CN109610548A - The quick-replaceable auxiliary installation and adjustment bracket of hydraulic crawler excavator end effector - Google Patents

The quick-replaceable auxiliary installation and adjustment bracket of hydraulic crawler excavator end effector Download PDF

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Publication number
CN109610548A
CN109610548A CN201811579466.6A CN201811579466A CN109610548A CN 109610548 A CN109610548 A CN 109610548A CN 201811579466 A CN201811579466 A CN 201811579466A CN 109610548 A CN109610548 A CN 109610548A
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China
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screw rod
shaped
turned
strutbeam
rod
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CN201811579466.6A
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CN109610548B (en
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戴宁
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Jiangsu Institute of Architectural Technology
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Jiangsu Institute of Architectural Technology
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    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F9/00Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00

Abstract

The present invention announces a kind of quick-replaceable auxiliary installation and adjustment bracket of hydraulic crawler excavator end effector.Under U-shaped strutbeam, that screw rod, upper U-shaped strutbeam is turned up is parallel;Under U-shaped strutbeam with screw rod is turned up connect down clamp mechanism, screw rod connection parallel with upper U-shaped strutbeam is turned up and goes up clamp mechanism;Upper U-shaped strutbeam upper side is arc-shaped slot, is equipped with manifold assemblies in the arc-shaped slot of upper U-shaped strutbeam;Passage block is slidably fitted in upper U-shaped strutbeam guide groove, passage block upper end is chimeric with manifold assemblies;It is connected through a screw thread in passage block tapped through hole and advance and retreat screw rod is installed.This bracket is not connect with the forearm of excavator and connecting rod, but it is pairs of be placed on the ground, the bracket of two sides is symmetrical about longitudinal vertical plane.The displacement accuracy of each support height is up to 0.020mm;The front-rear position displacement accuracy of end effector is up to 0.020mm;The left-right position displacement accuracy of end effector is up to 0.500mm.

Description

The quick-replaceable auxiliary installation and adjustment bracket of hydraulic crawler excavator end effector
Technical field
The present invention relates to theory of mechanisms and excavator end effector to replace technical field, specifically a kind of hydraulic crawler excavator end Hold the quick-replaceable auxiliary installation and adjustment bracket of actuator.
Background technique
Hydraulic crawler excavator is a very versatile equipment, is had from shifting property and independent dynamical system, as long as replacement The end effector of hydraulic crawler excavator, so that it may which completion is excavated, is crushed, cutting, tamping, loosening the soil, carrying, removing and the works such as cutting Industry, common end effector have bucket, impactor, cutter, extruding-breaking device, tamper, ridge buster, fork device, stripper and Circular saw, all than heavier, the strength for being above a people can be carried freely or flexibly be changed the weight of these end effectors Become the range of posture, so, the replacement of end effector be it is relatively time-consuming, general way is the forearm and steel with excavator The end effector that cord will be changed is removed from retinue vehicle, is placed on the ground, then, is adjusted the forearm phase of excavator For the position of end effector, allows the lower opening on small arm of digger to be aligned with the upper hole on end effector, must also move often End effector is moved to be aligned with the lower opening on small arm of digger, gathers examination repeatedly, until on small arm of digger lower opening with it is last The upper hole alignment on actuator is held, at this point, support shaft and bayonet lock are installed, when the lower opening and end effector on small arm of digger On upper hole alignment when, phase relation between the two is determined, then lower support shaft is mounted on to the company on small arm of digger In lower opening on bar and end effector, then a bayonet lock is installed, just completes the work of primary replacement end effector in this way. Under normal conditions, it replaces an end effector and needs or so half an hour, this is the too long of time for driver, half The time of or so hour, excavator can do many things.
In order to change this time-consuming problem, quick connector comes into being, most fastly can be using quick connector An end effector is replaced within 20 seconds, the time is really saved greatly, but new problem occurs again:
First problem is: quick connector is mounted on always on the forearm and connecting rod of excavator, to make original small Arm is elongated, changes judgement of the driver originally to operation object present position in this way, needs one section of longer time that could fit The operational issue of forearm should be increased;
Second Problem is: there is one to implement clamping on quick connector and unclamps single or two oil cylinders of ear mount, card Tightly need the support of a set of hydraulic system with the movement of release, for example to increase fluid pressure line, control valve, control hand handle etc.;
Third problem is: the type of attachment of quick connector and end effector, and end effector originally is to pass through Contact realization of the complete hole with axis is interconnected, after quick connector, the company of quick connector and end effector Connecing is that contact by slot with axis realizes interconnected, and contact area is opposite to be reduced, and contact zone stress is opposite to be increased, and clamping Oil cylinder, which will also apply one, prevents the hydraulic thrust unclamped, and further increases the stress numerical of contact zone;
4th problem is: the connection of quick connector and end effector cannot achieve the lubrication under closed state, Under the action of shock loading, deformation causes small relative displacement to exacerbate the abrasion between axis and slot, shortens making for pin shaft Use the service life;
5th problem is: the weight of quick connector about 150kg is mounted on the front end of excavator, when excavator When lifting movement is implemented in front end, quick connector consumes the power of hydraulic system and does not do work, and therefore, increases excavator Oil consumption.
Summary of the invention
In order to realize fast speed end effector installation, and solve the problems, such as quick connector bring five, this Invention provides a kind of quick-replaceable auxiliary installation and adjustment bracket of hydraulic crawler excavator end effector.
