CN114962380A - Luffing mechanism, arm support system and robot - Google Patents
Luffing mechanism, arm support system and robot Download PDFInfo
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- CN114962380A CN114962380A CN202210569113.8A CN202210569113A CN114962380A CN 114962380 A CN114962380 A CN 114962380A CN 202210569113 A CN202210569113 A CN 202210569113A CN 114962380 A CN114962380 A CN 114962380A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 105
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 44
- 210000001503 joint Anatomy 0.000 claims description 2
- 230000009189 diving Effects 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 239000003921 oil Substances 0.000 description 37
- 238000000034 method Methods 0.000 description 12
- 230000009471 action Effects 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 238000003466 welding Methods 0.000 description 4
- 230000008602 contraction Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F5/00—Sewerage structures
- E03F5/22—Adaptations of pumping plants for lifting sewage
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B53/00—Component parts, details or accessories not provided for in, or of interest apart from, groups F04B1/00 - F04B23/00 or F04B39/00 - F04B47/00
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A20/00—Water conservation; Efficient water supply; Efficient water use
- Y02A20/20—Controlling water pollution; Waste water treatment
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- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Hydrology & Water Resources (AREA)
- Public Health (AREA)
- Water Supply & Treatment (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
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Abstract
The invention relates to the technical field of emergency equipment, and discloses a luffing mechanism, an arm support system and a robot, which comprise two four-bar linkage mechanisms and a beam assembly which are symmetrically arranged; the four-bar linkage mechanism is used for increasing the horizontal and vertical operating distance of the water pump and improving the operating range of the water pump; the four-bar linkage mechanism comprises a first four-bar linkage mechanism, a second four-bar linkage mechanism and a third four-bar linkage mechanism; the first four-bar linkage mechanism comprises a first rocker, a first connecting rod and a second rocker which are hinged together; the second four-bar linkage comprises a second rocker, a third rocker and a second connecting rod which are hinged together; the third four-bar linkage comprises the second rocker, a second connecting bar, a fourth rocker and a third connecting bar which are hinged together. The invention has the beneficial effects that: the water pump has the functions of forward expansion, diving and the like, is simple and convenient to operate, improves the operation capacity of the water pump, and meets the requirement of drainage operation.
Description
Technical Field
The invention relates to the technical field of emergency equipment, in particular to a luffing mechanism, an arm support system and a robot of a triple quadrilateral luffing mechanism, and particularly relates to a luffing mechanism, an arm support system and a drainage robot of the triple quadrilateral luffing mechanism, which are suitable for emergency rescue.
Background
The frequency of flood disasters outbreak in recent years is accelerated day by day, the loss that the calamity caused is huge, for solving the short and dangerous environment's of underground garage, subway station, culvert tunnel etc. emergent drainage, need research and development an emergent drainage emergency equipment, satisfy drainage operation requirement.
The Chinese patent CN104786905A discloses a crawler pump station, which comprises a crawler chassis, a water suction pipe, a pulley seat, a hydraulic generator with a remote control device and a turning cylinder, wherein one end of the turning cylinder is arranged on the crawler chassis, the other end of the turning cylinder is movably connected with the middle part of a swing rod, one end of the swing rod is movably connected with the crawler chassis, the other end of the swing rod is fixedly connected with the pulley seat into a whole, the pulley seat is in sliding connection with the water suction pipe through a plurality of pulleys, and the pulley seat is also connected with the water suction pipe through a flat push cylinder. Although the invention is suitable for places with smaller working space such as underground garages, alleys and the like and can supply and drain water remotely, the invention also has the following problems: firstly, the invention can realize the extending and sinking of the water pump only by the action of two groups of oil cylinders, so the operation is relatively complex and the required space is larger when the arrangement is carried out; secondly, the invention is limited by the overall dimension of the whole vehicle, the sliding stroke and the forward-extending and diving operation capabilities of the invention are limited.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the luffing mechanism, the boom system and the robot, so that the water pump has the functions of forward expansion, submergence and the like, the operation is simple and convenient, the operation capacity of the water pump is improved, and the requirement of drainage operation is met.
In order to achieve the purpose, the invention provides the following technical scheme:
in a first aspect, a luffing mechanism comprises two four-bar linkages and a beam assembly which are symmetrically arranged; the four-bar linkage mechanism is used for increasing the horizontal and vertical working distance of the water pump and improving the working range of the water pump; the four-bar linkage mechanism comprises a first four-bar linkage mechanism, a second four-bar linkage mechanism and a third four-bar linkage mechanism; the first four-bar linkage mechanism comprises a first rocker, a first connecting rod and a second rocker which are hinged together; the second four-bar linkage comprises a second rocker, a third rocker and a second connecting rod which are hinged together; the third four-bar linkage mechanism comprises a second rocker, a second connecting bar, a fourth rocker and a third connecting bar which are hinged together; one end of the first rocker, one end of the second rocker and one end of the third rocker are connected with the beam assembly respectively.
With reference to the first aspect, further, the beam assembly includes a first beam, a first shaft seat, a second beam, a second shaft seat, a third beam and a longitudinal beam, the first beam, the second beam and the third beam are sequentially arranged in parallel, and the longitudinal beam is connected with the first beam, the second beam and the third beam; the first shaft seats are provided with 2 groups which are symmetrically arranged at two ends of the first cross beam, and the second shaft seats are provided with 2 groups which are symmetrically arranged at two ends of the second cross beam; the first shaft seat is provided with a first pin hole and a second pin hole, the second shaft seat is provided with a third pin hole and a fourth pin hole, and one ends of the first rocker, the second rocker and the third rocker are respectively hinged in the fourth pin hole, the first pin hole and the third pin hole; the second pin hole is used for being connected with an oil cylinder of the arm support system.
With reference to the first aspect, further, the longitudinal beams are perpendicular to the three parallel cross beams, and at least 1, preferably 2, of the longitudinal beams are uniformly distributed; furthermore, the first cross beam, the first shaft seat, the second cross beam, the second shaft seat, the third cross beam and the longitudinal beam are connected in a welding manner; one ends of the first rocker, the second rocker and the third rocker are hinged in the fourth pin hole, the first pin hole and the third pin hole through pin shafts respectively. Because each rocker, connecting rod adopt the nested formula to arrange the form, so every four bar linkage's secondary shaft seat has 2 secondary shaft seats, second left axle bed and second right axle bed promptly, the one end of the first left rocker of first rocker and first right rocker is connected with a secondary shaft seat respectively, the one end of the third left rocker of fourth rocker and third right rocker is connected with a secondary shaft seat respectively, the one end of the first left rocker of first rocker and the third left rocker of third rocker is connected with second left axle bed respectively promptly, the one end of the first right rocker of first rocker and the third right rocker of third rocker is connected with second right axle bed respectively.
With reference to the first aspect, further, each connecting rod and each rocker are hinged together through a pin.
The first aspect is combined, the locking device further comprises a locking seat, the locking seat is assembled on the third cross beam and comprises a mounting seat, an O-shaped pin and a locking pin, a fifth pin hole, a sixth pin hole and a first hole are formed in the mounting seat, the O-shaped pin and the locking pin are matched with the fifth pin hole and the sixth pin hole, and when the whole vehicle is hoisted, the locking pin is moved to the fifth pin hole from the sixth pin hole.
Preferably, the locking socket is assembled on the third beam by bolts.
With reference to the first aspect, further, the first link includes a first left link and a first right link that are symmetrically arranged in structure;
a fifth hinge point hole, a sixth hinge point hole, a seventh hinge point hole and an eighth hinge point hole are sequentially formed in the second connecting rod;
the first rocker comprises a first left rocker and a first right rocker, and the first left rocker comprises a first rod and a first shaft sleeve arranged at one end of the first rod; the structure of the first right rocker is consistent with that of the first left rocker, and the difference is that the first right rocker is provided with a lock hole in the middle of the first rod more than the first left rocker; the locking hole is used for being in butt joint with a fifth pin hole of the mounting seat and is used for locking the amplitude variation mechanism during hoisting operation;
the second rocker is sequentially provided with a first hinge point hole, a second hinge point hole, a third hinge point hole and a fourth hinge point hole, a first transverse edge is arranged between the first hinge point hole and the second hinge point hole, and the first transverse edge is used for limiting the amplitude variation mechanism when the amplitude variation mechanism is in an initial posture (namely the amplitude variation mechanism is in a fully contracted posture);
the third rocker comprises a third left rocker and a third right rocker which are symmetrically arranged in structure, and the third right rocker comprises a second rod, a second shaft sleeve arranged at one end of the second rod and a second transverse edge arranged at the upper part of the second rod; the second transverse edge is used for limiting the amplitude variation mechanism when the amplitude variation mechanism is in a vertical deepest operation posture;
one end of the first rocker is connected with the second shaft seat through a first shaft sleeve, and the other end of the first rocker is connected with one end of the first connecting rod; the first hinge point hole of the second rocker is connected with the first shaft base; one end of the third rocker is connected with the second shaft seat through a second shaft sleeve; the other end of the first connecting rod is hinged with a second hinge point hole in the second rocker, a third hinge point hole and a fourth hinge point hole in the second rocker are respectively hinged with a third hinge point hole in the second connecting rod and one end of the third connecting rod, the other end of the third connecting rod is hinged with one end of the fourth rocker, the other end of the fourth rocker is hinged with a first hinge point hole in the second connecting rod, and a fourth hinge point hole in the second connecting rod is hinged with the other end of the third rocker.
The two ends of the tie rod are respectively hinged to second hinge point holes in second connecting rods on the left side and the right side, and the arrangement of the tie rod not only connects the left four-connecting-rod structure and the right four-connecting-rod structure together, but also can improve the cooperativity of the left four-connecting-rod mechanism and the right four-connecting-rod mechanism, so that the stability of the luffing mechanism is improved.
With reference to the first aspect, further, the tie rod connects the left and right luffing mechanisms together by welding, hinging, or bolting.
With reference to the first aspect, further, a first hoisting hole is formed in one end, close to the eighth hinge point hole, of the second connecting rod; the first hoisting hole is used for hoisting the whole vehicle; and a second hoisting hole is formed in the end part of the fourth rocker, which is connected with the third connecting rod, and the second hoisting hole is used for hoisting the whole vehicle.
With reference to the first aspect, further, one end of the first rocker is connected with the fourth pin hole of the second shaft base through the first shaft sleeve; one end of the third rocker is connected with a third pin hole of the second shaft seat through a second shaft sleeve; and a first hinge point hole of the second rocker is hinged with a first pin hole of the first shaft seat.
Combine first aspect, further, each rocker, connecting rod adopt nested formula arrangement form to realize the water pump operation scope, specifically set up to: because the first rocker and the third rocker are overlapped in the movement process, the first shaft sleeve and the second shaft sleeve are eccentrically arranged, namely the first shaft sleeve is arranged by deviating from the outer end face of the first rod, and the second shaft sleeve is arranged by deviating from the inner end face of the second rod, so that the movement process can be ensured not to be interfered. (ii) a
The first rocking bar and the third rocking bar share the second shaft base, so that the first rocking bar can be nested inside the third rocking bar; the first connecting rod is nested inside the first rocking rod and the third rocking rod; the second connecting rod is nested at the inner side of the third rocker; the second rocker is simultaneously nested inside the first connecting rod, the second connecting rod and the third connecting rod; the fourth rocker is nested inside the second connecting rod and the third connecting rod; the nested arrangement makes the structural arrangement more compact.
In a second aspect, an arm support system comprises the luffing mechanism, the oil cylinder and the water pump support, wherein the water pump support is arranged on a third connecting rod, and the water pump is fixed on the third connecting rod through a bolt by the water pump support; the oil cylinder is connected with the amplitude variation mechanism.
In combination with the second aspect, further, the oil cylinder is arranged between the first left connecting rod and the first right connecting rod, a cylinder end of the oil cylinder is hinged in a second pin hole of the beam assembly through a pin shaft, and a cylinder end of the oil cylinder is hinged with the first rocker and the first connecting rod through pin shafts.
In order to achieve compact structure, the oil cylinder and the amplitude variation mechanism are connected in the specific connection mode, and the oil cylinder can also achieve the purpose of driving the amplitude variation mechanism in other arrangement modes.
In a third aspect, the robot comprises the arm support system, a water pump, a hydraulic system and a chassis assembly, wherein the hydraulic system is arranged on the chassis assembly, the water pump is connected with the hydraulic system and arranged on the arm support system, and an oil cylinder of the arm support system is connected with the hydraulic system. The luffing mechanism is arranged in a nested manner, so that the structural arrangement is more compact, and the gap between the water pump and the chassis assembly can be fully utilized to realize the arrangement and mechanism movement of the triple quadrilateral luffing mechanism.
With reference to the third aspect, further, the chassis assembly is a crawler-type chassis.
Compared with the prior art, the invention provides a luffing mechanism, an arm support system and a drainage robot, which have the following beneficial effects:
(1) the luffing mechanism is a triple quadrilateral luffing mechanism, forward extension and submergence of a water pump can be realized through actions of three groups of four-bar mechanisms and one group of oil cylinders, and the operation is simple and convenient; each connecting rod and each rocker adopt a nested arrangement form, so that the whole structure is compact, and the whole vehicle is convenient to arrange;
(2) the luffing mechanism of the invention utilizes the superposition amplification function of the four-bar linkage mechanism to increase the horizontal farthest operation distance and the vertical deepest operation distance, thereby improving the operation range of the water pump; the rotary low pair can adapt to severe operating environment and is convenient to maintain; improving the stability of the operation by utilizing the virtual constraint and the hinged pressure angle;
(3) the luffing mechanism is provided with the mechanical locking structure, so that the hydraulic oil cylinder is effectively protected under the working conditions of running, operation, hoisting and the like, and the service life of elements is prolonged;
(4) according to the boom system, the oil cylinders are positioned in the first group of connecting rods through the luffing mechanism on the boom system, so that the overall structure is compact, and the arrangement of the whole vehicle is convenient;
(6) according to the robot, the boom system on the robot can realize the forward expansion and the submergence of the water pump only by arranging one group of oil cylinders for expansion and contraction, the operation is simple and convenient, and the operation capacity of the water pump is improved; the oil cylinder is reversely arranged, namely the outward expansion of the mechanism is realized through the contraction of the oil cylinder, and the recovery of the mechanism is realized through the extension of the oil cylinder, so that the requirement of actual operation on the force of the oil cylinder is met.
(6) The robot can also be applied to tracked vehicles with arm support structures, such as smoke exhaust robots, fire fighting robots and the like.
