CN104047320A - High-reliability loading mechanism with active metamorphic function - Google Patents
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Abstract
一种具有主动变胞功能的高可靠性装载机构，该装载机构的动臂一端连接在机架上，另一端与铲斗相连接，所述主动杆一端与机架连接，另一端与第一拉杆连接，第一拉杆另一端与支撑架连接。支撑架一端与机架相连接，另一端与第二拉杆连接，第二拉杆另一端与铲斗连接。第一连杆一端与机架连接，另一端与第二连杆相连接，第二连杆另一端与支撑杆连接。第一锁紧装置和第二锁紧装置分别安装在第九转动副和第十二转动副上。本发明采用连杆传动机构代替液压机构，解决了液压机构容易漏油，机构复杂的缺点，采用锁紧装置，能够根据不同工况的需求主动变胞，适用于制造各类挖掘机及其它工程机械。
A high-reliability loading mechanism with an active metamorphosis function. One end of the boom of the loading mechanism is connected to the frame, and the other end is connected to the bucket. One end of the active rod is connected to the frame, and the other end is connected to the first The pull rods are connected, and the other end of the first pull rod is connected with the support frame. One end of the supporting frame is connected with the frame, the other end is connected with the second pull rod, and the other end of the second pull rod is connected with the bucket. One end of the first connecting rod is connected with the frame, the other end is connected with the second connecting rod, and the other end of the second connecting rod is connected with the supporting rod. The first locking device and the second locking device are installed on the ninth rotating pair and the twelfth rotating pair respectively. The invention adopts the connecting rod transmission mechanism instead of the hydraulic mechanism, which solves the disadvantages of easy oil leakage and complicated mechanism of the hydraulic mechanism, adopts the locking device, can actively change cells according to the needs of different working conditions, and is suitable for manufacturing various excavators and other projects mechanical.
Description
技术领域technical field
本发明涉及工程机械领域，特别是一种具有主动变胞功能的高可靠性装载机构。The invention relates to the field of engineering machinery, in particular to a high-reliability loading mechanism with an active metamorphosis function.
背景技术Background technique
装载机是一种常见的工程机械，主要用于土石方施工中。其中液压式装载机是应用最为广泛的一种。但液压系统制造成本高，容易出现漏油、维护保养成本高，噪声大、振动大等问题，这些都是液压式装载机长期存在的棘手问题。而机械式装载机也仅仅是把液压元件换成了连杆，本身结构并未改变，没有综合考虑替换的合理性，使得其实用性有限，降低了其可靠性。Loader is a common construction machinery, mainly used in earthwork construction. Among them, the hydraulic loader is the most widely used one. However, the manufacturing cost of the hydraulic system is high, and it is prone to oil leakage, high maintenance costs, high noise, large vibration and other problems. These are long-term thorny problems of hydraulic loaders. The mechanical loader only replaces the hydraulic components with connecting rods, and the structure itself has not changed. The rationality of the replacement has not been considered comprehensively, which limits its practicability and reduces its reliability.
随着现代工程技术的发展，机电技术和控制技术大大的提高，可控机构为工程机构提供了广阔的发展空间，由控制电机驱动的多自由度可控机构不仅具有工作空间大、动作灵活、可完成复杂和可变的运动轨迹输出，同时还具有制造成本低，维护保养简单等优点，可控机构式挖掘机由于用多自由度连杆机构取代了液压传动，避免了液压系统加工精度要求高，维护保养成本高，容易产生漏油等问题。但现有可控装载机构主要依靠多自由度的多连杆机构工作，往往需要与连杆自由度相同数目的驱动电机才能工作，不仅大大增加了制造成本，同时也增加了机构的复杂性。With the development of modern engineering technology, the electromechanical technology and control technology have been greatly improved. The controllable mechanism provides a broad development space for the engineering mechanism. The multi-degree-of-freedom controllable mechanism driven by the control motor not only has a large working space, flexible action, It can complete complex and variable motion trajectory output, and also has the advantages of low manufacturing cost and simple maintenance. The controllable mechanism excavator replaces the hydraulic transmission with a multi-degree-of-freedom linkage mechanism, which avoids the machining accuracy requirements of the hydraulic system. High, high maintenance costs, prone to problems such as oil leakage. However, the existing controllable loading mechanism mainly relies on the multi-linkage mechanism with multiple degrees of freedom to work, and often requires the same number of driving motors as the number of degrees of freedom of the connecting rods to work, which not only greatly increases the manufacturing cost, but also increases the complexity of the mechanism.
发明内容Contents of the invention
本发明的目的在于提供一种具有主动变胞功能的高可靠性装载机构，它能够克服传统液压式装载机维护保养成本高，工作噪音大，振动性强，制造成本高，反应不够灵敏的缺陷，而且还具备传统液压式装载机构装载量大，工作空间大，受力好的优点，降低主动杆的数量，从而降低驱动电机的数量，进一步降低成本。The purpose of the present invention is to provide a high-reliability loading mechanism with the function of active cell transformation, which can overcome the defects of high maintenance cost, high working noise, strong vibration, high manufacturing cost and insensitive response of traditional hydraulic loaders , and also has the advantages of large loading capacity, large working space and good force of the traditional hydraulic loading mechanism, which reduces the number of active rods, thereby reducing the number of driving motors and further reducing costs.
本发明通过以下技术方案达到上述目的：The present invention achieves the above object through the following technical solutions:
一种具有主动变胞功能的高可靠性装载机构，包括机架、动臂、支撑架、铲斗、主动杆、第一拉杆、第二拉杆、第一连杆、第二连杆、支撑杆、第一锁紧装置以及第二锁紧装置，具体结构和连接方式为：A high-reliability loading mechanism with an active metamorphosis function, including a frame, a boom, a support frame, a bucket, an active rod, a first pull rod, a second pull rod, a first connecting rod, a second connecting rod, and a supporting rod , the first locking device and the second locking device, the specific structure and connection method are:
所述动臂一端连接在机架上，另一端与铲斗相连接，所述主动杆一端与机架连接，另一端与第一拉杆连接，第一拉杆另一端与支撑架连接。One end of the boom is connected to the frame, the other end is connected to the bucket, one end of the active rod is connected to the frame, the other end is connected to the first pull rod, and the other end of the first pull rod is connected to the support frame.
所述支撑架一端与机架相连接，另一端与第二拉杆连接，第二拉杆另一端与铲斗连接。One end of the support frame is connected with the frame, the other end is connected with the second pull rod, and the other end of the second pull rod is connected with the bucket.
所述第一连杆一端与机架连接，另一端与第二连杆相连接，第二连杆另一端与支撑杆连接。One end of the first connecting rod is connected to the frame, the other end is connected to the second connecting rod, and the other end of the second connecting rod is connected to the supporting rod.
所述第一锁紧装置和第二锁紧装置分别安装在第九转动副和第十二转动副上。The first locking device and the second locking device are installed on the ninth rotating pair and the twelfth rotating pair respectively.
所述动臂分为第一动臂和第二动臂，第一动臂和第二动臂分别通过第一转动副、第二转动副连接在机架上，第一动臂和第二动臂的另一端通过第三转动副、第四转动副与铲斗相连接。The moving arm is divided into a first moving arm and a second moving arm, the first moving arm and the second moving arm are respectively connected to the frame through the first rotating pair and the second rotating pair, and the first moving arm and the second moving arm The other end of the arm is connected with the bucket through the third swivel pair and the fourth swivel pair.
所述支撑架一端通过第十转动副与机架相连接，另一端通过第八转动副与第二拉杆相连接，第二拉杆另一端通过第九转动副与铲斗连接。One end of the support frame is connected to the frame through the tenth rotating pair, the other end is connected to the second pull rod through the eighth rotating pair, and the other end of the second pulling rod is connected to the bucket through the ninth rotating pair.
所述第一连杆通过第十三转动副与机架连接，另一端通过第十二转动副与第二连杆相连接，第二连杆另一端通过第十一转动副与支撑杆相连接。The first connecting rod is connected to the frame through the thirteenth rotating pair, the other end is connected to the second connecting rod through the twelfth rotating pair, and the other end of the second connecting rod is connected to the support rod through the eleventh rotating pair .
所述第一连杆通过第十三转动副与机架连接，另一端通过第十二转动副与第二连杆相连接，第二连杆另一端通过第十一转动副与支撑杆相连接。The first connecting rod is connected to the frame through the thirteenth rotating pair, the other end is connected to the second connecting rod through the twelfth rotating pair, and the other end of the second connecting rod is connected to the support rod through the eleventh rotating pair .
所述主动杆由伺服电机驱动。The active lever is driven by a servo motor.
工作原理及过程：Working principle and process:
举升工况时，第一锁紧装置锁紧，第九转动副失去自由度，第二锁紧装置打开，第十二转动副恢复自由度，此时主动杆通过第一拉杆、支撑架、第二拉杆与动臂的共同作用将铲斗举降。铲斗单独翻转工况时，第一锁紧装置打开，第九转动副恢复自由度，第二锁紧装置锁紧，第十二转动副失去自由度，此时主动杆通过第一拉杆、支撑架以及第二拉杆的作用下使铲斗翻转。In the lifting condition, the first locking device is locked, the ninth rotating pair loses the degree of freedom, the second locking device is opened, and the twelfth rotating pair recovers the degree of freedom. At this time, the active rod passes through the first pull rod, the support frame, The joint action of the second pull rod and the boom lifts and lowers the bucket. When the bucket is turned over alone, the first locking device is opened, the ninth rotating pair recovers the degree of freedom, the second locking device is locked, and the twelfth rotating pair loses the degree of freedom. At this time, the active rod is supported by the first pull rod, The bucket is flipped under the action of the frame and the second pull rod.
本发明的突出优点在于：The outstanding advantages of the present invention are:
1.利用连杆代替液压传动，解决了传统装载机制造成本高，维护保养成本高，噪声大，振动大等缺点。1. The use of connecting rods instead of hydraulic transmission solves the shortcomings of traditional loaders such as high manufacturing cost, high maintenance cost, large noise, and large vibration.
2.通过在连杆机构上采用锁紧装置实现装载机构主动变胞功能，使得装载机能够根据不同工况锁紧某些转动副，适时减少自由度，从而减少驱动可控电机数量。相比于其他多自由度可控装载机构，本发明只用一台电机即可完成多台电机多自由度装载作业，极大降低了制造成本，并且降低了机构的复杂性，更加适用于装载机及其他工程机械。2. By using a locking device on the link mechanism to realize the active transformation function of the loading mechanism, the loader can lock some rotating pairs according to different working conditions, and reduce the degree of freedom in time, thereby reducing the number of drive controllable motors. Compared with other multi-degree-of-freedom controllable loading mechanisms, the present invention can complete the multi-degree-of-freedom loading operation of multiple motors with only one motor, which greatly reduces the manufacturing cost and the complexity of the mechanism, and is more suitable for loading machines and other engineering machinery.
3.主动杆驱动方式灵活多变，可选择伺服电机驱动，混合驱动等多种驱动方式，不仅环保，且易于实现远程控制，降低人工成本。3. The driving mode of the active rod is flexible and changeable, and various driving modes such as servo motor drive and hybrid drive can be selected, which are not only environmentally friendly, but also easy to realize remote control and reduce labor costs.
4.利用支撑杆增加转动副，比其他多自由度可控机构而言，使用的杆件数更少，结构更为简单，可靠性比其他多连杆机构更高。4. Using support rods to add revolving joints, compared with other multi-degree-of-freedom controllable mechanisms, the number of rods used is less, the structure is simpler, and the reliability is higher than other multi-link mechanisms.
附图说明Description of drawings
图1为本发明所述的具有主动变胞功能的高可靠性装载机构的结构示意图。Fig. 1 is a schematic structural diagram of a high-reliability loading mechanism with an active cell transformation function according to the present invention.
图2为本发明所述的具有主动变胞功能的高可靠性装载机构的铲斗连接示意图。Fig. 2 is a schematic diagram of the connection of buckets of the high-reliability loading mechanism with active cell transformation function according to the present invention.
图3为本发明所述的具有主动变胞功能的高可靠性装载机构的动臂连接示意图。Fig. 3 is a schematic diagram of the connection of the boom of the high-reliability loading mechanism with active cell transformation function according to the present invention.
图4为本发明所述的具有主动变胞功能的高可靠性装载机构的俯视图。Fig. 4 is a top view of the high-reliability loading mechanism with active cell transformation function according to the present invention.
图5为本发明所述的具有主动变胞功能的高可靠性装载机构的立体图。Fig. 5 is a perspective view of the high-reliability loading mechanism with active cell transformation function according to the present invention.
图6为本发明所述的具有主动变胞功能的高可靠性装载机构的锁紧装置图。Fig. 6 is a diagram of the locking device of the high-reliability loading mechanism with active cell transformation function according to the present invention.
具体实施方式Detailed ways
以下通过附图对本发明的技术方案作进一步说明。The technical solution of the present invention will be further described below with reference to the accompanying drawings.
对照图1、2、3、5、6，所述一种具有主动变胞功能的高可靠性装载机构由机架1、第一动臂2、第二动臂3、支撑架4、铲斗5、主动杆13、第一拉杆15、第二拉杆18、第一连杆23、第二连杆22、支撑杆24以及第一锁紧装置25、第二锁紧装置26组成。Referring to Figures 1, 2, 3, 5, and 6, the high-reliability loading mechanism with the active metamorphosis function consists of a frame 1, a first boom 2, a second boom 3, a support frame 4, and a bucket 5. The active rod 13, the first pull rod 15, the second pull rod 18, the first connecting rod 23, the second connecting rod 22, the support rod 24, the first locking device 25, and the second locking device 26 are composed.