The invention is realized by the following technical scheme: a kind of quick-replaceable auxiliary installation of hydraulic crawler excavator end effector Adjusting bracket, including be sequentially arranged down from the bottom to top U-shaped strutbeam, be turned up screw rod, upper U-shaped strutbeam, under U-shaped strutbeam, be turned up spiral shell Bar, upper U-shaped strutbeam are parallel to each other;
The height-regulating screw rod left part is connected with height-regulating handwheel, screw rod left end sliding sleeve is turned up, left set is housed, screw rod is turned up Right end is provided with external screw thread, and height-regulating screw rod right end, which is connected through a screw thread, is equipped with height-regulating nut;
The left set and under be hinged with left lower link, middle lower link between U-shaped strutbeam, cut with scissors between left set and upper U-shaped strutbeam It is connected to upper left connecting rod;The height-regulating nut and under bottom right connecting rod is hinged between U-shaped strutbeam, be turned up nut and upper U-shaped strutbeam it Between be hinged with upper right connecting rod, middle upper connecting rod;The left lower link and middle lower link are arranged in parallel, left lower link and bottom right connecting rod pair Claim arrangement;The upper left connecting rod and middle upper connecting rod are arranged in parallel, and upper left connecting rod is arranged symmetrically with upper right connecting rod;
The upper U-shaped strutbeam upper side is arc-shaped slot, is equipped with manifold assemblies in the arc-shaped slot of upper U-shaped strutbeam;
The arc-shaped slot bottom of upper U-shaped strutbeam one end is provided with U-shaped strutbeam guide groove, is slidably installed in upper U-shaped strutbeam guide groove There is passage block, passage block upper end is chimeric with the manifold assemblies;The passage block, which places an order, offers tapped through hole, elapses block screw thread It is connected through a screw thread in through-hole and advance and retreat screw rod is installed;The advance and retreat screw rod, which is connected through a screw thread, is mounted on U-shaped strutbeam one end, Advance and retreat screw rod outer end is connected with advance and retreat handwheel.
It is further: U-shaped strutbeam side is provided with down U-shaped strutbeam guide groove under described, under be accommodated with branch in U-shaped strutbeam guide groove Leg assembly;The leg assembly includes actuating supporting leg, actuates supporting leg one end by supporting leg gusset and is fixedly connected with supporting leg sleeve;Institute The top for stating down U-shaped strutbeam guide groove one end is equipped with the supporting leg upper supporting plate being fixed on down on U-shaped strutbeam;In the middle part of the supporting leg upper supporting plate It is provided with mounting hole, the supporting leg sleeve is connect by leg pin with supporting leg upper supporting plate mounting hole.
The height-regulating screw rod left end is square shaft, is turned up in the middle part of handwheel and is provided with square hole, and screw rod square shaft is turned up and handwheel side is turned up Hole is interference fit;The height-regulating screw rod left end is equipped with the shaft shoulder and middle part elastic cylindrical pin, and the left set is with gap fiting mode It is sleeved on and is turned up on the left of screw rod, the left side of left set is positioned by the shaft shoulder of height-regulating screw rod, and the right side of left set passes through middle part elastic cylinder Finger setting.
The manifold assemblies include right support steel pipe, middle axial pipe, middle left support steel pipe, left circumferential guiding steel pipe, a left side Supporting steel pipe;The left end of the left circumferential guiding steel pipe is inserted into an interference fit in the right ports of left support steel pipe, institute State left circumferential guiding steel pipe right end be inserted into an interference fit in left support steel pipe left hole in;The axis guide The left end of pipe be inserted into an interference fit in left support steel pipe right ports in, the right end of the middle axial pipe is with interference The mode of cooperation is inserted into the left hole of right support steel pipe.
Cooperate between the top of the passage block and left circumferentially guiding steel pipe for small―gap suture, elapses top left hand and the left side of block Supporting steel pipe right end face contact elapses top right side and the middle left support steel pipe left end face contact of block.
Be cased with band outside the middle axial pipe, band open end by middle upper pin, in go up elastic cylindrical pin and be fixed on On upper U-shaped strutbeam.
This bracket is not connect with the forearm of excavator and connecting rod, but it is pairs of be placed on the ground, the bracket of two sides It is symmetrical about longitudinal vertical plane.Each weight support frame about 10kg, when use, do not need usage mining machine and carry out hanging shifting, only need driver The portable position to needs, then, usage mining machine adds the method for wirerope to place the end effector needed replacing On two brackets, the lower opening on small arm of digger is fallen on into position appropriate.Hereafter, the height of two brackets in left and right is adjusted respectively Degree, the adjustable variable quantity of each support height are 82mm, and displacement accuracy is by spiral sub-control, up to 0.020mm;Then, front and back Mobile position of the end effector relative to two brackets being placed on two brackets, before end effector is relative to bracket Location variation is 70mm afterwards, and displacement accuracy is by spiral sub-control, up to 0.020mm;A left side of the end effector relative to bracket Right location variation is 50mm, and displacement accuracy is controlled by driver, up to 0.500mm, in this way, can be realized on small arm of digger Lower opening is aligned with the upper hole on end effector.Hereafter work is as pervious operation, and after being installed, two are assisted Installation and adjustment bracket mentions the replacement operation that an end effector is completed on accompanying vehicle, can meet end well The attitude regulation of actuator replaces an end effector and only needs 6 minutes or so under normal circumstances with the demand for being directed at installation Time, although the method for quick connector is not fast, also without five additional drawbacks of quick connector bring.