Drawings
FIG. 1 is a schematic structural diagram of a boom system and a luffing mechanism according to the present invention;
FIG. 2 is a schematic structural view of the first rocker in FIG. 1;
FIG. 3 is a schematic view of the first link of FIG. 1;
FIG. 4 is a schematic structural view of the second rocker in FIG. 1;
FIG. 5 is a schematic structural view of a third rocker in FIG. 1;
FIG. 6 is a schematic view of the second link structure shown in FIG. 1;
FIG. 7 is a schematic view of a cross beam assembly of the luffing mechanism of the present invention;
FIG. 8 is a schematic view of a locking seat structure in a luffing mechanism according to the invention;
FIG. 9 is a schematic view of three operational attitudes of the luffing mechanism of the present invention (FIG. 9a is an initial attitude, FIG. 9b is a horizontally farthest attitude, and FIG. 9c is a vertically deepest attitude);
fig. 10 is a schematic diagram of three working positions of the robot according to the present invention corresponding to fig. 9 (fig. 10a is an initial position, fig. 10b is a horizontally farthest position (L1 represents the horizontally farthest working distance of the water pump), and fig. 10c is a vertically deepest position (L2 represents the vertically deepest working depth of the water pump)).
The reference numerals in the figures have the meaning:
1. a first rocker; 1.1, a first left rocker; 1.1.1, a first shaft sleeve; 1.1.2, a first lever; 1.2, a first right rocker; 1.2-1, lock hole; 2. a first link; 2.1, a first left connecting rod; 2.2, a first right connecting rod; 3. a second rocker; 3-1, a first hinge point hole; 3-2, a second hinge point hole; 3-3, a third hinge point hole; 3-4, a fourth hinge point hole; 3-5, a first transverse edge; 4. a third rocker; 4.1, a third left rocker; 4.2, a third right rocker; 4.2.1, a second shaft sleeve; 4.2.2, a second rod; 4.2-1, a second transverse edge; 5. a second link; 5-1, a fifth hinge point hole; 5-2, a sixth hinge point hole; 5-3, a seventh hinge point hole; 5-4, an eighth hinge point hole; 5-5, first hoisting holes; 6. a fourth rocker; 6-1, second hoisting holes; 7. a third link; 8. a tie rod; 9. a water pump bracket; 10. an oil cylinder; 11. a beam assembly; 11.1, a first cross beam; 11.2, a first shaft seat; 11.2-1, a first pin hole; 11.2-2, a second pin hole; 11.3, a second beam; 11.4, a second shaft seat; 11.4.1, a second left axle seat; 11.4.2, a second right shaft seat; 11.4-1, third pin hole; 11.4-2, a fourth pin hole; 11.5, a third beam; 11.6, a locking seat; 11.6.1, a mounting seat; 11.6.1-1, a fifth pin hole; 11.6.1-2 and a sixth pin hole; 11.6.1-3, a first well; 11.6.2, O-shaped pin; 11.6.3, a latch; 11.7, longitudinal beams; i. A boom system; II, a water pump; III, a hydraulic system; IV, a chassis assembly.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may also include different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
In the description of the present application, it is to be understood that the terms "central," "longitudinal," "lateral," "upper," "lower," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for the convenience of description and simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the claimed invention.
As shown in fig. 1, the present invention provides a luffing mechanism, which comprises two four-bar linkage mechanisms and a beam assembly 11, which are symmetrically arranged; the four-bar linkage mechanism is used for increasing the horizontal and vertical working distances of the water pump II and improving the working range of the water pump II; the four-bar linkage mechanism comprises a first four-bar linkage mechanism, a second four-bar linkage mechanism and a third four-bar linkage mechanism; the first four-bar linkage comprises a first rocker 1, a first connecting rod 2 and a second rocker 3 which are hinged together; the second four-bar linkage comprises a second rocker 3, a third rocker 4 and a second connecting rod 5 which are hinged together; the third four-bar linkage comprises a second rocker 3, a second connecting bar 5, a fourth rocker 6 and a third connecting bar 7 which are hinged together; one end of the first rocker 1, one end of the second rocker 3 and one end of the third rocker 4 are respectively connected with the beam assembly 11.
As shown in fig. 7, in an embodiment of the present embodiment, the beam assembly 11 includes a first beam 11.1, a first axle seat 11.2, a second beam 11.3, a second axle seat 11.4, a third beam 11.5, and a longitudinal beam 11.7, the first beam 11.1, the second beam 11.3, and the third beam 11.5 are sequentially arranged in parallel, and the longitudinal beam 11.7 is connected to the first beam 11.1, the second beam 11.3, and the third beam 11.5; the first shaft seats 11.2 are symmetrically arranged at two ends of the first cross beam 11.1, and the second shaft seats 11.4 are symmetrically arranged at two ends of the second cross beam 11.3; a first pin hole 11.2-1 and a second pin hole 11.2-2 are arranged on the first shaft seat 11.2, a third pin hole 11.4-1 and a fourth pin hole 11.4-2 are arranged on the second shaft seat 11.4, and one ends of the first rocker 1, the second rocker 3 and the third rocker 4 are respectively hinged in the fourth pin hole 11.4-2, the first pin hole 11.2-1 and the third pin hole 11.4-1; the second pin hole 11.2-2 is used for connecting with the oil cylinder 10 of the arm support system I.
