
2013
- 2013-12-07 CN CN201320816552.0U patent/CN203568278U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103693340A (en) * | 2013-12-07 | 2014-04-02 | 广西大学 | Large-working-space multi-degree-of-freedom controllable mechanism-type shovel-loading integrated transport car |
| CN104476538A (en) * | 2014-12-12 | 2015-04-01 | 广西大学 | Five-degree-of-freedom controllable mechanism mobile mechanical arm with ten connecting links |
| CN104476538B (en) * | 2014-12-12 | 2016-03-30 | 广西大学 | One has ten connecting rod five degree of freedom controllable-mechanism type mobile mechanical arms |
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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: 20140430 Effective date of abandoning: 20160615 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |