CN106400862A - High-reliability loader composited with series linkage mechanism - Google Patents
High-reliability loader composited with series linkage mechanism Download PDFInfo
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- CN106400862A CN106400862A CN201610804701.XA CN201610804701A CN106400862A CN 106400862 A CN106400862 A CN 106400862A CN 201610804701 A CN201610804701 A CN 201610804701A CN 106400862 A CN106400862 A CN 106400862A
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- 238000010276 construction Methods 0.000 description 5
- 239000002689 soil Substances 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 235000008733 Citrus aurantifolia Nutrition 0.000 description 1
- 235000011941 Tilia x europaea Nutrition 0.000 description 1
- 239000010426 asphalt Substances 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 239000004567 concrete Substances 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000004571 lime Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/34—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with bucket-arms, i.e. a pair of arms, e.g. manufacturing processes, form, geometry, material of bucket-arms directly pivoted on the frames of tractors or self-propelled machines
- E02F3/3405—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with bucket-arms, i.e. a pair of arms, e.g. manufacturing processes, form, geometry, material of bucket-arms directly pivoted on the frames of tractors or self-propelled machines and comprising an additional linkage mechanism
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Transmission Devices (AREA)
Abstract
串联连杆机构复合高可靠性的装载机，第一连杆一端连接在机架上，另一端与第二连杆一端连接，第二连杆另一端与第三连杆一端连接，第三连杆另一端连接在铲斗上，第四连杆一端连接在机架上，第四连杆另一端与第五连杆一端连接，第五连杆另一端与第六连杆一端连接，第六连杆另一端连接在铲斗上，第一伸缩杆一端连接在机架上，另一端连接在第一连杆上，第二伸缩杆一端连接在机架上，另一端连接在第四连杆上，第三伸缩杆一端连接在机架上，另一端连接在第二滑块上，第二滑块套装在第五连杆上，第四伸缩杆一端连接在第一滑块上，另一端连接在第一滑块上，第一滑块套装在第二连杆上。本发明兼有并联机构累积误差小、刚度大和串联机构工作空间大的优点。
The series link mechanism is combined with a high-reliability loader. One end of the first link is connected to the frame, the other end is connected to one end of the second link, the other end of the second link is connected to one end of the third link, and the third link The other end of the rod is connected to the bucket, one end of the fourth connecting rod is connected to the frame, the other end of the fourth connecting rod is connected to one end of the fifth connecting rod, the other end of the fifth connecting rod is connected to one end of the sixth connecting rod, and the sixth connecting rod The other end of the connecting rod is connected to the bucket, one end of the first telescopic rod is connected to the frame, the other end is connected to the first connecting rod, one end of the second telescopic rod is connected to the frame, and the other end is connected to the fourth connecting rod One end of the third telescopic rod is connected to the frame, the other end is connected to the second slider, the second slider is sleeved on the fifth connecting rod, one end of the fourth telescopic rod is connected to the first slider, and the other end It is connected on the first slider, and the first slider is sleeved on the second connecting rod. The invention has the advantages of small accumulative error of the parallel mechanism, high rigidity and large working space of the series mechanism.
Description
技术领域technical field
本发明涉及机械领域，具体是一种串联连杆机构复合高可靠性的装载机。The invention relates to the field of machinery, in particular to a loader with high reliability combined with a serial link mechanism.
背景技术Background technique
装载机是一种广泛用于公路、铁路、建筑、水电、港口、矿山等建设工程的土石方施工机械，它主要用于铲装土壤、砂石、石灰、煤炭等散状物料，也可对矿石、硬土等作轻度铲挖作业。换装不同的辅助工作装置还可进行推土、起重和其他物料如木材的装卸作业。在道路、特别是在高等级公路施工中，装载机用于路基工程的填挖、沥青混合料和水泥混凝土料场的集料与装料等作业。此外还可进行推运土壤、刮平地面和牵引其他机械等作业。由于装载机具有作业速度快、效率高、机动性好、操作轻便等优点，因此它成为工程建设中土石方施工的主要机种之一。然而，目前的装载机存在故障率较高，可靠性差，易造成较大的关节误差，而且保养维护复杂，造价高，容易出现振动，无力等现象。由于这诸多缺点，现有装载机结构很难兼顾作业灵活性及高精度的特性，很难满足大工作空间、高精度、高可靠性的作业要求。Loader is a kind of earthwork construction machinery widely used in road, railway, construction, hydropower, port, mine and other construction projects. It is mainly used for shoveling bulk materials such as soil, sand, lime, coal, etc. , hard soil, etc. for light shoveling and digging operations. It can also carry out bulldozing, lifting and loading and unloading of other materials such as wood by changing different auxiliary working devices. In the construction of roads, especially high-grade highways, loaders are used for filling and excavation of roadbed engineering, asphalt mixture and aggregate and loading of cement concrete yards. Still can undertake pushing ground of carry soil, strickle and drawing in addition the exercise such as other machine. Because fork-lift truck has operating speed fast, efficiency tall, maneuverability good, operation is light wait for an advantage, the main machine that accordingly it makes construction of the cubic metro of earth and stone in project is planted one of. However, the current loader has a high failure rate, poor reliability, and easily causes large joint errors, and the maintenance is complicated, the cost is high, and it is prone to vibration and weakness. Due to these shortcomings, it is difficult for the existing loader structure to take into account the characteristics of operation flexibility and high precision, and it is difficult to meet the operation requirements of large working space, high precision and high reliability.
