CN104514233A - Mobile controllable loading mechanism with active metamorphic function - Google Patents

Abstract

The invention discloses a mobile controllable loading mechanism with the function of active cell transformation, which comprises a movable platform, a frame, a boom lifting mechanism, a bucket turning mechanism and two locking devices. The boom lifting mechanism includes a boom and a lifting mechanism, the bucket turning mechanism includes a bucket and a turning mechanism, the locking device is installed on the rotating pair, and the active cell transformation function is realized by locking the rotating pair, The moving function is realized through the movable platform, and the moving and operating functions are realized at the same time. The invention adopts a new type of connecting rod transmission mechanism to replace the traditional hydraulic transmission, and adopts a locking device on the rotating pair, which can actively change cells according to different operating conditions, and not only has The flexibility of the hydraulic loader, and the use of one active lever can achieve two degrees of freedom loading operations, reducing the number of motors used, reducing the construction cost of the loader, and is suitable for manufacturing various loaders and other construction machinery.

Description

A mobile controllable loading mechanism with active metamorphosis function

technical field

The invention relates to the field of construction machinery, in particular to a mobile controllable loading mechanism with an active metamorphosis function.

Background technique

Loader is a kind of common engineering machinery, which is widely used in earthwork construction of construction projects such as roads, railways, buildings, hydropower, ports, and mines. Among them, the hydraulic loader is the most widely used type of loader, but the manufacturing cost of the hydraulic system is high, and problems such as oil leakage are prone to occur. These are long-standing thorny problems of the hydraulic loader.

With the development of motor technology and the improvement of control technology, the controllable mechanism provides a broad development space for construction machinery. The multi-degree-of-freedom controllable mechanism driven by the control motor not only has a large working space, flexible actions, and can complete complex and controllable structures. Variable motion trajectory output, and also has the advantages of low manufacturing cost and simple maintenance. The controllable mechanism loader replaces the hydraulic transmission with a multi-degree-of-freedom linkage mechanism, which avoids the high machining accuracy of the hydraulic system and the maintenance cost. High, easy to cause problems such as oil leakage, but the existing controllable mechanism loader mainly relies on the multi-degree-of-freedom linkage mechanism to work. In the past, to control the multi-degree-of-freedom linkage mechanism, it often required The drive control of the same number of control motors not only greatly increases the manufacturing cost, but also increases the complexity of the frame transmission system. These shortcomings restrict the application of multi-degree-of-freedom controllable mechanisms in the field of construction machinery.

Metamorphic mechanism is an important concept proposed by scholars in recent years. It is a new type of mechanism with variable degrees of freedom or variable number of components. In addition to the high scalability and expandability of expandable mechanisms, this type of mechanism can also change the topology. And lead to variable degrees of freedom, with the characteristics of multi-functional stage changes, multi-topological structure changes, and multi-degree-of-freedom changes. It can adapt to different tasks and flexibly apply to different occasions according to changes in functional requirements or environments.

Applying the metamorphic mechanism to the design of the loader will produce a new type of metamorphic mechanism-type loading mechanism, which will enable the loader to play its function to a greater extent.

Contents of the invention

The purpose of the present invention is to provide a mobile controllable loading mechanism with the function of active cell transformation. First, it should have the advantages of large working space, large loading force, and good force of traditional hydraulic loaders, and overcome the maintenance cost of traditional hydraulic loaders. High, high operating noise, high cost of hydraulic components, and insufficient response. The number of active rods should also be reduced to reduce the number of controllable motors and reduce the manufacturing cost of the loading mechanism. At the same time, according to changes in functional requirements or the environment, the configuration can be changed during motion to perform active cell transformation, so that the loading mechanism can adapt to different tasks and be flexibly applied to different occasions.

The present invention achieves the above object through the following technical solutions: a mobile controllable loading mechanism with an active metamorphosis function, including a movable platform, a frame, a boom lifting mechanism, a bucket turning mechanism and two locking devices.

The frame is connected with the movable platform through the twelfth rotating pair.

The boom lifting mechanism is composed of a boom, a first connecting rod, and a second connecting rod. The boom is connected to the frame through the third rotating pair, and one end of the first connecting rod is connected to the frame through the first rotating pair. connected, the other end is connected with the second connecting rod through the second swivel pair, and the second connecting rod is connected with the boom through the fourth swivel pair.

The bucket turning mechanism is composed of a first active rod, a third connecting rod, a fourth connecting rod, and a fifth connecting rod. One end of the first active rod is connected to the frame through the eleventh rotating pair, and the other end is The tenth rotating pair is connected to the third connecting rod, the third connecting rod is connected to the fourth connecting rod through the ninth rotating pair, the fourth connecting rod is connected to the boom through the fifth rotating pair, and the other end is connected to the boom through the sixth rotating pair. The fifth connecting rod is connected, and the other end of the fifth connecting rod is connected with the bucket through the eighth rotating pair.

The two locking devices are installed on the second rotating pair and the sixth rotating pair respectively, and are locked in time according to different working conditions of the loading mechanism.

The first active lever is driven by a servo motor.

In the mobile controllable loading mechanism with active cell transformation function, in each loading condition, when the boom is raised, the locking device is opened, the second rotating pair restores the degree of freedom, and the locking device is locked. The sixth The rotating pair loses the degree of freedom, and at this moment, the boom is lifted under the action of the first active lever. When the bucket is turned over independently, the locking device is opened, the sixth rotating pair restores the degree of freedom, the locking device is locked, the second rotating pair loses the degree of freedom, and the boom loses the degree of freedom relative to the frame. At this time, the bucket is in the first active position. Turning is realized under the drive of the rod. During the whole loading operation process, the locking device is properly locked and opened according to different operating conditions to complete the loading operation.

The outstanding advantages of the present invention are:

1. The invention uses connecting rod transmission instead of hydraulic transmission, which solves the shortcomings of traditional loaders such as high maintenance cost, high cost of hydraulic components, and large operating noise;

2. The present invention realizes the active transformation function of the loading mechanism by installing a locking device on the connecting rod mechanism, so that the loading mechanism can lock some revolving pairs according to different working conditions, and timely reduces the degree of freedom of the loading mechanism, thereby reducing the possibility of Control the number of motors used. Compared with other multi-degree-of-freedom controllable loading mechanisms, this invention can use one controllable motor to complete two-degree-of-freedom loading operations, which not only greatly reduces the cost of the controllable loading mechanism, but also reduces the complexity of the frame transmission system , the invention and technology are more applicable to the manufacture of various types of loaders and other construction machinery;

3. The driving mode of the active parts of this new loading mechanism is flexible and changeable, and the driving forms such as servo motor drive and hybrid drive can be selected. It is not only environmentally friendly, but also easy to realize remote control and reduce labor intensity of workers.

Description of drawings

Fig. 1 is a structural schematic diagram of the present invention.

Fig. 2 is a schematic diagram of the movable platform of the present invention.

Fig. 3 is a schematic diagram of the locking device of the present invention.

Fig. 4 is a schematic diagram of the boom lifting mechanism of the present invention.

Fig. 5 is a schematic diagram of the bucket turning mechanism of the present invention.

Fig. 6 is a working diagram of the present invention.

Detailed ways

The technical solutions of the present invention will be further described below through the accompanying drawings and embodiments.

Referring to Fig. 1, Fig. 2 and Fig. 3, a mobile controllable loading mechanism with an active metamorphosis function according to the present invention includes a movable platform 23, a frame 1, a boom lifting mechanism, a bucket turning mechanism and Two locking devices 5,8.

Referring to FIG. 1 and FIG. 2 , the frame 1 is connected to the movable platform 23 through the twelfth rotating pair 24 .

Referring to Fig. 1, Fig. 3 and Fig. 4, the boom lifting mechanism is composed of a boom 9, a first connecting rod 3 and a second connecting rod 6, and the boom 9 is connected with the frame 1 through a third rotating pair 21 , one end of the first connecting rod 3 is connected to the frame 1 through the first rotating pair 2, the other end is connected to the second connecting rod 6 through the second rotating pair 4, and the second connecting rod 6 is connected to the large connecting rod through the fourth rotating pair 22. Arm 9 is connected.

Referring to Fig. 1, Fig. 3 and Fig. 5, the bucket turning mechanism is composed of a first active rod 19, a third connecting rod 17, a fourth connecting rod 15, and a fifth connecting rod 13. One end of the first active rod 19 The eleventh rotating pair 20 is connected to the frame 1, and the other end is connected to the third connecting rod 17 through the tenth rotating pair 18, and the third connecting rod 17 is connected to the fourth connecting rod 15 through the ninth rotating pair 16. The fourth connecting rod 15 is connected to the boom 9 through the fifth rotating pair 14, the other end is connected to the fifth connecting rod 13 through the sixth rotating pair 7, and the other end of the fifth connecting rod 13 is connected to the bucket 11 through the eighth rotating pair 12. connect.

Referring to Fig. 3, the two locking devices 5, 8 are installed on the second rotating pair 4 and the sixth rotating pair 7 respectively, and are locked in time according to different working conditions of the loading mechanism.

Referring to FIG. 1 , the first active rod 19 is driven by a servo motor.

Referring to Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 and Fig. 6, the mobile controllable loading mechanism with the function of active cell transformation is locked when the boom 9 is lifted during each loading condition. The tightening device 5 is opened, the second rotating pair 4 recovers the degree of freedom, the locking device 8 is locked, and the sixth rotating pair 7 loses the degree of freedom. At this time, the boom 9 is lifted under the action of the first active rod 19 . When the bucket 11 turns over alone, the locking device 8 is opened, the sixth rotating pair 7 restores the degree of freedom, the locking device 5 is locked, the second rotating pair 4 loses the degree of freedom, and the boom 9 loses the degree of freedom relative to the frame. The bucket 11 is turned over under the drive of the first active rod 19 . During the whole loading operation process, the locking devices 5 and 8 are properly locked and opened according to different operating conditions to complete the loading operation.

Claims (1)

1. there is the portable controllable loading mechanism initiatively becoming born of the same parents' function, comprise moveable platform, frame, large arm lifting mechanism, bucket turnover mechanism and a locking device, it is characterized in that:

Described frame is connected with moveable platform by the 12 revolute pair;

Described large arm lifting mechanism is made up of large arm, first connecting rod, second connecting rod, described large arm is connected with frame by the 3rd revolute pair, described first connecting rod one end is connected with frame by the first revolute pair, the other end is connected with second connecting rod by the second revolute pair, and second connecting rod is connected with large arm by the 4th revolute pair;

Described bucket turnover mechanism is made up of the first driving lever, third connecting rod, double leval jib, the 5th connecting rod, described first driving lever one end is connected with frame by the 11 revolute pair, the other end is connected with third connecting rod by the tenth revolute pair, third connecting rod is connected with double leval jib by the 9th revolute pair, described double leval jib is connected with large arm by the 5th revolute pair, the other end is connected with the 5th connecting rod by the 6th revolute pair, and the 5th connecting rod other end is connected with scraper bowl by the 8th revolute pair;

Described two locking devices are arranged in the second revolute pair, the 6th revolute pair respectively, and the operating mode different according to loader mechanism is locked in good time;

Described first driving lever is by driven by servomotor.