Detailed description of the invention
Fig. 1 is the operation schematic diagram when present invention replaces scraper bowl for hydraulic crawler excavator;
Fig. 2 is the main view of extreme lower position of the present invention;
Fig. 3 is the main view of arbitrary height position of the present invention;
Fig. 4 is the left view of extreme lower position of the present invention;
Top view when Fig. 5 is leg assembly outreach of the present invention;
Fig. 6 is the top view in time receiving in leg assembly of the present invention;
Fig. 7 is the main view that screw rod is turned up;
Fig. 8 is the main view of upper U-shaped branch beam assembly;
Fig. 9 is the left view of upper U-shaped branch beam assembly;
Figure 10 is the main view of band;
Figure 11 is the left view of band;
Figure 12 is the main view of left lower link;
Figure 13 is the A direction view of left lower link;
Figure 14 is the main view of upper left connecting rod;
Figure 15 is the B direction view of upper left connecting rod;
The main view of Figure 16 U-shaped strutbeam under being;
The cross-sectional view of Figure 17 U-shaped strutbeam under being;
The top view of Figure 18 U-shaped strutbeam under being;
The left view of Figure 19 U-shaped strutbeam under being;
Figure 20 is the main view of left set;
Figure 21 is the left view of left set;
Figure 22 is the main view of nut;
Figure 23 is the left view of nut;
Figure 24 is the main view of leg assembly;
Figure 25 is the top view of leg assembly;
Figure 26 is the main view of manifold assemblies;
Figure 27 is kinematic sketch of the invention;
Figure 28 screw rod does not rotate the calculation diagram of clamp mechanism freedom degree at present;
Figure 29 screw rod rotates the calculation diagram of clamp mechanism freedom degree at present;
The calculation diagram of upper clamp mechanism freedom degree when Figure 30 screw rod does not rotate;
The calculation diagram of upper clamp mechanism freedom degree when Figure 31 screw rod rotates;
Figure 32 is the calculation diagram of force analysis of the invention.
In figure: U-shaped branch beam assembly on 1;2 right support steel pipes;3 upper right pin shafts;4 upper right elastic cylindrical pins;Upper connecting rod in 5;6 Middle upper pin;Upper elastic cylindrical pin in 7;Axial pipe in 8;9 bands;Left support steel pipe in 10;11 upper left pin shafts;12 upper left bullets Property straight pin;13 upper left connecting rods;14 left sets;15 left front upper pins;16 left back upper pins;17 are turned up screw rod;18 are turned up handwheel;19 Left lower link;Left front upper pin in 20;Left back upper pin in 21;U-shaped strutbeam under 22;23 lower-left pin shafts;24 lower-left elastic cylinders Pin;25 middle part elastic cylindrical pins;Lower link in 26;Lower bearing pin in 27;Lower elastic cylindrical pin in 28;29 leg pins;30 supporting legs Elastic cylindrical pin;31 supporting leg upper supporting plates;32 leg assemblies;33 bottom right pin shafts;34 bottom right elastic cylindrical pins;35 are turned up nut;36 Bottom right connecting rod;37 right front upper pins;Upper pin behind 38 right sides;39 upper right connecting rods;Right front upper pin in 40;Upper pin behind the right side in 41; 42 left circumferential guiding steel pipes;43 left support steel pipes;
The upper U-shaped strutbeam of 1-1;The upper circlip of 1-2;1-3 elapses block;The upper internal screw thread block of 1-4;1-5 advance and retreat handwheel;1-6 into Move back screw rod;
The left advance and retreat handwheel of 1-51;The right advance and retreat handwheel of 1-52;
The left height-regulating handwheel of 18-1;The right height-regulating handwheel of 18-2;
32-1 supporting leg sleeve;32-2 supporting leg gusset;32-3 actuates supporting leg;32-4 left branch leg;The right supporting leg of 32-5.
Symbol in figure: HminThe minimum constructive height of bracket;The arbitrary height of H bracket;C1Under U-shaped strutbeam guide groove;C2Upper U-shaped strutbeam Guide groove;d2The central diameter of screw rod;Length of the X screw rod between revolute pair C, G;HyWhen bracket arbitrary height between upper lower bearing pin axis Height;
A1Scraper bowl left upper port;A2Scraper bowl upper right hole;B1Scraper bowl lower-left hole;B2Scraper bowl bottom right hole;CD scraper bowl;The left ear of ZE scraper bowl; YE scraper bowl auris dextra;Axially bored line on OD scraper bowl;ZZG bracket left support pipe;YZG bracket right support pipe;ZZJ left support;The right branch of YZJ Frame;The upper left ZG support height;YG right upper bracket height;KJ or so support span;
WxThe mounting hole of leg pin;ASThe mounting hole of upper right pin shaft;BSThe mounting hole of middle upper pin;KSUpper left pin shaft Mounting hole;DxThe mounting hole of lower-left pin shaft;IxThe mounting hole of middle lower bearing pin;ExThe mounting hole of bottom right pin shaft;
The revolute pair of the upper U-shaped strutbeam of A and upper right connecting rod composition;The revolute pair of the upper U-shaped strutbeam of B and upper left connecting rod composition;C is left The revolute pair of upper connecting rod and left lower link and left set composition;The revolute pair of D left lower link U-shaped strutbeam composition under;The bottom right E connecting rod The revolute pair of U-shaped strutbeam composition under;G upper right connecting rod and bottom right connecting rod and the revolute pair that nut composition is turned up;In I lower link with Under U-shaped strutbeam composition revolute pair;The revolute pair of upper connecting rod and height-regulating nut composition in J;The upper U-shaped strutbeam of K and middle upper connecting rod group At revolute pair;The revolute pair of lower link and left set composition in Q;L22The distance between revolute pair D and E;L19Two on all connecting rods The distance between a revolute pair;The left set of U and the freedom calculation equivalence prismatic pair that screw rod composition is turned up;V is turned up screw rod and is turned up The freedom calculation equivalence prismatic pair of nut composition;
F0Half weight of accessory;Driving moment when M rises on screw rod;The corner of screw rod when θ rises;It is all when φ rises The angular displacement of connecting rod;F94Support force of the left lower link to left set;F74Support force of the screw rod to left set;F65Bottom right connecting rod is to nut Support force;F75Support force of the screw rod to nut.