发明内容Contents of the invention
本发明针对现有技术的不足，提供一种串联连杆机构复合高可靠性的装载机。The invention aims at the deficiencies of the prior art, and provides a loader with high reliability combined with series link mechanism.
为了实现上述目的，本发明采用了以下技术方案：In order to achieve the above object, the present invention adopts the following technical solutions:
包括第一连杆、第二连杆、第三连杆、第四连杆、第五连杆、第六连杆、第一伸缩杆、第二伸缩杆、第三伸缩杆、第一滑块、第四伸缩杆、第二滑块、第五伸缩杆、第七连杆、第八连杆、第六伸缩杆、第九连杆、第十连杆、第七伸缩杆、铲斗和机架，Including the first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod, the fifth connecting rod, the sixth connecting rod, the first telescopic rod, the second telescopic rod, the third telescopic rod, and the first slider , the fourth telescopic rod, the second slider, the fifth telescopic rod, the seventh connecting rod, the eighth connecting rod, the sixth telescopic rod, the ninth connecting rod, the tenth connecting rod, the seventh telescopic rod, the bucket and the machine shelf,
第一连杆一端通过转动副一连接在机架上，第一连杆另一端通过转动副二与第二连杆一端连接，第二连杆另一端通过转动副三与第三连杆一端连接，第三连杆另一端通过转动副四连接在铲斗上，One end of the first connecting rod is connected to the frame through rotating pair one, the other end of the first connecting rod is connected to one end of the second connecting rod through rotating pair two, and the other end of the second connecting rod is connected to one end of the third connecting rod through rotating pair three , the other end of the third connecting rod is connected to the bucket through the rotating joint four,
第四连杆一端通过转动副五连接在机架上，第四连杆另一端通过转动副六与第五连杆一端连接，第五连杆另一端通过转动副七与第六连杆一端连接，第六连杆另一端通过转动副八连接在铲斗上，One end of the fourth connecting rod is connected to the frame through rotating joint five, the other end of the fourth connecting rod is connected to one end of the fifth connecting rod through rotating joint six, and the other end of the fifth connecting rod is connected to one end of the sixth connecting rod through rotating joint seven , the other end of the sixth connecting rod is connected to the bucket through the rotating pair eight,
第一伸缩杆一端通过转动副九连接在机架上，另一端通过转动副十连接在第一连杆上，One end of the first telescopic rod is connected to the frame through the rotating pair nine, and the other end is connected to the first connecting rod through the rotating pair ten.
第二伸缩杆一端通过转动副十一连接在机架上，另一端通过转动副十二连接在第四连杆上，One end of the second telescopic rod is connected to the frame through the rotation joint eleven, and the other end is connected to the fourth connecting rod through the rotation joint twelve,
第三伸缩杆一端通过转动副十三连接在机架上，另一端通过转动副十四连接在第二滑块上，第二滑块套装在第五连杆上，One end of the third telescopic rod is connected to the frame through the rotation joint 13, and the other end is connected to the second slider through the rotation joint 14, and the second slider is sleeved on the fifth connecting rod.
第四伸缩杆一端通过转动副十五连接在第一滑块上，另一端通过转动副十六连接在第一滑块上，第一滑块套装在第二连杆上，One end of the fourth telescopic rod is connected to the first slider through the turning joint fifteen, and the other end is connected to the first sliding block through the turning joint sixteen, and the first sliding block is sleeved on the second connecting rod.
第五伸缩杆一端通过转动副十七连接在第二连杆上，另一端通过转动副十八与第七连杆一端连接，第七连杆另一端通过转动副十九与第八连杆一端连接，第八连杆另一端通过转动副二十连接在第三连杆上，第七连杆中部通过转动副二十一连接在第二连杆上，One end of the fifth telescopic rod is connected to the second connecting rod through the seventeenth rotating pair, the other end is connected to one end of the seventh connecting rod through the eighteenth rotating pair, and the other end of the seventh connecting rod is connected to one end of the eighth connecting rod through the nineteenth rotating pair The other end of the eighth connecting rod is connected to the third connecting rod through the rotation joint 20, and the middle part of the seventh connecting rod is connected to the second connecting rod through the rotation joint 21.
