CN102561425A - Four-degree-of-freedom connecting rod working mechanism containing composite hinges - Google Patents
Four-degree-of-freedom connecting rod working mechanism containing composite hinges Download PDFInfo
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- CN102561425A CN102561425A CN2011104443077A CN201110444307A CN102561425A CN 102561425 A CN102561425 A CN 102561425A CN 2011104443077 A CN2011104443077 A CN 2011104443077A CN 201110444307 A CN201110444307 A CN 201110444307A CN 102561425 A CN102561425 A CN 102561425A
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Abstract
The invention discloses a four-degree-of-freedom connecting rod working mechanism containing composite hinges. A base is connected with a track moving device through a rotating device, three pairs of parallel and symmetrical pedestals are arranged on the base, a pair of pedestals in the middle is hinged with one end of a large arm, the other end of the large arm is hinged with the middle part of a small arm, and one end of the small arm is hinged with an end actuator; the other end of the small arm is hinged with a piston rod of a small arm cylinder, and a cylinder sleeve of the small arm cylinder is hinged with the pedestals at one end of the base; the pedestals at the other end of the base are hinged with one end of a pull rod; the pull rod, a piston rod of a large arm cylinder and the middle part of a rocker are respectively connected through hinges to form two composite hinges distributed symmetrically; a cylinder sleeve of the large arm cylinder is hinged with the large arm, and one end of the rocker is hinged with the middle part of the large arm; and the other end of the rocker is hinged with a cylinder sleeve of an end actuator cylinder, and a piston rod of the end actuator cylinder is hinged with the end actuator. The working mechanism has the advantages of high rigidity, large working space, strong bearing capacity and convenience and instantaneity in control.
Description
Technical field
The present invention relates to a kind of a kind of mechanism innovation of mechanical arm, design a kind of innovation of connecting rod operating mechanism of the four-degree-of-freedom that contains multiple hinge especially.
Background technology
Mechanism is the core of machine equipment, and the innovation of mechanism is the key of machine equipment innovation always, and it is extremely important to the scientific and technological level core competitiveness that improves China's mechanized equipment that exploitation has the mechanism of independent intellectual property right accordingly.Realize function operation devices such as excavation, loading, carrying, it is comparatively general to use linkage.Chinese patent CN2559619Y relates to a kind of loader is just changeing eight connecting rod operating mechanisms; Chinese patent CN201687021U relates to a kind of loader is just changeing six-bar mechanism, and in addition, common excavator operating mechanism also is that connecting rod is formed.Yet existing connecting rod equipment mostly has pluses and minuses separately, and the working space that has is big, but supporting capacity is low; Otherwise supporting capacity is high, and working space is again little, thereby has influenced the operating efficiency of mechanized equipment.
Summary of the invention
It is higher to the purpose of this invention is to provide a kind of rigidity, and working space is big, the four-degree-of-freedom connecting rod operating mechanism of containing multiple hinge that supporting capacity is strong.Base is connected with the caterpillar drive device through slewing equipment; Base is provided with the pedestal of three pairs of parallel symmetries; Pair of base wherein is connected through the end of hinge with big arm; The other end of this big arm is connected with the forearm middle part through hinge, and an end of this forearm is connected with a position of end effector through hinge; The other end of above-mentioned forearm is connected with the piston rod end of a pair of forearm oil cylinder through hinge, and the cylinder sleeve end of this forearm oil cylinder is connected with the pair of base of base one end through hinge, and above-mentioned a pair of forearm oil cylinder can be replaced by a bigger forearm oil cylinder of specification; The pair of base of the base other end is connected with an end of a pair of pull bar through hinge, and the piston rod end of the other end of this a pair of pull bar and a pair of big arm oil cylinder and the middle part of a pair of rocking bar are connected through the hinge respectively and form the multiple hinge of two symmetrical distributions; The cylinder sleeve end of above-mentioned big arm oil cylinder is connected through the hinge with a position of big arm, and an end of above-mentioned a pair of rocking bar is connected through the hinge in the both sides, middle part of big arm; The above-mentioned rocking bar other end is connected with the cylinder sleeve end of a pair of end effector oil cylinder through hinge, and the piston rod end of this end effector oil cylinder is connected with another position of end effector through hinge.Also can be; The cylinder sleeve end of above-mentioned a pair of end effector oil cylinder and an end of a pair of rocking bar are connected through the hinge respectively and form the multiple hinge of two symmetrical distributions in the both sides, middle part of big arm; The other end of above-mentioned rocking bar is connected with an end of pull bar through hinge, and the annexation of other rod member is constant.The interchangeable position of the piston rod of above-mentioned each oil cylinder and cylinder sleeve.