In a specific implementation manner of this embodiment, the longitudinal beams 11.7 are perpendicular to three parallel cross beams, and at least 1, preferably 2, of the longitudinal beams 11.7 are uniformly distributed; furthermore, the first cross beam 11.1, the first axle seat 11.2, the second cross beam 11.3, the second axle seat 11.4, the third cross beam 11.5 and the longitudinal beam 11.7 are connected in a welding manner; one ends of the first rocker 1, the second rocker 3 and the third rocker 4 are respectively hinged in the fourth pin hole 11.4-2, the first pin hole 11.2-1 and the third pin hole 11.4-1 through pin shafts. Because each rocker and connecting rod adopts a nested arrangement form, each second shaft seat 11.4 of each four-bar linkage has 2 second shaft seats 11.4, namely a second left shaft seat 11.4.1 and a second right shaft seat 11.4.2, one end of a first left rocker 1.1 and one end of a first right rocker 1.2 of a first rocker 1 are respectively connected with one second shaft seat 11.4, one end of a third left rocker 4.1 and one end of a third right rocker 4.2 of a fourth rocker 6 are respectively connected with one second shaft seat 11.4, namely one end of a first left rocker 1.1 of the first rocker 1 and one end of a third left rocker 4.1 of the third rocker 4 are respectively connected with a second left shaft seat 11.4.1, and one end of a first right rocker 1.2 of the first rocker 1 and one end of a third right rocker 4.2 of the third rocker 4 are respectively connected with a second right shaft seat 11.4.2.
In a specific implementation manner of the embodiment, each connecting rod and the rocker are hinged together through a pin shaft.
As shown in fig. 8, in a specific embodiment of this embodiment, the locking device further includes a locking seat 11.6, the locking seat 11.6 is assembled on the third cross beam 11.5 and includes a mounting seat 11.6.1, an O-shaped pin 11.6.2 and a locking pin 11.6.3, the mounting seat 11.6.1 is provided with a fifth pin hole 11.6.1-1, a sixth pin hole 11.6.1-2 and a first hole 11.6.1-3, the O-shaped pin 11.6.2 and a locking pin 11.6.3 are matched with the fifth pin hole 11.6.1-1 and the sixth pin hole 11.6.1-2, and when the entire vehicle is hoisted, the locking pin 11.6.3 is moved from the sixth pin hole 11.6.1-2 to the fifth pin hole 11.6.1-1.
Preferably, the locking socket 11.6 is bolted to the third beam 11.5.
As shown in fig. 1 to 8, in a specific embodiment of the present embodiment, the first link 2 includes a first left link 2.1 and a first right link 2.2 which are symmetrically arranged;
the second connecting rod 5 is sequentially provided with a fifth hinge point hole 5-1, a sixth hinge point hole 5-2, a seventh hinge point hole 5-3 and an eighth hinge point hole 5-4;
the first rocker 1 comprises a first left rocker 1.1 and a first right rocker 1.2, the first left rocker 1.1 comprises a first rod 1.1.2 and a first shaft sleeve 1.1.1 arranged at one end of the first rod 1.1.2; the structure of the first right rocker 1.2 is consistent with that of the first left rocker 1.1, and the difference is that the first right rocker 1.2 is provided with a lock hole 1.2-1 more in the middle of the first rod 1.1.2 than the first left rocker 1.1; the lock hole 1.2-1 is used for being butted with a fifth pin hole 11.6.1-1 of the mounting seat 11.6.1 and locking the amplitude variation mechanism during hoisting operation;
the second rocker 3 is sequentially provided with a first hinge point hole 3-1, a second hinge point hole 3-2, a third hinge point hole 3-3 and a fourth hinge point hole 3-4, a first transverse edge 3-5 is arranged between the first hinge point hole 3-1 and the second hinge point hole 3-2, and the first transverse edge 3-5 is used for limiting the amplitude variation mechanism when the amplitude variation mechanism is in an initial posture (namely the amplitude variation mechanism is in a fully contracted posture);
the third rocker 4 comprises a third left rocker 4.1 and a third right rocker 4.2 which are symmetrically arranged in structure, and the third right rocker 4.2 comprises a second rod 4.2.2, a second shaft sleeve 4.2.1 arranged at one end of the second rod 4.2.2 and a second transverse edge 4.2-1 arranged at the upper part of the second rod 4.2.2; the second transverse side 4.2-1 is used for limiting the amplitude variation mechanism when the amplitude variation mechanism is in a vertical deepest operation posture;
one end of the first rocker 1 is connected with the second shaft seat 11.4 through a first shaft sleeve 1.1.1, and the other end is connected with one end of the first connecting rod 2; a first hinge point hole 3-1 of the second rocker 3 is connected with a first shaft seat 11.2; one end of the third rocker 4 is connected with a second shaft seat 11.4 through a second shaft sleeve 4.2.1; the other end of the first connecting rod 2 is hinged with a second hinge point hole 3-2 on the second rocker 3, a third hinge point hole 3-3 and a fourth hinge point hole 3-4 on the second rocker 3 are respectively hinged with a third hinge point hole 3-3 on the second connecting rod 5 and one end of a third connecting rod 7, the other end of the third connecting rod 7 is hinged with one end of a fourth rocker 6, the other end of the fourth rocker 6 is hinged with a first hinge point hole 3-1 on the second connecting rod 5, and a fourth hinge point hole 3-4 on the second connecting rod 5 is hinged with the other end of the third rocker 4.