第六伸缩杆一端通过转动副二十二连接在第四连杆上，另一端通过转动副二十三与第九连杆一端连接，第九连杆另一端通过转动副二十四与第十连杆一端连接，第十连杆另一端通过转动副二十五连接在第六连杆上，第九连杆中部通过转动副二十六连接在第三连杆上，One end of the sixth expansion rod is connected to the fourth connecting rod through the twenty-two rotating pair, the other end is connected to one end of the ninth connecting rod through the twenty-three rotating pair, and the other end of the ninth connecting rod is connected to the tenth connecting rod through the twenty-fourth rotating pair. One end of the connecting rod is connected, the other end of the tenth connecting rod is connected to the sixth connecting rod through the twenty-five rotating joint, and the middle part of the ninth connecting rod is connected to the third connecting rod through the twenty-six rotating joint.
第七伸缩杆一端通过转动副二十七连接在第二连杆上，另一端通过转动副二十八连接在第一滑块上。One end of the seventh telescopic rod is connected on the second connecting rod by the twenty-seventh swivel pair, and the other end is connected on the first slide block by the twenty-eight swivel pair.
与现有技术相比较，本发明具备的有益效果：Compared with the prior art, the present invention has the beneficial effects:
采用串并联机构，兼有并联机构累积误差小、刚度大和串联机构工作空间大的优点，使机器人拥有几乎无限大的工作空间和高度的运动冗余性，并同时具有移动和操作性能，在代替人从事危险、恶劣环境下作业和人所不及的环境作业方面，有更大的机动性、灵活性，能作用于更多的场合。The series-parallel mechanism has the advantages of small cumulative error, high rigidity and large working space of the series mechanism, so that the robot has almost infinite working space and high motion redundancy, and has the ability to move and operate at the same time. People have greater mobility and flexibility when working in dangerous and harsh environments and in environments that are beyond the reach of humans, and can be used in more occasions.
附图说明Description of drawings
图1为本发明所述的串联连杆机构复合高可靠性的装载机的结构示意图一。FIG. 1 is a structural schematic diagram of a loader with high reliability combined with a series link mechanism according to the present invention.
图2为本发明所述的串联连杆机构复合高可靠性的装载机的结构示意图二。FIG. 2 is a second schematic structural view of a loader with a high reliability combined with a series link mechanism according to the present invention.
具体实施方式detailed description
下面通过实施例对本发明的技术方案作进一步阐述。The technical solution of the present invention will be further elaborated below through examples.
实施例1Example 1
串联连杆机构复合高可靠性的装载机，包括第一连杆31、第二连杆32、第三连杆33、第四连杆34、第五连杆35、第六连杆36、第一伸缩杆37、第二伸缩杆38、第三伸缩杆39、第一滑块40、第四伸缩杆41、第二滑块42、第五伸缩杆43、第七连杆44、第八连杆45、第六伸缩杆46、第九连杆47、第十连杆48、第七伸缩杆53、铲斗49和机架50，A loader with high reliability combined with a series link mechanism, including a first link 31, a second link 32, a third link 33, a fourth link 34, a fifth link 35, a sixth link 36, a One telescopic rod 37, the second telescopic rod 38, the third telescopic rod 39, the first slider 40, the fourth telescopic rod 41, the second slider 42, the fifth telescopic rod 43, the seventh connecting rod 44, the eighth connecting rod Rod 45, the sixth telescopic rod 46, the ninth connecting rod 47, the tenth connecting rod 48, the seventh telescopic rod 53, the bucket 49 and the frame 50,
第一连杆31一端通过转动副一1连接在机架50上，第一连杆31另一端通过转动副二2与第二连杆32一端连接，第二连杆32另一端通过转动副三3与第三连杆33一端连接，第三连杆33另一端通过转动副四4连接在铲斗49上，One end of the first connecting rod 31 is connected on the frame 50 through the first connecting rod 1, the other end of the first connecting rod 31 is connected with one end of the second connecting rod 32 through the rotating pair 2, and the other end of the second connecting rod 32 is connected through the rotating pair three. 3 is connected to one end of the third connecting rod 33, and the other end of the third connecting rod 33 is connected to the bucket 49 through the rotating pair 44,
第四连杆34一端通过转动副五5连接在机架50上，第四连杆34另一端通过转动副六6与第五连杆35一端连接，第五连杆35另一端通过转动副七7与第六连杆36一端连接，第六连杆36另一端通过转动副八8连接在铲斗49上，One end of the fourth connecting rod 34 is connected on the frame 50 through the rotating joint five 5, the other end of the fourth connecting rod 34 is connected with one end of the fifth connecting rod 35 through the rotating joint six 6, and the other end of the fifth connecting rod 35 is connected through the rotating joint seven. 7 is connected to one end of the sixth connecting rod 36, and the other end of the sixth connecting rod 36 is connected to the bucket 49 through the rotating pair eight 8,
第一伸缩杆37一端通过转动副九9连接在机架50上，另一端通过转动副十10连接在第一连杆31上，One end of the first telescopic rod 37 is connected to the frame 50 through the rotating pair nine 9, and the other end is connected to the first connecting rod 31 through the rotating pair ten 10,
第二伸缩杆38一端通过转动副十一11连接在机架50上，另一端通过转动副十二12连接在第四连杆34上，One end of the second telescopic rod 38 is connected to the frame 50 through the rotation pair eleven 11, and the other end is connected to the fourth connecting rod 34 through the rotation pair twelve 12,
第三伸缩杆39一端通过转动副十三13连接在机架50上，另一端通过转动副十四14连接在第二滑块42上，第二滑块42套装在第五连杆35上，One end of the third telescopic rod 39 is connected to the frame 50 through the rotation pair 13 13, and the other end is connected to the second slider 42 through the rotation pair 14 14, and the second slider 42 is sleeved on the fifth connecting rod 35.