The present invention is that the plane mechanism by two symmetrical, parallel constitutes from the base to the end effector, each plane mechanism, and end effector all is 4 to the degree of freedom of telecontrol equipment.Guaranteeing that the shape and size of each rod member can change under the constant situation of rod member number and annexation.
The present invention compared with prior art has following advantage:
(1) working space is big, and supporting capacity is high, helps improving loading armament-related work efficient.
(2) can realize multiple function, be applied to different occasions, like the weight carrying, heavy duty excavation etc.
(3) appropriate design compound hinges, simplified the analysis and the size design of mechanism.
Description of drawings
Fig. 1 is the three-dimensional simplified schematic diagram of the embodiment of the invention 1.
Fig. 2 is the multiple hinge position simplified schematic diagram of Fig. 1.
Fig. 3 is the three-dimensional simplified schematic diagram of the excavation user mode of the embodiment of the invention 1.
Fig. 4 is the three-dimensional simplified schematic diagram of the extracting user mode of the embodiment of the invention 1.
Fig. 5 is the three-dimensional simplified schematic diagram of the embodiment of the invention 2.
In the accompanying drawing, 1-base, 2-forearm oil cylinder, 3-forearm, 4-end effector, 5-end effector oil cylinder, 6-rocking bar, 7-pull bar, the big arm oil cylinder of 8-, the big arm of 9-.
The specific embodiment
In the three-dimensional simplified schematic diagram of a kind of four-degree-of-freedom connecting rod embodiment of operating mechanism 1 that contains multiple hinge shown in Figure 1; Base 1 is connected with caterpillar drive device 10 through slewing equipment; Base is provided with the pedestal of three pairs of parallel symmetries; Pair of base wherein is connected with big arm 9 bottoms through hinge R7, and the top of this big arm is connected with forearm 3 middle parts through hinge R10, and an end of this forearm is connected with a position of end effector 4 through hinge R3; The other end of above-mentioned forearm is connected with the piston rod end of a pair of forearm oil cylinder 2 through hinge R2, and the cylinder sleeve end of this forearm oil cylinder is connected with the pair of base of base one end through hinge R1; The pair of base of the base other end is connected with an end of a pair of pull bar 7 through hinge R5; The piston rod end of this a pair of pull bar and a pair of big arm oil cylinder 8 and the middle part of a pair of rocking bar 6 are connected the multiple hinge that forms two symmetrical distributions through hinge R9 respectively, and be as shown in Figure 2; The cylinder sleeve end of this big arm oil cylinder is connected with big arm middle part through hinge R6; One end of above-mentioned rocking bar is connected the both sides at big arm middle part through hinge R8; The other end of this rocking bar is connected with the end of the cylinder sleeve of a pair of end effector oil cylinder 5 through hinge R11, and the end of the piston rod of this end effector oil cylinder is connected with end effector through hinge R4.
In the three-dimensional simplified schematic diagram of the excavation user mode of the embodiment of the invention shown in Figure 31, end effector is the scraper bowl structure, and other rod member annexation is identical with Fig. 1.
In the three-dimensional simplified schematic diagram of the extracting user mode of the embodiment of the invention shown in Figure 41, end effector is the handgrip structure that is installed, and other rod member annexation is identical with Fig. 1.
In the three-dimensional simplified schematic diagram of a kind of four-degree-of-freedom connecting rod embodiment of operating mechanism 2 that contains multiple hinge shown in Figure 5; The cylinder sleeve end of a pair of end effector oil cylinder 5 and an end of a pair of rocking bar 6 are connected the both sides at big arm 9 middle parts respectively through hinge R9; Form the multiple hinge of two symmetrical distributions; The other end of above-mentioned rocking bar is connected the same Fig. 1 of the annexation of other members through hinge R11 with the end of pull bar.