In a specific implementation manner of this embodiment, the luffing mechanism further includes a tie rod 8, two ends of the tie rod 8 are respectively hinged to the second hinge point holes 3-2 on the second connecting rods 5 on the left and right sides, and the tie rod 8 not only connects the left and right four-bar structures together, but also can improve the cooperativity of the left and right four-bar mechanisms, thereby increasing the stability of the luffing mechanism.
In one embodiment of this embodiment, the tie rods 8 connect the left and right luffing mechanisms together by welding, hinging, or bolting.
In a specific implementation manner of this embodiment, a first hoisting hole 5-5 is provided at one end of the second connecting rod 5 close to the eighth hinge point hole 5-4; the first hoisting holes 5-5 are used for hoisting the whole vehicle; the end part of the fourth rocker 6 connected with the third connecting rod 7 is provided with a second hoisting hole 6-1, and the second hoisting hole 6-1 is used for hoisting the whole vehicle.
In a specific implementation manner of the present embodiment, one end of the first rocker 1 is connected with the fourth pin hole 11.4-2 of the second shaft seat 11.4 through the first bushing 1.1.1; one end of the third rocker 4 is connected with a third pin hole 11.4-1 of the second shaft seat 11.4 through a second shaft sleeve 4.2.1; the first hinge point hole 3-1 of the second rocker 3 is hinged with the first pin hole 11.2-1 of the first shaft seat 11.2.
In a concrete implementation of this embodiment, each rocker, connecting rod adopt nested formula to arrange the form and realize II operation scopes of water pump, specifically set up as: the first shaft sleeve 1.1.1 and the second shaft sleeve 4.2.1 are eccentrically arranged, namely the first shaft sleeve 1.1.1 is arranged by deviating from the outer end surface of the first rod 1.1.2, and the second shaft sleeve 4.2.1 is arranged by deviating from the inner end surface of the second rod 4.2.2, so that the movement process can be ensured not to be interfered. If the eccentric arrangement is not adopted, two groups of shaft seats are added to the second shaft seat, and the two groups of rocking bars are arranged in a staggered manner, so that the required space for arrangement is relatively larger than that of the eccentric arrangement, and the eccentric arrangement is not the optimal scheme for the arrangement of the whole vehicle. Since the first rocker 1 and the third rocker 4 share the second shaft seat 11.4, the structure can enable the first rocker 1 to be nested inside the third rocker 4; the first connecting rod 2 is nested inside the first rocking rod 1 and the third rocking rod 4; the second connecting rod 5 is nested inside the third rocker 4; the second rocker 3 is simultaneously nested inside the first connecting rod 2, the second connecting rod 5 and the third connecting rod 7; the fourth rocker 6 is nested inside the second connecting rod 5 and the third connecting rod 7; the nested arrangement makes the structural arrangement more compact.
As shown in fig. 1, the invention further provides a boom system I, which comprises the luffing mechanism, the oil cylinder 10 and the water pump bracket 9, wherein the water pump bracket 9 is arranged on the third connecting rod 7, and the water pump bracket 9 fixes the water pump ii on the third connecting rod 7 through a bolt; the oil cylinder 10 is connected with a luffing mechanism.
In a specific implementation manner of this embodiment, the oil cylinder 10 is disposed between the first left connecting rod 2.1 and the first right connecting rod 2.2, a cylinder end of the oil cylinder 10 is hinged in the second pin hole 11.2-2 of the cross beam assembly 11 through a pin, and a cylinder end of the oil cylinder 10 is hinged with the first rocker 1 and the first connecting rod 2 through a pin.
For the sake of compact structure, the connection between the oil cylinder 10 and the luffing mechanism adopts the above specific connection manner, and the oil cylinder 10 may also adopt other arrangement forms to achieve the purpose of driving the luffing mechanism, for example, the oil cylinder may also achieve functions when arranged outside the first link 2, but the required space is larger than the arrangement when the oil cylinder is arranged in the first link 2, and the stress is not as large as the arrangement when the oil cylinder is arranged in the first link 2.
