CN102720226B - Face shovel spadework device with movement redundancy - Google Patents
Face shovel spadework device with movement redundancy Download PDFInfo
- Publication number
- CN102720226B CN102720226B CN201210177748.XA CN201210177748A CN102720226B CN 102720226 B CN102720226 B CN 102720226B CN 201210177748 A CN201210177748 A CN 201210177748A CN 102720226 B CN102720226 B CN 102720226B
- Authority
- CN
- China
- Prior art keywords
- pair
- hydraulic cylinder
- hinged
- swing arm
- dipper
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Shovels (AREA)
- Earth Drilling (AREA)
Abstract
The invention provides a face shovel spadework device with movement redundancy. The device comprises a rack, a movable arm, a bucket rod, a bucket, power trigones, bucket rod hydraulic cylinders, bucket hydraulic cylinders, movable arm hydraulic cylinders and auxiliary hydraulic cylinders, wherein the rack is hinged with the lower end of the movable arm, the upper end of the movable arm is hinged with one end of the bucket rod, the other end of the bucket rod is connected with one part of the bucket, and the components are respectively connected by the bucket hydraulic cylinders, the bucket rod hydraulic cylinders, the movable arm hydraulic cylinders, the auxiliary hydraulic cylinders and the power trigones by virtue of four connection modes. The device provided by the invention has the characteristics of movement redundancy, large driving force arm and low energy consumption.
Description
Technical field
The present invention relates to a kind of excavator, particularly a kind of equipment for Face-shovel Hydraulic Excavator.
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 bucket hydraulic cylinder piston rod and swing arm front end are hinged, dipper rear portion and swing arm front end hinged, scraper bowl and dipper front end hinged, scraper bowl and bucket hydraulic cylinder cylinder barrel end hinged, hinge constitutes 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 containing " powerful triangle " component 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, and the driving arm of force is little and problem that is that cause energy consumption large is not resolved all the time.
Summary of the invention
The object of the present invention is to provide a kind of multi-functional, working space is large, energy consumption is low face shovel spadework device with movement redundancy.This device mainly comprises frame, swing arm, powerful triangle, dipper, scraper bowl, bucket hydraulic cylinder, dipper hydraulic cylinder, swing arm hydraulic cylinder, auxiliary hydraulic cylinder.It is characterized in that: one end of frame and the lower end of swing arm hinged, the upper end of this swing arm and one end of dipper hinged, the other end of this dipper and a position of scraper bowl hinged, a pair powerful triangle is hinged on the both sides on above-mentioned swing arm top respectively, and the connected mode of four pairs of hydraulic cylinders of this mechanism is one of following four kinds:
The first connected mode: the cylinder sleeve end of a pair bucket hydraulic cylinder and scraper bowl hinged, piston rod end and the swing arm of this pair bucket hydraulic cylinder are hinged; The cylinder sleeve end of a pair dipper hydraulic cylinder and dipper hinged, the piston rod end of this pair dipper hydraulic cylinder and a pair powerful triangle hinged; The cylinder sleeve end of a pair swing arm hydraulic cylinder and swing arm hinged, piston rod end and the frame of this pair swing arm hydraulic cylinder are hinged; The cylinder sleeve end of a pair auxiliary hydraulic cylinder and frame hinged; The piston rod end of this pair auxiliary hydraulic cylinder and a pair powerful triangle hinged.
The second connected mode: the cylinder sleeve end of a pair bucket hydraulic cylinder and scraper bowl hinged, the piston rod end of this pair bucket hydraulic cylinder and a pair powerful triangle hinged; The cylinder sleeve end of a pair dipper hydraulic cylinder and frame hinged, piston rod end and the dipper of this pair dipper hydraulic cylinder are hinged; The cylinder sleeve end of a pair swing arm hydraulic cylinder and swing arm hinged, piston rod end and the frame of this pair swing arm hydraulic cylinder are hinged; The cylinder sleeve end of a pair auxiliary hydraulic cylinder and swing arm hinged; The piston rod end of this pair auxiliary hydraulic cylinder and a pair powerful triangle hinged.