对照图1、2、3、4、5，所述第一动臂2、第二动臂3分别通过第一转动副9、第二转动副10连接在机架上，第一动臂2和第二动臂3的另一端通过第三转动副7、第四转动副8与铲斗5相连接，所述主动杆13通过第五转动副12与机架1连接，另一端通过第六转动副14与第一拉杆15连接，第一拉杆15通过第七转动副16与支撑架4连接。1, 2, 3, 4, 5, the first boom 2 and the second boom 3 are connected to the frame through the first rotating pair 9 and the second rotating pair 10 respectively. The other end of the second swing arm 3 is connected to the bucket 5 through the third rotating pair 7 and the fourth rotating pair 8, the active rod 13 is connected to the frame 1 through the fifth rotating pair 12, and the other end is rotated through the sixth rotating pair. The pair 14 is connected to the first pull rod 15 , and the first pull rod 15 is connected to the support frame 4 through the seventh rotating pair 16 .
对照图1、2、3、4、5，所述支撑架4一端通过第十转动副11与机架1相连接，另一端通过第八转动副17与第二拉杆18相连接，第二拉杆18另一端通过第九转动副6与铲斗5连接。1, 2, 3, 4, 5, one end of the support frame 4 is connected with the frame 1 through the tenth rotating pair 11, and the other end is connected with the second pull rod 18 through the eighth rotating pair 17, and the second pull rod The other end of 18 is connected with the bucket 5 through the ninth rotating pair 6 .
对照图1、2、3、4、5，所述第一连杆23通过第十三转动副19与机架1连接，另一端通过第十二转动副20与第二连杆22相连接，第二连杆22另一端通过第十一转动副21与支撑杆24相连接。1, 2, 3, 4, 5, the first connecting rod 23 is connected to the frame 1 through the thirteenth rotating pair 19, and the other end is connected to the second connecting rod 22 through the twelfth rotating pair 20, The other end of the second connecting rod 22 is connected with the support rod 24 through the eleventh rotating pair 21 .
对照图1、2、3、4、5、6，所述第一锁紧装置25和第二锁紧装置26分别安装在第九转动副6和第十二转动副20上，根据装载机的不同工况适时锁紧。1, 2, 3, 4, 5, 6, the first locking device 25 and the second locking device 26 are respectively installed on the ninth rotating pair 6 and the twelfth rotating pair 20, according to the loader Timely locking under different working conditions.
所述主动杆由伺服电机驱动。The active lever is driven by a servo motor.
对照图1、2、3、4、5、6，所述一种具有主动变胞功能的高可靠性装载机构在各个工况工作中，举升工况时，第一锁紧装置25锁紧，第九转动副6失去自由度，第二锁紧装置26打开，第十二转动副20恢复自由度，此时主动杆13通过第一拉杆15、支撑架4、第二拉杆18与第一动臂2、第二动臂3的共同作用将铲斗5举降。铲斗5单独翻转工况时，第一锁紧装置25打开，第九转动副6恢复自由度，第二锁紧装置26锁紧，第十二转动副20失去自由度，此时主动杆13通过第一拉杆15、支撑架4以及第二拉杆18的作用下使铲斗5翻转。Referring to Figures 1, 2, 3, 4, 5, and 6, the high-reliability loading mechanism with the active metamorphosis function works in various working conditions, and the first locking device 25 is locked in the lifting working condition. , the ninth rotating pair 6 loses the degree of freedom, the second locking device 26 is opened, and the twelfth rotating pair 20 recovers the degree of freedom. The combined action of the boom 2 and the second boom 3 lifts and lowers the bucket 5 . When the bucket 5 is turned over alone, the first locking device 25 is opened, the ninth rotating pair 6 recovers the degree of freedom, the second locking device 26 locks, and the twelfth rotating pair 20 loses the degree of freedom. At this time, the active lever 13 The bucket 5 is turned over under the action of the first pull rod 15 , the support frame 4 and the second pull rod 18 .
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| CN106695872A (en) * | 2016-12-05 | 2017-05-24 | 广西大学 | Servo-drive three-motion-degree connecting rod mechanism mechanical arm for carrying operation |
| CN106737837A (en) * | 2016-12-05 | 2017-05-31 | 广西大学 | One kind is used for the variable linkage mechanical arm of the transport operation free degree |
| CN106737838A (en) * | 2016-12-05 | 2017-05-31 | 广西大学 | One kind can variable freedom multi link mechanical arm for transport operation |
| CN106607631A (en) * | 2016-12-07 | 2017-05-03 | 广西大学 | Variable-degree of freedom multi-connecting rod gas cutting blanking machine |
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