Specific embodiment
It is a specific embodiment of the invention below, the present invention will be further described with reference to the accompanying drawings.
As shown in Figures 1 to 7, the quick-replaceable auxiliary installation and adjustment bracket of a kind of hydraulic crawler excavator end effector, packet Include be sequentially arranged down from the bottom to top U-shaped strutbeam 22, be turned up screw rod 17, upper U-shaped strutbeam 1-1, under U-shaped strutbeam 22, be turned up screw rod 17, upper U-shaped strutbeam 1-1 is parallel.Be turned up screw rod 17 and under pass through left lower link 19, middle lower link 26, bottom right between U-shaped strutbeam 22 Connecting rod 36 connects into lower clamp mechanism, be turned up between screw rod 17 and upper U-shaped strutbeam 1-1 by upper left connecting rod 13, upper right connecting rod 39, in Upper connecting rod 5 connects into clamp mechanism, when in use, carries out height adjustment by the way that screw rod 17 is turned up.Use lower clamp mechanism and upper son On the one hand the combination of mechanism can obtain biggish high variable quantity with shorter stent length, be on the other hand have it is suitable Height exchange high handwheel with hand and implement operation.Upper U-shaped strutbeam 1-1 upper side is arc-shaped slot, the circular arc of upper U-shaped strutbeam 1-1 Manifold assemblies are installed, when in use, end effector is placed in manifold assemblies, carries out position by advance and retreat screw rod 1-4 in shape slot Set adjusting.
Match in conjunction with the square shaft that 17 left end of screw rod shown in Figure 20 to Figure 23, is turned up with the square hole that handwheel 18 is turned up for interference It closes, the material that handwheel 18 is turned up is polytetrafluoroethylene (PTFE), that is, PTFE.17 left side of screw rod is turned up, left set 14 is set with gap fiting mode In, the left side of left set 14 is positioned by the shaft shoulder of height-regulating screw rod 17, and the right side of left set 14 is elastic by the middle part being turned up on screw rod 17 Straight pin 25 positions, and 17 right side of screw rod is turned up with nut 35 is turned up and forms screw pair.
In conjunction with shown in Figure 12 to Figure 15, lower clamp mechanism:
Left lower link 19 and left front upper pin 15 and left back upper pin 16 are clearance fit, left front upper pin 15 and it is left back on Pin 16 and left set 14 are interference fit, and left lower link 19 and lower-left pin shaft 23 are clearance fit, and lower-left elastic cylindrical pin 24 will Lower-left pin shaft 23 is located in down on U-shaped strutbeam 22.Middle lower link 26 and in left front upper pin 20 and between left back upper pin 21 is Gap cooperation, in left front upper pin 20 and in left back upper pin 21 and left set 14 be interference fit, middle lower link 26 and middle lower bearing pin 27 be clearance fit, in lower elastic cylindrical pin 28 middle lower bearing pin 27 is located in down on U-shaped strutbeam 22.Before bottom right connecting rod 36 and the right side Above pin 38 is clearance fit after upper pin 37 and the right side, and upper pin 38 and height-regulating nut 35 are interference after right front upper pin 37 and the right side Cooperation, bottom right connecting rod 36 and bottom right pin shaft 33 are clearance fit, and bottom right pin shaft 33 is located in down U-shaped by bottom right elastic cylindrical pin 34 On strutbeam 22.
Upper clamp mechanism:
Upper left connecting rod 13 and left front upper pin 15 and left back upper pin 16 are clearance fit, upper left connecting rod 13 and upper left pin shaft 11 be clearance fit, and upper left pin shaft 11 is located on upper U-shaped branch beam assembly 1 by upper left elastic cylindrical pin 12.Middle upper connecting rod 5 is in Right front upper pin 40 and it is middle it is right after upper pin 41 be clearance fit, middle upper connecting rod 5 is clearance fit with middle upper pin 6, in upper bullet Property straight pin 7 middle upper pin 6 is located on upper U-shaped branch beam assembly 1, in right front upper pin 40 and it is middle it is right after upper pin 41 with adjust High nut 35 is interference fit.Upper right connecting rod 39 and upper right pin shaft 3 are clearance fit, and upper right elastic cylindrical pin 4 is by upper right pin shaft 3 It is located on U-shaped branch beam assembly 1, upper pin 38 is clearance fit after upper right connecting rod 39 and right front upper pin 37 and the right side.
In conjunction with shown in Fig. 8, Fig. 9, upper U-shaped branch beam assembly 1:
Upper U-shaped strutbeam 1-1 provides basis for the installation of manifold assemblies.Hole A on upper U-shaped strutbeam 1-1SMiddle installation upper right pin Axis 3, hole KSUpper pin 6 in middle installation, hole BSMiddle installation upper left pin shaft 11.It elapses block 1-3 and advance and retreat screw rod 1-6 and forms revolute pair, Elapse the upper U-shaped strutbeam guide groove C on the right side of block 1-3 and upper U-shaped strutbeam 1-12Prismatic pair is formed, upper circlip 1-2 will elapse block 1-3 is constrained on advance and retreat screw rod 1-6.Upper internal screw thread block 1-4 is welded on the right side of U-shaped strutbeam 1-1, advance and retreat screw rod 1-6 with it is upper Internal screw thread block 1-4 forms screw pair.The material of advance and retreat handwheel 1-5 is polytetrafluoroethylene (PTFE), that is, PTFE, and advance and retreat handwheel 1-5 passes through square hole It is fixedly mounted on the right end of advance and retreat screw rod 1-6.