The third connected mode: the cylinder sleeve end of a pair bucket hydraulic cylinder and scraper bowl hinged, the piston rod end of this pair bucket hydraulic cylinder and a pair powerful triangle hinged; The cylinder sleeve end of a pair dipper hydraulic cylinder and dipper hinged, piston rod end and the swing arm of this pair dipper hydraulic cylinder are hinged; The cylinder sleeve end of a pair swing arm hydraulic cylinder and swing arm hinged, piston rod end and the frame of this pair swing arm hydraulic cylinder are hinged; The cylinder sleeve end of a pair auxiliary hydraulic cylinder and frame hinged; The piston rod end of this pair auxiliary hydraulic cylinder and a pair powerful triangle hinged.
4th kind of connected mode: the cylinder sleeve end of a pair bucket hydraulic cylinder and a pair powerful triangle hinged, piston rod end and the scraper bowl of this pair bucket hydraulic cylinder are hinged; The cylinder sleeve end of a pair dipper hydraulic cylinder and frame hinged, piston rod end and the dipper of this pair dipper hydraulic cylinder are hinged; The cylinder sleeve end of a pair swing arm hydraulic cylinder and swing arm hinged, piston rod end and the frame of this pair swing arm hydraulic cylinder are hinged; The cylinder sleeve end of a pair auxiliary hydraulic cylinder and a pair powerful triangle hinged; Piston rod end and the frame of this pair auxiliary hydraulic cylinder are hinged.
Cylinder sleeve and the piston rod position of above-mentioned each driving hydraulic cylinder can be exchanged.When ensureing 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, drives number to be 4, and drive number to be greater than scraper bowl degree of freedom, such equipment has motion redundancy characteristic.
The present invention compared with prior art tool has the following advantages:
(1) drive the arm of force large, less driving force just can drive load, thus can reduce energy consumption.
(2) there is motion redundancy characteristic, robot interior Singularity can be avoided, good flexibility, keep away barrier ability and dynamic characteristics.
(3) driving force of lifting or the driving force of excavation can be optimized preferably.
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.
Fig. 3 is the three-dimensional simplified schematic diagram of the embodiment of the present invention 3.
Fig. 4 is the three-dimensional simplified schematic diagram of the embodiment of the present invention 4.
In accompanying drawing: 1-frame, 2-swing arm, 3-powerful triangle, 4-dipper, 5-scraper bowl, 6-bucket hydraulic cylinder, 7-dipper hydraulic cylinder, 8-swing arm hydraulic cylinder, 9-auxiliary hydraulic cylinder.
Detailed description of the invention
Embodiment 1
In the three-dimensional simplified schematic diagram of a kind of face shovel spadework device with movement redundancy shown in Fig. 1, one end of frame 1 is connected by hinge R1 with the lower end of swing arm 2, the upper end of this swing arm 2 is connected by hinge R5 with one end of dipper 4, the other end of this dipper 4 is connected with a position of scraper bowl 5 by hinge R6, a pair powerful triangle 3 is connected with the both sides of swing arm 2 respectively by hinge R3, the cylinder sleeve end of a pair bucket hydraulic cylinder 6 is connected with scraper bowl 5 by hinge R7, and the piston rod end of this pair bucket hydraulic cylinder 6 is connected with swing arm 2 by hinge R9; The cylinder sleeve end of a pair dipper hydraulic cylinder 7 is connected with dipper 4 by hinge R8, and the piston rod end of this pair dipper hydraulic cylinder 7 is connected with a pair powerful triangle 3 by hinge R4; The cylinder sleeve end of a pair swing arm hydraulic cylinder 8 is connected with swing arm 2 by hinge R10, and the piston rod end of this pair swing arm hydraulic cylinder 8 is connected with frame 1 by hinge R11; The cylinder sleeve end of a pair auxiliary hydraulic cylinder 9 is connected with frame 1 by hinge R12; The piston rod end of this pair auxiliary hydraulic cylinder 9 is connected with a pair powerful triangle 3 by hinge R2.
