CN102720224B - Hydraulic excavator operating device with movement redundancy characteristics - Google Patents
Hydraulic excavator operating device with movement redundancy characteristics Download PDFInfo
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- CN102720224B CN102720224B CN201210177310.1A CN201210177310A CN102720224B CN 102720224 B CN102720224 B CN 102720224B CN 201210177310 A CN201210177310 A CN 201210177310A CN 102720224 B CN102720224 B CN 102720224B
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- hydraulic cylinder
- swing arm
- dipper
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Abstract
The invention discloses a hydraulic excavator operating device with movement redundancy characteristics. The lower end of a movable arm is hinged with a frame; the upper end of the movable arm is hinged with one end of a bucket arm; the other end of the bucket arm is hinged with one part of a bucket; the other part of the bucket is hinged with one ends of a pair of bucket hydraulic cylinders; the other ends of the pair of bucket hydraulic cylinders are hinged with the upper ends of a pair of rockers; the lower ends of the pair of rockers are hinged with the frame; the middles of the pair of rockers are hinged with one ends of the pair of rocker hydraulic cylinders; the other ends of the pair of rocker hydraulic cylinders are hinged with the other part of the frame; one ends of a pair of movable arm hydraulic cylinders are hinged with the middle of the movable arm; the other ends of the pair of movable arm hydraulic cylinders are hinged with the frame; one ends of a pair of bucket arm hydraulic cylinders are hinged with the middle of the bucket arm; and the other ends of the pair of bucket arm hydraulic cylinders are hinged with the frame or the movable arm. The hydraulic excavator operating device is high in bearing capacity, high in rigidity and high in driving force arm, the load can be driven through low driving force, the energy consumption is reduced, and the hydraulic excavator operating device has the advantages of movement redundancy.
Description
Technical field
The present invention relates to a kind of excavator, particularly a kind of for Face-shovel Hydraulic Excavator device.
Background technology
Large-scale Face-shovel Hydraulic Excavator is the main tool of open coal mine digging, its excacation device has been the main member of excavator various functions, the domestic research to hydraulic face shovel digger operating device is less, Chinese patent CN200520035287.8 relates to a kind of hydraulic digging machine face shovel working device horizontal thrust mechanism, feature is that scraper bowl hydraulic cylinder piston rod and swing arm front end are hinged, dipper rear portion and swing arm front end are hinged, scraper bowl and dipper front end are hinged, scraper bowl and scraper bowl Barrel of Hydraulic Cylinders end are hinged, and hinge has formed the four-bar mechanism of quadrilateral structure aloft.External main manufacturer has special rex (Terex), Caterpillar (CATERPILLR), Hitachi (HITACHI) and Liebherr (LIEBHERR) etc.What wherein influence power was larger is the hydraulic crawler excavator that contains " powerful triangle " member that special rex (Terex) company produces.Although the Face-shovel Hydraulic Excavator technology of external producer is comparatively ripe, their product structure is comparatively single, drives the arm of force little and cause the problem that energy consumption is large not to be resolved all the time.
Summary of the invention
The object of the present invention is to provide the motion redundancy forward shovel structure that a kind of supporting capacity is high, rigidity is large.The present invention is both sides full symmetric mechanisms, and it mainly includes frame, swing arm, dipper, scraper bowl, rocking bar and four pairs of driving hydraulic cylinders is swing arm hydraulic cylinder, scraper bowl hydraulic cylinder, dipper hydraulic cylinder and rocking bar hydraulic cylinder.
Wherein, frame and swing arm lower end are hinged, the upper end of this swing arm and one end of dipper are hinged, one position of the other end of this dipper and scraper bowl is hinged, another position of this scraper bowl and one end of a pair of scraper bowl hydraulic cylinder are hinged, and the other end of this pair of scraper bowl hydraulic cylinder and the upper end of a pair of rocking bar are hinged, and lower end and the frame of this pair of rocking bar are hinged, one end of the middle part of above-mentioned a pair of rocking bar and a pair of rocking bar hydraulic cylinder is hinged, and another position of the other end of this pair of rocking bar hydraulic cylinder and frame is hinged; One end of a pair of swing arm hydraulic cylinder and swing arm middle part are hinged, and the other end and the frame of this pair of swing arm hydraulic cylinder are hinged; One end of a pair of dipper hydraulic cylinder and the middle part of above-mentioned dipper are hinged, and the other end of this pair of dipper hydraulic cylinder can be hinged with above-mentioned frame, also can be hinged with another position of above-mentioned swing arm.