As shown in fig. 10, the present invention further provides a robot, which includes the boom system I, the water pump ii, the hydraulic system iii, and the chassis assembly iv, wherein the hydraulic system iii is disposed on the chassis assembly iv, the water pump ii is disposed and connected to the hydraulic system iii and disposed on the boom system I, and the oil cylinder 10 of the boom system I is connected to the hydraulic system iii. The luffing mechanism is arranged in a nested manner, so that the structural arrangement is more compact, and the gap between the water pump II and the chassis assembly IV can be fully utilized to realize the arrangement and mechanism movement of the triple quadrilateral luffing mechanism.
In one embodiment of this embodiment, the chassis assembly iv is a tracked chassis.
As shown in fig. 9 and 10, the working principle and method of the present invention are: four hinge points are uniformly arranged on the second rocker 3 and the second connecting rod 5 to connect the three groups of four-bar mechanisms together; the initial posture is that the cylinder rod of the oil cylinder 10 is in a fully-extended state, and when the cylinder rod of the oil cylinder 10 contracts, the first connecting rod 2 is pushed to move, so that the second rocker 3 is driven to rotate, the third connecting rod 7 moves, and the forward extending and diving actions of the water pump II are realized; and in the deepest operation posture, the cylinder rod of the oil cylinder 10 is in a completely contracted state, and when the cylinder rod of the oil cylinder 10 extends out, the cylinder rod is driven reversely, so that the recovery action of the water pump II is realized.
The second rocker 3 and the third rocker 4 are respectively provided with a first transverse edge 3-5 and a second transverse edge 4.2-1, when the mechanism is in an initial posture (namely the mechanism is completely contracted), the first transverse edge 3-5 is pressed on the top of the first cross beam 11.1, when the mechanism is in a vertical deepest operation posture (namely the mechanism is completely expanded), the second transverse edge 4.2-1 is pressed on the top of the first cross beam 11.1, the structure is mechanical limiting, when the mechanism is in a driving posture and vertical deepest operation, the oil cylinder 10 can be protected through mechanical limiting, and the oil cylinder 10 can be prevented from being damaged by overlarge impact.
The second connecting rod 5 and the fourth rocker 6 are respectively provided with a first hoisting hole 5-5 and a second hoisting hole 6-1, when the whole vehicle needs to be hoisted, the triple quadrilateral amplitude variation mechanism is in an initial posture, the lock hole 1.2-1 on the first right rocker 1.2 is overlapped with the fifth pin hole 11.6.1-1 on the mounting seat 11.6.1, the O-shaped pin 11.6.2 is removed, the lock pin 11.6.3 is pulled out of the sixth pin hole 11.6.1-2 and inserted into the fifth pin hole 11.6.1-1, the O-shaped pin 11.6.2 is installed, the triple quadrilateral amplitude variation mechanism is in a locking state, and the lock pin 11.6.3 bears the weight of the whole vehicle during hoisting, so that the oil cylinder 10 can be effectively protected. The mounting seat 11.6.1 is simultaneously provided with the first holes 11.6.1-3, and the first holes 11.6.1-3 are long round holes, so that the mounting seat 11.6.1 has a front-back adjustment amount during assembly, and the problem that the lock hole 1.2-1 and the fifth pin hole 11.6.1-1 cannot be completely overlapped due to machining and assembly errors can be effectively avoided.
It is noted that, in the present application, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A luffing mechanism, comprising: the device comprises two four-bar linkage mechanisms and a beam assembly which are symmetrically arranged; the four-bar linkage mechanism is used for increasing the horizontal and vertical working distance of the horizontal pump; the four-bar linkage mechanism comprises a first four-bar linkage mechanism, a second four-bar linkage mechanism and a third four-bar linkage mechanism; the first four-bar linkage mechanism comprises a first rocker, a first connecting rod and a second rocker which are hinged together; the second four-bar linkage comprises a second rocker, a third rocker and a second connecting rod which are hinged together; the third four-bar linkage mechanism comprises a second rocker, a second connecting bar, a fourth rocker and a third connecting bar which are hinged together; one end of the first rocker, one end of the second rocker and one end of the third rocker are connected with the beam assembly respectively.
2. A luffing mechanism according to claim 1, wherein: the beam assembly comprises a first beam, a first shaft seat, a second beam, a second shaft seat, a third beam and a longitudinal beam, the first beam, the second beam and the third beam are sequentially arranged in parallel, and the longitudinal beam is connected with the first beam, the second beam and the third beam; the first shaft seats are provided with 2 groups which are symmetrically arranged at two ends of the first cross beam, and the second shaft seats are provided with 2 groups which are symmetrically arranged at two ends of the second cross beam; the first shaft seat is provided with a first pin hole and a second pin hole, the second shaft seat is provided with a third pin hole and a fourth pin hole, and one ends of the first rocker, the second rocker and the third rocker are respectively hinged in the fourth pin hole, the first pin hole and the third pin hole; the second pin hole is used for being connected with an oil cylinder of the arm support system.