Embodiment 2
In the three-dimensional simplified schematic diagram of a kind of face shovel spadework device with movement redundancy shown in Fig. 2, one end of frame 1 is connected by hinge R1 with the lower end of swing arm 2, the upper end of this swing arm 2 is connected by hinge R5 with one end of dipper 4, the other end of this dipper 4 is connected with a position of scraper bowl 5 by hinge R6, a pair powerful triangle 3 is connected with the both sides of swing arm 2 respectively by hinge R3, the cylinder sleeve end of a pair bucket hydraulic cylinder 6 is connected with scraper bowl 5 by hinge R7, and the piston rod end of this pair bucket hydraulic cylinder 6 is connected with powerful triangle 3 by hinge R4; The cylinder sleeve end of a pair dipper hydraulic cylinder 7 is connected with frame 1 by hinge R9, and the piston rod end of this pair dipper hydraulic cylinder 7 is connected with dipper 4 by hinge R8; The cylinder sleeve end of a pair swing arm hydraulic cylinder 8 is connected with swing arm 2 by hinge R10, and the piston rod end of this pair swing arm hydraulic cylinder 8 is connected with frame 1 by hinge R11; The cylinder sleeve end of a pair auxiliary hydraulic cylinder 9 is connected with swing arm 2 by hinge R12; The piston rod end of this pair auxiliary hydraulic cylinder 9 is connected with a pair powerful triangle 3 by hinge R2.
Embodiment 3
In the three-dimensional simplified schematic diagram of a kind of face shovel spadework device with movement redundancy shown in Fig. 3, one end of frame 1 is connected by hinge R1 with the lower end of swing arm 2, the upper end of this swing arm 2 is connected by hinge R5 with one end of dipper 4, the other end of this dipper 4 is connected with a position of scraper bowl 5 by hinge R6, a pair powerful triangle 3 is connected with the both sides of swing arm 2 respectively by hinge R3, the cylinder sleeve end of a pair bucket hydraulic cylinder 6 is connected with scraper bowl 5 by hinge R7, and the piston rod end of this pair bucket hydraulic cylinder 6 is connected with powerful triangle 3 by hinge R4; The cylinder sleeve end of a pair dipper hydraulic cylinder 7 is connected with dipper 4 by hinge R8, and the piston rod end of this pair dipper hydraulic cylinder 7 is connected with swing arm 2 by hinge R9; The cylinder sleeve end of a pair swing arm hydraulic cylinder 8 is connected with swing arm 2 by hinge R10, and the piston rod end of this pair swing arm hydraulic cylinder 8 is connected with frame 1 by hinge R11; The cylinder sleeve end of a pair auxiliary hydraulic cylinder 9 is connected with frame 1 by hinge R12; The piston rod end of this pair auxiliary hydraulic cylinder 9 is connected with a pair powerful triangle 3 by hinge R2.
Embodiment 4
In the three-dimensional simplified schematic diagram of a kind of face shovel spadework device with movement redundancy shown in Fig. 4, one end of frame 1 is connected by hinge R1 with the lower end of swing arm 2, the upper end of this swing arm 2 is connected by hinge R5 with one end of dipper 4, the other end of this dipper 4 is connected with a position of scraper bowl 5 by hinge R6, a pair powerful triangle 3 is connected with the both sides of swing arm 2 respectively by hinge R3, the cylinder sleeve end of a pair bucket hydraulic cylinder 6 is connected with a pair powerful triangle 3 by hinge R4, and the piston rod end of this pair bucket hydraulic cylinder 6 is connected with scraper bowl 5 by hinge R7; The cylinder sleeve end of a pair dipper hydraulic cylinder 7 is connected with frame 1 by hinge R9, and the piston rod end of this pair dipper hydraulic cylinder 7 is connected with dipper 4 by hinge R8; The cylinder sleeve end of a pair swing arm hydraulic cylinder 8 is connected with swing arm 2 by hinge R10, and the piston rod end of this pair swing arm hydraulic cylinder 8 is connected with frame 1 by hinge R11; The cylinder sleeve end of a pair auxiliary hydraulic cylinder 9 is connected with a pair powerful triangle 3 by hinge R2; The piston rod end of this pair auxiliary hydraulic cylinder 9 is connected with frame 1 by hinge R12.