In the situation that guaranteeing that between rod member number and rod member, interconnected relationship is constant, the shape and size of each rod member can change according to actual conditions.
In the present invention, the degree of freedom of scraper bowl is 3, and the degree of freedom of equipment is 4, and driving number is 4, drives number to be greater than scraper bowl degree of freedom, and such equipment has motion redundancy properties.
The present invention compared with prior art tool has the following advantages:
(1) supporting capacity is high, rigidity is large, drive the arm of force large, and less driving force just can drive load, thereby can reduce energy consumption.
(2) there is motion redundancy properties, can avoid robot interior Singularity, preferably flexibility, keep away barrier ability and dynamic characteristics.
Accompanying drawing explanation
Fig. 1 is the three-dimensional simplified schematic diagram of the embodiment of the present invention 1.
Fig. 2 is the three-dimensional simplified schematic diagram of the embodiment of the present invention 2.
The specific embodiment
Embodiment 1
In the three-dimensional simplified schematic diagram of the hydraulic crawler excavator apparatus for work with motion redundancy properties shown in Fig. 1, frame 1 is connected by hinge R1 with the lower end of swing arm 3, the upper end of this swing arm 3 is connected by hinge R3 with one end of dipper 4, the other end of this dipper 4 is connected by hinge R5 with a position of scraper bowl 5, another position of this scraper bowl 5 is connected by hinge R6 respectively with the cylinder sleeve end of a pair of scraper bowl hydraulic cylinder 6, the piston rod end of this pair of scraper bowl hydraulic cylinder 6 is connected by hinge R7 respectively with the upper end of a pair of rocking bar 7, the other end of this pair of rocking bar 7 is connected by hinge R9 respectively with above-mentioned frame 1.The middle part of above-mentioned a pair of rocking bar 7 is connected by hinge R8 respectively with the piston rod end of a pair of rocking bar hydraulic cylinder 8, and the cylinder sleeve end of this pair of rocking bar hydraulic cylinder 8 is connected by hinge R11 respectively with above-mentioned frame 1.The cylinder sleeve end of a pair of swing arm hydraulic cylinder 2 is connected by hinge R2 respectively with swing arm 3, and the piston rod end of this pair of swing arm hydraulic cylinder 2 is connected by hinge R12 respectively with above-mentioned frame 1.The piston rod end of a pair of dipper hydraulic cylinder 9 is connected by hinge R4 respectively with the middle part of above-mentioned dipper 4, and the cylinder sleeve end of this pair of dipper hydraulic cylinder 9 is connected by hinge R10 with above-mentioned frame 1.
Embodiment 2
In the three-dimensional simplified schematic diagram of the hydraulic crawler excavator apparatus for work with motion redundancy properties shown in Fig. 2, the lower end of swing arm 3 is connected by hinge R1 with frame 1, the upper end of this swing arm 3 is connected by hinge R3 with one end of dipper 4, the other end of this dipper 4 is connected by hinge R5 with a position of scraper bowl 5, another position of this scraper bowl 5 is connected by hinge R6 respectively with the cylinder sleeve end of a pair of scraper bowl hydraulic cylinder 6, the piston rod end of this pair of scraper bowl hydraulic cylinder 6 is connected by hinge R7 respectively with the upper end of a pair of rocking bar 7, the other end of this pair of rocking bar 7 is connected by hinge R9 respectively with above-mentioned frame 1.The middle part of above-mentioned a pair of rocking bar 7 is connected by hinge R8 respectively with the piston rod end of a pair of rocking bar hydraulic cylinder 8, the cylinder sleeve end of this pair of rocking bar hydraulic cylinder 8 is connected by hinge R11 respectively with above-mentioned frame 1, the cylinder sleeve end of a pair of swing arm hydraulic cylinder 2 is connected by hinge R2 respectively with swing arm 3, the piston rod end of this pair of swing arm hydraulic cylinder 2 is connected by hinge R12 respectively with above-mentioned frame 1, the piston rod end of a pair of dipper hydraulic cylinder 9 is connected by hinge R4 respectively with the middle part of above-mentioned dipper 4, the cylinder sleeve end of this pair of dipper hydraulic cylinder 9 is connected by hinge R10 respectively with a position of swing arm 3.