In conjunction with shown in Fig. 2, Fig. 3, Figure 26, manifold assemblies are for solving hydraulic crawler excavator end effector to be replaced The problem of support and relative displacement.Left support steel pipe 43 is inserted into the left side of left circumferential guiding steel pipe 42 in an interference fit In right ports, the right side of left circumferential guiding steel pipe 42 be inserted into an interference fit in left support steel pipe 10 left hole in. The left side of middle axial pipe 8 be inserted into an interference fit in left support steel pipe 10 right ports in, the right side of middle axial pipe 8 Side is inserted into an interference fit in the left hole of right support steel pipe 2, to form the manifold assemblies of an entirety.
In conjunction with band shown in Figure 10 and Figure 11, manifold assemblies are placed on U-shaped branch beam assembly 1, manifold assemblies quilt Band 9, middle upper pin 6, in upper elastic cylindrical pin 7 constrain on U-shaped branch beam assembly 1 and can relative to upper U-shaped branch beam assembly 1 To move left and right.For the power moved left and right from passage block 1-3, the top surface for elapsing block 1-3 is circumferentially oriented to steel pipe 42 with left Between be small―gap suture, gap 0.5mm, passage block 1-3 top left side contacted with left support steel pipe 43, passage block 1-3 top It is contacted on the right side of portion with middle left support steel pipe 10.End effector, that is, accessory to be replaced can do front and back rolling relative to manifold assemblies It is dynamic, driven by driver's both hands and controlled the position that the distance of back-and-forth motion is aligned to hole.
In conjunction with Figure 16 to Figure 19, under hole D in U-shaped strutbeam 22xMiddle installation lower-left pin shaft 23, hole IxLower bearing pin in middle installation 27, hole ExMiddle installation bottom right pin shaft 33.Supporting leg upper supporting plate 31 is welded on down right position in U-shaped strutbeam 22, under U-shaped strutbeam guide groove C1For the shrink space of leg assembly 32.
It is closed shown in Figure 24, Figure 25 again, leg assembly includes supporting leg sleeve 32-1, and supporting leg gusset 32-2 actuates supporting leg 32-3. Supporting leg sleeve 32-1 is mounted on down the hole W of U-shaped strutbeam by leg pin 29xIn, supporting leg gusset 32-2 and actuate supporting leg 32-3 It is welded on supporting leg sleeve 32-1, supporting leg gusset 32-2, which is welded on, to be actuated on supporting leg 32-3, and actuating supporting leg 32-3 is steel plate forming Structure.
As shown in FIG. 28 to 29, lower clamp mechanism is used to solve the half of support height variable quantity and in suitable operation height The problem of handwheel is turned up in installation on degree:
The revolute pair C of left lower link and left set composition, the revolute pair D of left lower link U-shaped strutbeam composition under, bottom right connecting rod The revolute pair E of U-shaped strutbeam composition, bottom right connecting rod and the revolute pair G that screw rod composition is turned up, middle lower link U-shaped strutbeam under with under The revolute pair I of composition, the revolute pair Q of middle lower link and left set composition, left set and the freedom calculation that screw rod composition is turned up are of equal value Prismatic pair U, left set and the revolute pair that screw rod composition is turned up are turned up nut with screw rod is turned up and form screw pair, and CDIQ composition is parallel Quadrangular mechanism, CDEG form the isosceles trapezoid mechanism that the length of CG can be changed, and the length variation of CG is by being turned up screw rod and height-regulating The screw pair of nut composition is realized.
The freedom calculation of lower clamp mechanism:
Nut 35 is turned up and screw rod 17 is turned up and forms screw pair, nut 35 is turned up and left sleeve 14 forms revolute pair, remaining Interconnection component between form revolute pair, when screw rod 17 is turned up and does not rotate for plane mechanism, as shown in figure 28, lower handset Freedom degree F=3n-the 2P of structureL=3 × 4-2 × 6=0 are a stable structure, are space mechanism when screw rod rotation, this When screw rod 17 is turned up, nut 35 and left sleeve 14 is turned up is equivalent to an elongated bar, an elongated bar is equivalent to two structures Part forms prismatic pair U, and as shown in figure 29, space mechanism is degenerated again for plane mechanism, the freedom degree F=3n -2P of lower clamp mechanismL =3 × 5-2 × 7=1 show that height-regulating movement can be done.
As shown in Figure 30 to Figure 31, upper clamp mechanism is used to solve half and installation back-and-forth motion of support height variable quantity The problem of upper U-shaped branch beam assembly:
The revolute pair A of upper U-shaped branch beam assembly and upper right connecting rod composition, upper U-shaped branch beam assembly and upper left connecting rod composition turn Dynamic secondary B, the revolute pair C of upper left connecting rod and left set composition, upper right connecting rod and the revolute pair G that nut composition is turned up, middle upper connecting rod and The revolute pair J of nut composition, the revolute pair K of upper U-shaped branch beam assembly and middle upper connecting rod composition is turned up, screw rod is turned up and nut is turned up Freedom calculation equivalence the prismatic pair V, AKJG of composition form parallelogram mechanism, and ABCG forms the isosceles that the length of CG can be changed Tie rod linkage, the length variation of CG are realized by the way that the screw pair of screw rod and height-regulating nut composition is turned up.