3. A luffing mechanism according to claim 2, wherein: still include the locking seat, the locking seat assembles on the third crossbeam, including mount pad, O type round pin and lockpin, be provided with fifth pinhole, sixth pinhole and first hole on the mount pad, O type round pin, lockpin and fifth pinhole, sixth pinhole phase-match set up, when whole car hoist and mount, remove the lockpin to the fifth pinhole from the sixth pinhole.
4. A luffing mechanism according to claim 3, wherein: the first connecting rod comprises a first left connecting rod and a first right connecting rod which are symmetrically arranged in structure;
a fifth hinge point hole, a sixth hinge point hole, a seventh hinge point hole and an eighth hinge point hole are sequentially formed in the second connecting rod;
the first rocker comprises a first left rocker and a first right rocker, and the first left rocker comprises a first rod and a first shaft sleeve arranged at one end of the first rod; the structure of the first right rocker is consistent with that of the first left rocker, and the difference is that the first right rocker is provided with a lock hole in the middle of the first rod more than the first left rocker; the locking hole is used for being in butt joint with a fifth pin hole of the mounting seat and is used for locking the amplitude variation mechanism during hoisting operation;
the second rocker is sequentially provided with a first hinge point hole, a second hinge point hole, a third hinge point hole and a fourth hinge point hole, a first transverse edge is arranged between the first hinge point hole and the second hinge point hole, and the first transverse edge is used for limiting the amplitude variation mechanism when the amplitude variation mechanism is in an initial posture;
the third rocker comprises a third left rocker and a third right rocker which are symmetrically arranged in structure, and the third right rocker comprises a second rod, a second shaft sleeve arranged at one end of the second rod and a second transverse edge arranged at the upper part of the second rod; the second transverse edge is used for limiting the amplitude variation mechanism when the amplitude variation mechanism is in a vertical deepest operation posture;
one end of the first rocker is connected with the second shaft seat through a first shaft sleeve, and the other end of the first rocker is connected with one end of the first connecting rod; the first hinge point hole of the second rocker is connected with the first shaft base; one end of the third rocker is connected with the second shaft seat through a second shaft sleeve; the other end of the first connecting rod is hinged with a second hinge point hole in the second rocker, a third hinge point hole and a fourth hinge point hole in the second rocker are respectively hinged with a third hinge point hole in the second connecting rod and one end of the third connecting rod, the other end of the third connecting rod is hinged with one end of the fourth rocker, the other end of the fourth rocker is hinged with a first hinge point hole in the second connecting rod, and a fourth hinge point hole in the second connecting rod is hinged with the other end of the third rocker.
5. The horn of claim 4, wherein: the two ends of the transverse pull rod are hinged to second hinge point holes in the second connecting rods on the left side and the right side respectively.
6. The horn of claim 4, wherein: a first hoisting hole is formed in one end, close to the eighth hinge point hole, of the second connecting rod; the first hoisting hole is used for hoisting the whole vehicle; and a second hoisting hole is formed in the end part of the fourth rocker, which is connected with the third connecting rod, and the second hoisting hole is used for hoisting the whole vehicle.
7. The horn of claim 4, wherein: one end of the first rocker is connected with a fourth pin hole of the second shaft seat through a first shaft sleeve; one end of the third rocker is connected with a third pin hole of the second shaft seat through a second shaft sleeve; and a first hinge point hole of the second rocker is hinged with a first pin hole of the first shaft seat.
8. The horn of claim 7, wherein: the first shaft sleeve and the second shaft sleeve are eccentrically arranged, namely the first shaft sleeve is arranged to be deviated to the outer end face of the first rod, and the second shaft sleeve is arranged to be deviated to the inner end face of the second rod; the first connecting rod is nested inside the first rocking rod and the third rocking rod; the second connecting rod is nested at the inner side of the third rocker; the second rocker is simultaneously nested inside the first connecting rod, the second connecting rod and the third connecting rod; the fourth rocker is nested inside the second connecting rod and the third connecting rod.
9. A boom system is characterized in that: comprising a luffing mechanism according to any one of claims 2 to 8, a cylinder and a water pump bracket, which is arranged on the third connecting rod; the oil cylinder is connected with the amplitude variation mechanism.
10. A robot, characterized by: the arm support system of claim 9, a water pump, a hydraulic system, and a chassis assembly, wherein the hydraulic system is disposed on the chassis assembly, the water pump is disposed on the arm support system and connected to the hydraulic system, and a cylinder of the arm support system is connected to the hydraulic system.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210569113.8A CN114962380B (en) | 2022-05-24 | 2022-05-24 | Amplitude changing mechanism, arm support system and robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210569113.8A CN114962380B (en) | 2022-05-24 | 2022-05-24 | Amplitude changing mechanism, arm support system and robot |
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| CN114962380B CN114962380B (en) | 2024-08-30 |
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|---|---|
| CN114962380B (en) | 2024-08-30 |
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