Claims (2)
1. a face shovel spadework device with movement redundancy, it includes frame, swing arm, powerful triangle, dipper, scraper bowl, bucket hydraulic cylinder, dipper hydraulic cylinder, swing arm hydraulic cylinder, auxiliary hydraulic cylinder, it is characterized in that: one end of frame and the lower end of swing arm hinged, the upper end of this swing arm and one end of dipper hinged, the other end of this dipper and a position of scraper bowl hinged, a pair powerful triangle is hinged on the both sides on above-mentioned swing arm top respectively, and the connected mode of four pairs of hydraulic cylinders of described face shovel spadework device with movement redundancy is one of following four kinds:
The first connected mode: the cylinder sleeve end of a pair bucket hydraulic cylinder and scraper bowl hinged, piston rod end and the swing arm of this pair bucket hydraulic cylinder are hinged; The cylinder sleeve end of a pair dipper hydraulic cylinder and dipper hinged, the piston rod end of this pair dipper hydraulic cylinder and a pair powerful triangle hinged; The cylinder sleeve end of a pair swing arm hydraulic cylinder and swing arm hinged, piston rod end and the frame of this pair swing arm hydraulic cylinder are hinged; The cylinder sleeve end of a pair auxiliary hydraulic cylinder and frame hinged; The piston rod end of this pair auxiliary hydraulic cylinder and a pair powerful triangle hinged;
The second connected mode: the cylinder sleeve end of a pair bucket hydraulic cylinder and scraper bowl hinged, the piston rod end of this pair bucket hydraulic cylinder and a pair powerful triangle hinged; The cylinder sleeve end of a pair dipper hydraulic cylinder and frame hinged, piston rod end and the dipper of this pair dipper hydraulic cylinder are hinged; The cylinder sleeve end of a pair swing arm hydraulic cylinder and swing arm hinged, piston rod end and the frame of this pair swing arm hydraulic cylinder are hinged; The cylinder sleeve end of a pair auxiliary hydraulic cylinder and swing arm hinged; The piston rod end of this pair auxiliary hydraulic cylinder and a pair powerful triangle hinged;
The third connected mode: the cylinder sleeve end of a pair bucket hydraulic cylinder and scraper bowl hinged, the piston rod end of this pair bucket hydraulic cylinder and a pair powerful triangle hinged; The cylinder sleeve end of a pair dipper hydraulic cylinder and dipper hinged, piston rod end and the swing arm of this pair dipper hydraulic cylinder are hinged; The cylinder sleeve end of a pair swing arm hydraulic cylinder and swing arm hinged, piston rod end and the frame of this pair swing arm hydraulic cylinder are hinged; The cylinder sleeve end of a pair auxiliary hydraulic cylinder and frame hinged; The piston rod end of this pair auxiliary hydraulic cylinder and a pair powerful triangle hinged;
4th kind of connected mode: the cylinder sleeve end of a pair bucket hydraulic cylinder and a pair powerful triangle hinged, piston rod end and the scraper bowl of this pair bucket hydraulic cylinder are hinged; The cylinder sleeve end of a pair dipper hydraulic cylinder and frame hinged, piston rod end and the dipper of this pair dipper hydraulic cylinder are hinged; The cylinder sleeve end of a pair swing arm hydraulic cylinder and swing arm hinged, piston rod end and the frame of this pair swing arm hydraulic cylinder are hinged; The cylinder sleeve end of a pair auxiliary hydraulic cylinder and a pair powerful triangle hinged; Piston rod end and the frame of this pair auxiliary hydraulic cylinder are hinged.