The freedom calculation of upper clamp mechanism:
It is plane mechanism when screw rod 17 is turned up and does not rotate, as shown in figure 30, upper clamp mechanism is relative to upper U-shaped branch beam assembly 1 freedom degree F=3n -2PL=3 × 4-2 × 6=0 are a stable structure, are space machine when screw rod 17 is turned up and rotates Screw rod 17, height-regulating nut 35 and left sleeve 14 are turned up at this time and is equivalent to an elongated bar for structure, and an elongated bar is equivalent to two A component forms prismatic pair V, and as shown in figure 31, space mechanism is degenerated again for plane mechanism, the relative freedom F of lower clamp mechanism =3n -2PL=3 × 5-2 × 7=1 show that height-regulating movement can be done.
As shown in figure 27, the freedom calculation of the kinematic sketch of integral support mechanism:
It is plane mechanism, the freedom degree F=3n -2P of bracket institution when screw rod 17 is turned up and does not rotateL=3 × 8-2 × 12 =0, be a stable structure, when be turned up screw rod 17 rotate when be space mechanism, at this time be turned up screw rod 17, be turned up nut 35 with Left sleeve 14 is equivalent to an elongated bar, and an elongated bar is equivalent to two components composition prismatic pair U, bracket institution from By spending F=3n -2PL=3 × 9-2 × 13=1 show that height-regulating movement can be done.
In conjunction with the Calculation and Analysis of Force schematic diagram of integral support mechanism shown in Figure 32:
The gravity of establishing part is F0(N), due to symmetric relation F94=F65, due to action and reaction relationship F74=F75, 2F94Sin φ=0.5F0, F94=0.25F0/ sin φ, F74=F94Cos φ, F74=0.25F0/ sin φ × cos φ=0.25F0/ Tan φ, when being turned up on screw rod 17, there are axial tension F74When, the driving force of periphery F on screw rod 17 is turned up17t=F74tan(α+ ρV), α is screw rod central diameter d2On lead angle, ρVFor equivalent friction angle, acute angle of the φ between all connecting rods and horizontal line, institute Having the distance between two revolute pairs on connecting rod is L19, the driving moment acted on screw rod is M, the M=in the central diameter of screw rod F17t d2/ 2, M=F74tan(α+ρV)d2/ 2=0.25F0/tanφ×tan(α+ρV)d2/2;
The angular displacement that screw rod 17 is turned up is θ, and the screw pitch of screw rod is P (mm), and screw rod 17 is turned up and axis between nut 35 is turned up It is x to the differential of displacement, length X=2L of the screw rod 17 between revolute pair C, G is turned up19cosφ+L22, the differential x=of length X DX=-(2L19Sin φ) d φ, height H when bracket arbitrary height between upper lower bearing pin axisy=2L19Sin φ, height Hy's Differential y=dHy=(2L19cosφ)dφ;
The ratio of differential x and pitch P that 17 length X of screw rod is turned up are equal to the differential d θ's and 2 π that 17 angular displacement of screw rod is turned up Ratio, the i.e. π of d θ=2 x/P;
If the mechanical efficiency of screw pair is η, according to energy equation M (d θ) η=- 0.5F02 π x/P=-0.5F of × y, M η0 (2L19Cos φ) 2 π of d φ, M η × (- 2L19Sin φ) d φ/P=-0.5F0(2L19Cos φ) d φ, obtaining driving moment M is
M=0.25F0PL19cosφ/(ηπ×L19Sin φ)=0.25F0P/(ηπtanφ);
As embodiment, d=20mm, P=4mm, d2=d -0.5P=18mm, thread form angle β=30 °, lead angle α= arctan[P/(πd2)]=arctan [4/ (π 18)]=4.046 °, coefficient of friction f=0.11, equivalent friction angle ρV=arctan (f/cos β)=arctan (0.11/cos30 °)=7.239 °, mechanical efficiency η=tan α/tan (α+ρ of screw pairV)= Tan4.046 °/tan (4.046 °+7.239 °)=0.354;
F0=700N, φmin=30 °, φmax=45 °, Mmax=0.25F0P/(ηπtanφmin)=0.25 × 700 × 4/ (0.354 × π × tan30 °)=1090Nmm, Mmin=0.25F0P/(ηπtanφmax)=0.25 × 700 × 4/ (0.354 × π × tan45 °)=494Nmm;
17 upper pulling force F of screw rod is turned up74Maximum value F74maxWith minimum value F74minRespectively
F74max=0.25F0/tanφmin=0.25 × 700/tan30 °=303.109N, F74min=0.25F0/tanφmax =0.25 × 700/tan45 °=175N;
The diameter d of handwheel 18 is turned up18=80mm, the torsion that single hand applies in the outer circle that handwheel 18 individually is turned up are F18, F18Maximum value F18maxWith minimum value F18minRespectively
F18max=Mmax/d18=1090/80=13.625N, F18min=Mmin/d18=494/80=6.175N, the number of torsion Value is very little;
Hy=2L19Sin φ, y=dHy=(2L19Cos φ) d φ, X=2L19cosφ+L22, x=dX=-(2L19sinφ) D φ, d the π x/P=2 π of θ=2 (- 2L19sinφ)dφ/P;Y/d θ=(2L19cosφ)dφ/[2π(–2L19Sin φ) d φ/P]= Pcos φ/(- 2 π sin φ)=- P/ (2 π tan φ), the d π y tan φ/P of θ=- 2, if height HyVariable quantity y=2mm, φmin =30 °, φmax=45 °, P=4mm, the minimum corner d θ of screw rod 17 is turned upmin=-2 π y tan φmin/ P=-2 π × - 103.923 ° of -1.8138rad=of 2tan30 °/4=, the hard-over d θ of screw rod 17 is turned upmax=-2 π y tan φmax/ P=-2 - 180 ° of -3.14159rad=of π × 2tan45 °/4=, symbol description HyX reduces when increase, this explanation, as height HyVariable quantity When y=2mm, the corner that screw rod 17 is turned up is larger, if corner d θ=π of height-regulating screw rod 17/6=30 °, at this point, height HyChange Change amount y is y=-Pd θ/(2 π tan φ), ymin=-Pd θ/(2 π tan φmin)=- 4 × π/6/ (2 π tan30 °)=- 0.577mm, If corner d θ=π of height-regulating screw rod 17/4=45 °, ymax=-Pd θ/(2 π tan φmax)=- 4 × π/4/ (2 π tan45 °)=- 0.500mm, this explanation, is turned up the biggish lesser displacement of corner de-regulation of screw rod 17, is very easy to accomplish;
If height HyVariable quantity y=0.020mm, be turned up screw rod 17 minimum corner d θmin=-2 π y tan φmin/P The hard-over d θ of screw rod 17 is turned up in=- 2 π × 0.020tan30 °/- 1.039 ° of 4=-0.01814rad=max=-2 π y tan φmax/ P=-2 π × 0.020tan45 °/- 1.8 ° of 4=-0.03141rad=;
It is computed, the total weight of bracket is 9.58kg;
High variable quantity of the accessory on bracket is 82mm, and displacement accuracy is by spiral sub-control, up to 0.020mm, accessory Front-rear position variable quantity relative to bracket is 70mm, and displacement accuracy is by spiral sub-control, up to 0.020mm, accessory relative to The left-right position variable quantity of bracket is 50mm, and displacement accuracy is controlled by driver, up to 0.500mm, can soon meet accessory Attitude regulation be directed at installation requirements.