第四伸缩杆41一端通过转动副十五15连接在第一滑块40上，另一端通过转动副十六16连接在第一滑块40上，第一滑块40套装在第二连杆32上，One end of the fourth telescopic rod 41 is connected to the first slider 40 through the rotation pair fifteen 15, and the other end is connected to the first slider 40 through the rotation pair sixteen 16, and the first slider 40 is sleeved on the second connecting rod 32 superior,
第五伸缩杆43一端通过转动副十七17连接在第二连杆32上，另一端通过转动副十八18与第七连杆44一端连接，第七连杆44另一端通过转动副十九19与第八连杆45一端连接，第八连杆45另一端通过转动副二十20连接在第三连杆33上，第七连杆44中部通过转动副二十一21连接在第二连杆32上，One end of the fifth telescopic rod 43 is connected to the second connecting rod 32 through the rotating pair seventeen 17, and the other end is connected to one end of the seventh connecting rod 44 through the rotating pair eighteen 18, and the other end of the seventh connecting rod 44 is connected through the rotating pair nineteen. 19 is connected to one end of the eighth connecting rod 45, and the other end of the eighth connecting rod 45 is connected to the third connecting rod 33 through the rotating joint 20 20, and the middle part of the seventh connecting rod 44 is connected to the second connecting rod 44 through the rotating joint 21 21. on rod 32,
第六伸缩杆46一端通过转动副二十二22连接在第四连杆34上，另一端通过转动副二十三23与第九连杆47一端连接，第九连杆47另一端通过转动副二十四24与第十连杆48一端连接，第十连杆48另一端通过转动副二十五25连接在第六连杆36上，第九连杆47中部通过转动副二十六26连接在第三连杆33上，One end of the sixth telescopic rod 46 is connected to the fourth connecting rod 34 through the turning pair twenty-two 22, and the other end is connected to one end of the ninth connecting rod 47 through the turning pair twenty-three 23, and the other end of the ninth connecting rod 47 is passed through the turning pair Twenty-four 24 is connected to one end of the tenth connecting rod 48, the other end of the tenth connecting rod 48 is connected to the sixth connecting rod 36 through the rotating pair twenty-five 25, and the middle part of the ninth connecting rod 47 is connected through the rotating pair twenty-six 26 On the third link 33,
第七伸缩杆53一端通过转动副二十七51连接在第二连杆32上，另一端通过转动副二十八连接52在第一滑块40上。One end of the seventh telescopic rod 53 is connected to the second connecting rod 32 through the twenty-seventh rotation pair 51 , and the other end is connected to the first slider 40 through the twenty-eighth rotation pair 52 .
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| CN104612189A (en) * | 2014-12-25 | 2015-05-13 | 广西大学 | Rotatable type multi-freedom-degree controllable excavating mechanism with active cell changing function |
| CN105252521A (en) * | 2015-11-20 | 2016-01-20 | 覃煦 | Multiple-degree-of-freedom industrial robot manipulator |
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| DE102004027203B4 (en) * | 2004-03-29 | 2010-01-14 | Komatsu Hanomag Gmbh | working vehicle |
| CN101666104A (en) * | 2009-09-30 | 2010-03-10 | 广西大学 | Excavating mechanism of controllable planar three degree of freedom |
| CN201901888U (en) * | 2010-12-10 | 2011-07-20 | 广西大学 | Loading mechanism with metamorphic function |
| CN104612189A (en) * | 2014-12-25 | 2015-05-13 | 广西大学 | Rotatable type multi-freedom-degree controllable excavating mechanism with active cell changing function |
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Application publication date: 20170215 |