Claims (4)
1. four-degree-of-freedom connecting rod operating mechanism of containing multiple hinge; It is characterized in that: base (1) is connected with caterpillar drive device (10) through slewing equipment; Base (1) is provided with the pedestal of three pairs of parallel symmetries; Pair of base wherein is connected through the end of hinge with big arm (9); The other end of this big arm (9) is connected with forearm (3) middle part through hinge; One end of this forearm (3) is connected with a position of end effector (4) through hinge, and the other end of above-mentioned forearm (3) is connected with the piston rod end of a pair of forearm oil cylinder (2) through hinge, and the cylinder sleeve end of this forearm oil cylinder (2) is connected with the pair of base of base (1) one end through hinge; The pair of base of base (1) other end is connected with an end of a pair of pull bar (7) through hinge; The piston rod end of this a pair of pull bar (7) and a pair of big arm oil cylinder (8) and the middle part of a pair of rocking bar (6) are connected through the hinge respectively and form the multiple hinge of two symmetrical distributions; The cylinder sleeve end of above-mentioned big arm oil cylinder (8) is connected through the position of hinge with big arm (9); One end of above-mentioned a pair of rocking bar (6) is connected through the hinge in the both sides, middle part of big arm (9); Above-mentioned rocking bar (6) other end is connected with the cylinder sleeve end of a pair of end effector oil cylinder (5) through hinge, and the piston rod end of this end effector oil cylinder (5) is connected with another position of end effector (4) through hinge.
2. a kind of four-degree-of-freedom connecting rod operating mechanism of containing multiple hinge according to claim 1; It is characterized in that: the cylinder sleeve end of the both sides, middle part of above-mentioned big arm (9) and a pair of end effector oil cylinder (5) and an end of a pair of rocking bar (6) are connected through the hinge respectively and form the multiple hinge of two symmetrical distributions, and the other end of above-mentioned rocking bar (6) is connected with an end of pull bar (7) through hinge.
3. the four-degree-of-freedom connecting rod operating mechanism of containing multiple hinge according to claim 1 and 2 is characterized in that: above-mentioned a pair of forearm oil cylinder (2) can be replaced by a bigger forearm oil cylinder of specification.
4. the four-degree-of-freedom connecting rod operating mechanism of containing multiple hinge according to claim 1 and 2 is characterized in that: the interchangeable position of the piston rod of above-mentioned each oil cylinder and cylinder sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110444307.7A CN102561425B (en) | 2011-12-27 | 2011-12-27 | Four-degree-of-freedom connecting rod working mechanism containing composite hinges |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110444307.7A CN102561425B (en) | 2011-12-27 | 2011-12-27 | Four-degree-of-freedom connecting rod working mechanism containing composite hinges |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102561425A true CN102561425A (en) | 2012-07-11 |
| CN102561425B CN102561425B (en) | 2014-04-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201110444307.7A Expired - Fee Related CN102561425B (en) | 2011-12-27 | 2011-12-27 | Four-degree-of-freedom connecting rod working mechanism containing composite hinges |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103726529A (en) * | 2013-12-16 | 2014-04-16 | 广西大学 | High-rigidity nine-link controllable mechanical loading mechanism |
| CN103741736A (en) * | 2013-12-16 | 2014-04-23 | 广西大学 | Mechanical loading mechanism of nine-rod two-freedom-degree forward-turning bucket |