As shown in connection with fig. 1, the operation schematic diagram when present invention is for hydraulic crawler excavator replacement scraper bowl:
The course of work is as follows,
Left support ZZJ and right support YZJ by portable placement in place, left branch leg 32-4 opens, right supporting leg 32- 5 open, and scraper bowl CD is sling by excavator on the right support pipe YZG of the left support pipe ZZG and right support that are placed on left support, existing Left upper port A on the left ear ZE of scraper bowl to be solved1With the upper right hole A on scraper bowl auris dextra YE2With the hole pair on small arm of digger end The problem of standard is to enter first support shaft installation, in other words, left upper port A1With upper right hole A2Axes O D and excavator it is small The problem of being caught in forearm end on the inside of the axis coincidence in hole and left ear and auris dextra on arm end;
Driver has rule of thumb placed the axis in hole on small arm of digger end in position, it is now desired to front and back Mobile axis OD, it is aligned by the left end lifting of axes O D, by the right end lifting of axes O D to realize;
Concrete operations are, while rotating in same direction left advance and retreat handwheel 1-51 and right advance and retreat handwheel 1-52 and may be implemented scraper bowl CD's It is moved forward and backward, only rotating left advance and retreat handwheel 1-51 may be implemented the back-and-forth motion in left side of scraper bowl CD, only rotate right advance and retreat handwheel The back-and-forth motion on the right side of scraper bowl CD may be implemented in 1-52, while rotating in same direction left height-regulating handwheel 18-1 and right height-regulating handwheel 18-2 The elevating movement of scraper bowl CD may be implemented, only rotating left height-regulating handwheel 18-1 may be implemented elevating movement on the left of scraper bowl CD, only Rotating right height-regulating handwheel 18-2 may be implemented elevating movement on the right side of scraper bowl CD, and driver's hand or so elapses end effector, end End actuator is scrolled left and right relative to manifold assemblies, is moved left and right relative to bracket, the distance moved left and right is controlled by driver System then realizes alignment operation, is inserted into upper support shaft after alignment;
After the insertion of upper support shaft, scraper bowl is determined relative to the lateral position of forearm end, with rocking bar by turning Hole and scraper bowl lower-left hole B on the connecting rod end of dynamic connection1With scraper bowl bottom right hole B2Alignment be just readily solved, as long as simultaneously It rotates in same direction left height-regulating handwheel 18-1 and right height-regulating handwheel 18-2 realizes the elevating movement of scraper bowl CD, alignment and lower branch can be realized Support the installation of axis.

Claims (6)

1. a kind of quick-replaceable auxiliary installation and adjustment bracket of hydraulic crawler excavator end effector,
It is characterized by:
Including be sequentially arranged down from the bottom to top U-shaped strutbeam (22), be turned up screw rod (17), upper U-shaped strutbeam (1-1), under U-shaped strutbeam (22), screw rod (17) are turned up, upper U-shaped strutbeam (1-1) is parallel to each other;
Height-regulating screw rod (17) left part, which is connected with, is turned up handwheel (18), screw rod (17) left end sliding sleeve is turned up, left set is housed (14), screw rod (17) right end is turned up and is provided with external screw thread, height-regulating screw rod (17) right end, which is connected through a screw thread, is equipped with height-regulating nut (35);
The left set (14) and under be hinged with left lower link (19), middle lower link (26) between U-shaped strutbeam (22), left set (14) with Upper left connecting rod (13) are hinged between upper U-shaped strutbeam (1-1);The height-regulating nut (35) and under it is hinged between U-shaped strutbeam (22) Have bottom right connecting rod (36), is turned up between nut (35) and upper U-shaped strutbeam (1-1) and is hinged with upper right connecting rod (39), middle upper connecting rod (5);The left lower link (19) and middle lower link (26) are arranged in parallel, left lower link (19) and bottom right connecting rod (36) symmetrical cloth It sets;The upper left connecting rod (13) and middle upper connecting rod (5) are arranged in parallel, and upper left connecting rod (13) is arranged symmetrically with upper right connecting rod (39);
Upper U-shaped strutbeam (1-1) upper side is arc-shaped slot, is equipped with branch pipe group in the arc-shaped slot of upper U-shaped strutbeam (1-1) Part;
The arc-shaped slot bottom of upper U-shaped strutbeam (1-1) one end be provided with U-shaped strutbeam guide groove (C 2), upper U-shaped strutbeam guide groove (C 2) in It is slidably fitted with passage block (1-3), the passage block upper end (1-3) is chimeric with the manifold assemblies;The passage block (1-3) places an order out Equipped with tapped through hole, it is connected through a screw thread in passage block (1-3) tapped through hole and advance and retreat screw rod (1-4) is installed;The advance and retreat spiral shell Bar (1-4), which is connected through a screw thread, is mounted on the one end U-shaped strutbeam (1-1), and the outer end advance and retreat screw rod (1-4) is connected with advance and retreat handwheel (1-5).
