Three-freedom-degree connection rod working device for heavy load
A technology of working device and degrees of freedom, applied in the direction of mechanically driven excavators/dredgers, etc., can solve the problems affecting the working efficiency of mechanical equipment, low carrying capacity, large working space, etc., to simplify motion analysis, high carrying capacity, The effect of a large workspace
Inactive Publication Date: 2014-05-14
YANSHAN UNIV
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Problems solved by technology
However, most of the existing connecting rod working devices have their own advantages and disadvantages. Some have large working space but low carrying capacity; on the contrary, those with high carrying capacity have small working space.
Thereby affecting the working efficiency of mechanical equipment
Method used
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[0013] exist figure 1 In the three-dimensional schematic diagram of a three-degree-of-freedom connecting rod working device for heavy load shown in the figure, three pairs of symmetrical bases are arranged on the frame 1, wherein a pair of bases at one end of the frame 1 connects with a hinge R10 The end of the cylinder liner of the arm cylinder 8 is connected, and the end of the piston rod of the arm cylinder is connected with one end of the arm 3 and the end of the piston rod of the boom cylinder 9 through a hinge R9 to form a composite hinge. The end of the cylinder liner is connected to the boom 2 through the hinge R11, the other end of the above-mentioned small arm is connected to a part of the end effector 4 through the hinge R4, and the lower end of the above-mentioned boom is connected to a pair of bases in the middle of the base through the hinge R1 , the upper end of which is connected to the middle part of the forearm through the hinge R3, the end of the cylinder li...
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The invention relates to a three-freedom-degree connection rod working device for heavy load. Three pairs of symmetric bases are arranged on a rack, wherein the bases at one end of the rack are connected with a sleeve of a small arm oil cylinder, a piston rod of the small arm oil cylinder is connected with one end of a small arm and a piston rod of a large arm oil cylinder to form complex hinge, a sleeve of the large arm oil cylinder is connected with a large arm, the other end of the small arm is connected with a part of an end executor, one end of the large arm is connected with the base at the middle of a pedestal, the other end of the large arm is connected with the middle of the small arm, and a sleeve of an oil cylinder of the end executor is connected with another part of the end executor; the piston rod of the oil cylinder of the end executor is connected with a rocking bar, and the rocking bar is hinged at the middle of the large arm; and the rocking bar is connected with one end of a pulling rod, and the other end of the pulling rod is connected with the bases at the other end of the rack. The three-freedom-degree connection rod working device for the heavy load, disclosed by the invention, has the advantages of large working space, strong bearing capability, easiness for forward and inverse kinematics and convenience for controlling in real time.
Description
technical field [0001] The invention relates to a link mechanism, in particular to a heavy-duty three-degree-of-freedom link working device. Background technique [0002] Mechanism is the core of machinery and equipment, and the innovation of mechanism has always been the key to the innovation of machinery and equipment. It is very important to develop corresponding institutions with independent intellectual property rights to improve the core competitiveness of the technological level of my country's machinery and equipment. To realize functional working devices such as excavation, loading, and handling, it is more common to use linkage mechanisms. Chinese patent CN2559619Y relates to a loader forward rotating eight-link mechanism; Chinese patent CN201687021U relates to a loader forward rotating six-bar mechanism. In addition, common excavator working mechanisms are also composed of connecting rods. However, most of the existing connecting rod working devices have their ow...
Claims
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IPC IPC(8): E02F3/38E02F3/42
Inventor 丁华锋曹文熬杨凤霞陈谊超付鸿晔
Owner YANSHAN UNIV