| CN103741734A (en) * | 2013-12-16 | 2014-04-23 | 广西大学 | Forwards-overturning night-rod two-freedom-degree mechanical loading mechanism |
| CN104594411A (en) * | 2014-12-25 | 2015-05-06 | 广西大学 | Seven-rod two-degree-of-freedom controllable mechanism type loading mechanism |
| CN111042238A (en) * | 2019-12-19 | 2020-04-21 | 中国地质大学（武汉） | Face shovel excavating mechanism capable of optimizing excavating force |
| CN111042241A (en) * | 2019-12-19 | 2020-04-21 | 中国地质大学（武汉） | Face shovel excavating and loading device capable of increasing bucket stroke requirement |
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| US2560674A (en) * | 1947-12-19 | 1951-07-17 | Marion Machine Company | Overhead loader for vehicles |
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| CN201003174Y (en) * | 2007-02-01 | 2008-01-09 | 陕西新黄工机械有限责任公司 | Hydraulic transmission crawler loader |
| CN201280730Y (en) * | 2008-10-24 | 2009-07-29 | 常林股份有限公司 | Loader working mechanism capable of automatically setting level |
| CN201687021U (en) * | 2010-05-21 | 2010-12-29 | 厦门厦工机械股份有限公司 | Loading machine positive rotation six-link mechanism |
| CN201843153U (en) * | 2010-11-05 | 2011-05-25 | 斗山工程机械（山东）有限公司 | Loader and working mechanism thereof |
| CN201901889U (en) * | 2010-12-22 | 2011-07-20 | 辽宁鑫丰矿电设备制造有限公司 | Mining hydraulic excavating machine |
| CN202430761U (en) * | 2011-12-27 | 2012-09-12 | 燕山大学 | Four-degree-of-freedom link operating mechanism with compound hinges |
-
2011
- 2011-12-27 CN CN201110444307.7A patent/CN102561425B/en not_active Expired - Fee Related
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2560674A (en) * | 1947-12-19 | 1951-07-17 | Marion Machine Company | Overhead loader for vehicles |
| DE2551120A1 (en) * | 1974-11-18 | 1976-05-26 | Komatsu Mfg Co Ltd | DEVICE FOR ACTIVATING THE SHOVEL OF A MOBILE SHOVEL LOADER |
| DE2646415A1 (en) * | 1975-11-10 | 1977-09-22 | Int Harvester Co | ADJUSTMENT DEVICE FOR FRONT LOADER ARTICULATED ON TRACTOR FRAME |
| JPH0881979A (en) * | 1994-09-09 | 1996-03-26 | Kubota Corp | Backhoe |
| JP3487455B2 (en) * | 1994-12-12 | 2004-01-19 | 株式会社小松製作所 | Hydraulic excavator with arm with built-in breaker |
| CN1166558A (en) * | 1996-04-29 | 1997-12-03 | 哈尼施费格尔公司 | Surface mining shovel |
| CA2254204A1 (en) * | 1998-05-12 | 1999-11-12 | Fki Fai Komatsu Industries S.P.A. | Improved shovel arm for earth-moving vehicles |
| CN2559619Y (en) * | 2002-08-20 | 2003-07-09 | 徐州装载机厂 | Corotation eight link working mechanism for loader |
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| CN201901889U (en) * | 2010-12-22 | 2011-07-20 | 辽宁鑫丰矿电设备制造有限公司 | Mining hydraulic excavating machine |
| CN202430761U (en) * | 2011-12-27 | 2012-09-12 | 燕山大学 | Four-degree-of-freedom link operating mechanism with compound hinges |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103726529A (en) * | 2013-12-16 | 2014-04-16 | 广西大学 | High-rigidity nine-link controllable mechanical loading mechanism |
| CN103741736A (en) * | 2013-12-16 | 2014-04-23 | 广西大学 | Mechanical loading mechanism of nine-rod two-freedom-degree forward-turning bucket |
| CN103741734A (en) * | 2013-12-16 | 2014-04-23 | 广西大学 | Forwards-overturning night-rod two-freedom-degree mechanical loading mechanism |
| CN104594411A (en) * | 2014-12-25 | 2015-05-06 | 广西大学 | Seven-rod two-degree-of-freedom controllable mechanism type loading mechanism |
| CN111042238A (en) * | 2019-12-19 | 2020-04-21 | 中国地质大学（武汉） | Face shovel excavating mechanism capable of optimizing excavating force |
| CN111042241A (en) * | 2019-12-19 | 2020-04-21 | 中国地质大学（武汉） | Face shovel excavating and loading device capable of increasing bucket stroke requirement |
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| Publication number | Publication date |
|---|---|
| CN102561425B (en) | 2014-04-16 |
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Granted publication date: 20140416 Termination date: 20161227 |