Claims (2)
1. a hydraulic crawler excavator apparatus for work with motion redundancy properties, it is characterized in that: frame and swing arm lower end are hinged, the upper end of this swing arm and one end of dipper are hinged, one position of the other end of this dipper and scraper bowl is hinged, another position of this scraper bowl and one end of a pair of scraper bowl hydraulic cylinder are hinged, the other end of this pair of scraper bowl hydraulic cylinder and the upper end of a pair of rocking bar are hinged, lower end and the frame of this pair of rocking bar are hinged, one end of the middle part of above-mentioned a pair of rocking bar and a pair of rocking bar hydraulic cylinder is hinged, another position of the other end of this pair of rocking bar hydraulic cylinder and above-mentioned frame is hinged, one end of a pair of swing arm hydraulic cylinder and swing arm middle part are hinged, and the other end of this pair of swing arm hydraulic cylinder and above-mentioned frame are hinged, one end of a pair of dipper hydraulic cylinder and above-mentioned dipper middle part are hinged, and the other end of this pair of dipper hydraulic cylinder and above-mentioned frame are hinged.
2. a hydraulic crawler excavator apparatus for work with motion redundancy properties, it is characterized in that: frame and swing arm lower end are hinged, the upper end of this swing arm and one end of dipper are hinged, one position of the other end of this dipper and scraper bowl is hinged, another position of this scraper bowl and one end of a pair of scraper bowl hydraulic cylinder are hinged, the other end of this pair of scraper bowl hydraulic cylinder and the upper end of a pair of rocking bar are hinged, the lower end of this pair of rocking bar and above-mentioned frame are hinged, one end of the middle part of above-mentioned a pair of rocking bar and a pair of rocking bar hydraulic cylinder is hinged, another position of the other end of this pair of rocking bar hydraulic cylinder and above-mentioned frame is hinged, one end of a pair of swing arm hydraulic cylinder and above-mentioned swing arm middle part are hinged, and the other end of this pair of swing arm hydraulic cylinder and above-mentioned frame are hinged, one end of a pair of dipper hydraulic cylinder and dipper middle part are hinged, and another position of the other end of this pair of dipper hydraulic cylinder and above-mentioned swing arm is hinged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210177310.1A CN102720224B (en) | 2012-06-01 | 2012-06-01 | Hydraulic excavator operating device with movement redundancy characteristics |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210177310.1A CN102720224B (en) | 2012-06-01 | 2012-06-01 | Hydraulic excavator operating device with movement redundancy characteristics |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102720224A CN102720224A (en) | 2012-10-10 |
| CN102720224B true CN102720224B (en) | 2014-09-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201210177310.1A Expired - Fee Related CN102720224B (en) | 2012-06-01 | 2012-06-01 | Hydraulic excavator operating device with movement redundancy characteristics |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103046586B (en) * | 2012-12-05 | 2015-09-16 | 燕山大学 | Optimize the excavation loading attachment of digging force |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE20320795U1 (en) * | 2002-08-13 | 2005-03-03 | Hauer, Franz | Support system for the mounting of a loading bucket and the like, at a tractor, has a setting cylinder operated from the driving seat to act on the locking arm which positions the support arm at the rocker |
| CN2813722Y (en) * | 2005-08-26 | 2006-09-06 | 四川邦立重机有限责任公司 | Hydraulic digging machine face shovel working device horizontal thrust mechanism |
| CN102357897A (en) * | 2011-09-09 | 2012-02-22 | 燕山大学 | Four-degree-of-freedom series-parallel combined heavy-load mechanical arm |
| CN202706072U (en) * | 2012-06-01 | 2013-01-30 | 燕山大学 | Hydraulic excavator operation device with motion redundancy characteristics |
-
2012
- 2012-06-01 CN CN201210177310.1A patent/CN102720224B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE20320795U1 (en) * | 2002-08-13 | 2005-03-03 | Hauer, Franz | Support system for the mounting of a loading bucket and the like, at a tractor, has a setting cylinder operated from the driving seat to act on the locking arm which positions the support arm at the rocker |
| CN2813722Y (en) * | 2005-08-26 | 2006-09-06 | 四川邦立重机有限责任公司 | Hydraulic digging machine face shovel working device horizontal thrust mechanism |
| CN102357897A (en) * | 2011-09-09 | 2012-02-22 | 燕山大学 | Four-degree-of-freedom series-parallel combined heavy-load mechanical arm |
| CN202706072U (en) * | 2012-06-01 | 2013-01-30 | 燕山大学 | Hydraulic excavator operation device with motion redundancy characteristics |
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| CN102720224A (en) | 2012-10-10 |
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