2. face shovel spadework device with movement redundancy according to claim 1, is characterized in that: the cylinder sleeve of each hydraulic cylinder and the position of piston rod can exchange.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210177748.XA CN102720226B (en) | 2012-06-01 | 2012-06-01 | Face shovel spadework device with movement redundancy |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210177748.XA CN102720226B (en) | 2012-06-01 | 2012-06-01 | Face shovel spadework device with movement redundancy |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102720226A CN102720226A (en) | 2012-10-10 |
| CN102720226B true CN102720226B (en) | 2014-12-24 |
Family
ID=46946081
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210177748.XA Expired - Fee Related CN102720226B (en) | 2012-06-01 | 2012-06-01 | Face shovel spadework device with movement redundancy |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102720226B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103046588B (en) * | 2012-12-05 | 2015-01-07 | 燕山大学 | Crowd shovel excavation mechanism for optimizing driving of bucket rod |
| CN103046589B (en) * | 2012-12-20 | 2014-11-12 | 燕山大学 | Face shovel excavation device for optimizing lifting force of movable arm |
| CN107989619B (en) * | 2017-12-20 | 2024-05-31 | 佛山科学技术学院 | Telescopic excavating arm for tunnel excavation |
| WO2021035477A1 (en) * | 2019-08-26 | 2021-03-04 | Guangxi Liugong Machinery Co., Ltd. | Electric excavator |
| 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 |
| CN111364534B (en) * | 2020-04-24 | 2023-07-14 | 三一重机有限公司 | Bucket rod device, control method thereof and excavator |
| CN111962587A (en) * | 2020-08-10 | 2020-11-20 | 北京航空航天大学 | Mining electric shovel working device with electro-hydraulic auxiliary operation movement |
| CN112031051A (en) * | 2020-08-19 | 2020-12-04 | 北京航空航天大学 | Metamorphic parallel six-connecting-rod bucket mechanism applied to face shovel excavator |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| CN102380771A (en) * | 2011-11-11 | 2012-03-21 | 浙江理工大学 | High-rigidity redundantly-actuated three-degree-of-freedom parallel mechanism |
| CN202706074U (en) * | 2012-06-01 | 2013-01-30 | 燕山大学 | Motion redundancy face-shovel excavation mechanism |
-
2012
- 2012-06-01 CN CN201210177748.XA patent/CN102720226B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| CN102380771A (en) * | 2011-11-11 | 2012-03-21 | 浙江理工大学 | High-rigidity redundantly-actuated three-degree-of-freedom parallel mechanism |
| CN202706074U (en) * | 2012-06-01 | 2013-01-30 | 燕山大学 | Motion redundancy face-shovel excavation mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102720226A (en) | 2012-10-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102720230B (en) | Motion redundancy face shovel excavating mechanism capable of reducing lifting energy consumption | |
| CN102720226B (en) | Face shovel spadework device with movement redundancy | |
| CN102720229B (en) | Motion redundancy face shovel excavating mechanism capable of optimizing lifting force | |
| CN202706074U (en) | Motion redundancy face-shovel excavation mechanism | |
| CN103382729B (en) | Face shovel excavating and loading device capable of increasing pushing force and journey of bucket hydraulic cylinder | |
| CN103382730B (en) | Face shovel excavating and loading device capable of optimizing drive and stroke of bucket rod | |
| CN103382728B (en) | The crowd shovel optimizing swing arm lifting force and dipper driving excavates loading attachment | |
| CN102720227B (en) | Motion redundancy face shovel excavating mechanism containing lengthened arm | |
| CN103046586B (en) | Optimize the excavation loading attachment of digging force | |
| CN103437386B (en) | Automatically can realize scraper bowl and promote the energy-conservation peaceful crowd shovel excavation loading attachment moving requirement | |
| CN202706072U (en) | Hydraulic excavator operation device with motion redundancy characteristics | |
| CN202706076U (en) | Motion redundant face shovel excavation mechanism capable of reducing hoisting energy consumption | |
| CN202706071U (en) | Motion redundant face shovel excavation mechanism containing extension arm | |
| CN103046587B (en) | Excavating and loading device with extension jib | |
| CN102720228B (en) | Face shovel spadework device provided with movement redundancy and capable of optimizing spading force | |
| CN202706073U (en) | Motion redundancy face-shovel hydraulic excavation mechanism | |
| CN202706075U (en) | Motion redundancy face-shovel excavation mechanism capable of optimizing lifting force | |
| CN111042240A (en) | Hydraulic face shovel excavating mechanism capable of realizing horizontal push shovel | |
| CN103046589B (en) | Face shovel excavation device for optimizing lifting force of movable arm | |
| CN102720225B (en) | Motion redundancy face shovel hydraulic excavation operation mechanism | |
| CN102720224B (en) | Hydraulic excavator operating device with movement redundancy characteristics | |
| CN202706077U (en) | Motion redundant face shovel excavation device capable of optimizing excavation capability | |
| CN103046588B (en) | Crowd shovel excavation mechanism for optimizing driving of bucket rod | |
| CN111042237B (en) | Face shovel excavating mechanism capable of increasing thrust of bucket rod hydraulic cylinder and bucket rod stroke | |
| CN111042241A (en) | Face shovel excavating and loading device capable of increasing bucket stroke requirement |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141224 Termination date: 20170601 |