2. the quick-replaceable auxiliary installation and adjustment bracket of hydraulic crawler excavator end effector according to claim 1, feature Be: under described U-shaped strutbeam (22) side be provided with down U-shaped strutbeam guide groove (C 1), under U-shaped strutbeam guide groove (C 1) in be accommodated with supporting leg Component (32);The leg assembly (32) includes actuating supporting leg (32 3), actuates supporting leg (32 3) one end and passes through supporting leg gusset (32 2) supporting leg sleeve (32 1) are fixedly connected with;U-shaped strutbeam guide groove under described (C 1) one end top be equipped be fixed on down U-shaped branch Supporting leg upper supporting plate (31) on beam (22);Mounting hole, the supporting leg sleeve (32 1) are provided in the middle part of the supporting leg upper supporting plate (31) It is connect by leg pin (29) with supporting leg upper supporting plate (31) mounting hole.
3. the quick-replaceable auxiliary installation and adjustment bracket of hydraulic crawler excavator end effector according to claim 1, feature Be: the height-regulating screw rod (17) left end is square shaft, is turned up in the middle part of handwheel (18) and is provided with square hole, and screw rod (17) square shaft is turned up and adjusts High handwheel (18) square hole is interference fit;The height-regulating screw rod (17) left end is equipped with the shaft shoulder and middle part elastic cylindrical pin (25), institute It states left set (14) to be sleeved on the left of height-regulating screw rod (17) with gap fiting mode, the left side of left set (14) is by height-regulating screw rod (17) The right side of shaft shoulder positioning, left set (14) is positioned by middle part elastic cylindrical pin (25).
4. the quick-replaceable auxiliary installation and adjustment bracket of hydraulic crawler excavator end effector according to claim 1, feature Be: the manifold assemblies include right support steel pipe (2), middle axial pipe (8), middle left support steel pipe (10), left circumferential guiding Steel pipe (42), left support steel pipe (43);Left branch is inserted into the left end of left circumferential guiding steel pipe (42) in an interference fit In the right ports for supportting steel pipe (43), the right end of left circumferential guiding steel pipe (42) be inserted into an interference fit in left support In the left hole of steel pipe (10);The left end of the middle axial pipe (8) be inserted into an interference fit in left support steel pipe (10) in right ports, the right end of the middle axial pipe (8) is inserted into the left side of right support steel pipe (2) in an interference fit Kong Zhong.
5. the quick-replaceable auxiliary installation and adjustment bracket of hydraulic crawler excavator end effector according to claim 4, feature It is: cooperates between the top of passage block (1 3) and left circumferential guiding steel pipe (42) for small―gap suture, passage block (1 3) Top left hand and left support steel pipe (43) right end face contact elapse left with middle left support steel pipe (10) on the right side of the top of block (1 3) End face contact.
6. the quick-replaceable auxiliary installation and adjustment bracket of hydraulic crawler excavator end effector according to claim 4, feature Be: being cased with band (9) outside the middle axial pipe (8), band (9) open end by middle upper pin (6), in upper elastic cylinder Pin (7) is fixed on U-shaped strutbeam (1-1).
CN201811579466.6A 2018-12-21 2018-12-21 Auxiliary mounting and adjusting support for quickly replacing end effector of hydraulic excavator Active CN109610548B (en)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08113480A (en) * 1994-10-18 1996-05-07 Mikisuke Kitajima Coffin lifting truck
US20070034125A1 (en) * 2005-08-09 2007-02-15 Wen-Ping Lo Hidden electric power elevating stand structure
CN102070105A (en) * 2011-01-17 2011-05-25 宣伯民 Labor-saving spiral shearing jack
CN105217515A (en) * 2015-11-03 2016-01-06 赛埃孚汽车保修设备(太仓)有限公司 One is convenient can parallel-moving type elevator
CN107511530A (en) * 2017-09-19 2017-12-26 安徽机电职业技术学院 A kind of scissor lift sawing machine device
CN108127798A (en) * 2017-12-25 2018-06-08 郑州格瑞塔电子信息技术有限公司 A kind of fork lifting-type metope perforating device of stabilization

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08113480A (en) * 1994-10-18 1996-05-07 Mikisuke Kitajima Coffin lifting truck
US20070034125A1 (en) * 2005-08-09 2007-02-15 Wen-Ping Lo Hidden electric power elevating stand structure
CN102070105A (en) * 2011-01-17 2011-05-25 宣伯民 Labor-saving spiral shearing jack
CN105217515A (en) * 2015-11-03 2016-01-06 赛埃孚汽车保修设备(太仓)有限公司 One is convenient can parallel-moving type elevator
CN107511530A (en) * 2017-09-19 2017-12-26 安徽机电职业技术学院 A kind of scissor lift sawing machine device
CN108127798A (en) * 2017-12-25 2018-06-08 郑州格瑞塔电子信息技术有限公司 A kind of fork lifting-type metope perforating device of stabilization

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