CN109610548B - Auxiliary mounting and adjusting support for quickly replacing end effector of hydraulic excavator - Google Patents

Auxiliary mounting and adjusting support for quickly replacing end effector of hydraulic excavator Download PDF

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Publication number
CN109610548B
CN109610548B CN201811579466.6A CN201811579466A CN109610548B CN 109610548 B CN109610548 B CN 109610548B CN 201811579466 A CN201811579466 A CN 201811579466A CN 109610548 B CN109610548 B CN 109610548B
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rod
shaped supporting
supporting
height
steel pipe
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CN109610548A (en
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戴宁
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Jiangsu Jianzhu Institute
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Jiangsu Jianzhu Institute
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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 invention discloses an auxiliary mounting and adjusting bracket for quickly replacing an end effector of a hydraulic excavator. The lower U-shaped supporting beam, the heightening screw and the upper U-shaped supporting beam are parallel; the lower U-shaped supporting beam and the heightening screw are connected with a lower sub mechanism, and the heightening screw and the upper U-shaped supporting beam are connected with an upper sub mechanism in parallel; the upper side surface of the upper U-shaped supporting beam is an arc-shaped groove, and a branch pipe assembly is arranged in the arc-shaped groove of the upper U-shaped supporting beam; a pushing block is slidably arranged in the guide groove of the upper U-shaped supporting beam, and the upper end of the pushing block is embedded with the branch pipe assembly; the advancing and retreating screw rod is installed in the thread through hole of the pushing block through thread connection. The brackets are not connected with the small arm and the connecting rod of the excavator, but are placed on the ground in pairs, and the brackets on two sides are symmetrical about a longitudinal vertical plane. The displacement precision of the height of each bracket can reach 0.020 mm; the front and back position displacement precision of the end effector can reach 0.020 mm; the left and right position displacement precision of the end effector can reach 0.500 mm.

Description

Auxiliary mounting and adjusting support for quickly replacing end effector of hydraulic excavator
Technical Field
The invention relates to the technical field of mechanics and excavator end effector replacement, in particular to an auxiliary mounting and adjusting bracket for quickly replacing an end effector of a hydraulic excavator.
Background
The hydraulic excavator is a very general equipment, it has self-moving and independent power system, as long as the end effector of the hydraulic excavator is changed, it can implement the operations of digging, breaking, shearing, tamping, loosening soil, carrying, stripping and cutting, etc., the commonly used end effector includes bucket, impacter, shearing device, crushing device, tamping device, scarifier, fork-taking device, stripping device and disk saw, and the weight of these end effectors is heavy, and exceeds the range in which one person can freely carry or flexibly change posture by force, so that the change of the end effector is time-consuming, and the general method is to use the small arm of the excavator and wire rope to take the end effector to be changed off from the following vehicle, place it on the ground, then regulate the position of the small arm of the excavator relative to the end effector, make the lower hole on the small arm of the excavator align with the upper hole on the end effector, the end effector is also moved to align with the lower aperture of the excavator forearm, and the process is repeated until the lower aperture of the excavator forearm is aligned with the upper aperture of the end effector, at which time the upper support shaft and the latch are installed, the phase relationship between the lower aperture of the excavator forearm and the upper aperture of the end effector is determined when the lower aperture is aligned, the lower support shaft is then installed in the lower aperture of the end effector and the link rod of the excavator forearm, and a latch is installed, thus completing the work of replacing the end effector once. Typically, replacing an end effector once takes about a half hour, which is too long for the driver, and about a half hour, the excavator can do a lot of things.
To address this time consuming problem, quick connectors have come to date, and with quick connectors, it is not uncommon to replace an end effector within 20 seconds at the fastest, with a substantial savings in time, but new problems arise:
the first problem is: the quick connector is always arranged on the small arm and the connecting rod of the excavator, so that the original small arm is lengthened, the original judgment of a driver on the position of an operation object is changed, and the operation problem that the small arm is lengthened can be adapted in a long time;
the second problem is: the quick connector is provided with a single or two oil cylinders for implementing clamping and loosening of the lug seats, and the clamping and loosening actions need the support of a set of hydraulic system, such as adding a hydraulic pipeline, a control valve, a control handle and the like;
the third problem is: the connection form of the quick connector and the end effector is that the original end effector is connected with the shaft through the contact of a complete hole, after the quick connector is used, the quick connector is connected with the end effector through the contact of a groove and the shaft, the contact area is relatively reduced, the stress of the contact area is relatively increased, and the clamping oil cylinder is required to apply a hydraulic thrust force for preventing loosening, so that the stress value of the contact area is further increased;
the fourth problem is: the connection of the quick connector and the end effector can not realize lubrication in a closed state, and under the action of impact load, the deformation causes tiny relative displacement to aggravate abrasion between the shaft and the groove, so that the service life of the pin shaft is shortened;
the fifth problem is: the quick connector is about 150kg in weight and is installed at the foremost end of the excavator, and when the foremost end of the excavator performs lifting action, the quick connector consumes the power of a hydraulic system and does not do work, so that the oil consumption of the excavator is increased.
Disclosure of Invention
In order to realize the installation of the end effector with higher speed and solve five problems caused by a quick connector, the invention provides an auxiliary installation and adjustment bracket for quickly replacing the end effector of a hydraulic excavator.
The invention is realized by the following technical scheme: an auxiliary mounting and adjusting support for quickly replacing an end effector of a hydraulic excavator comprises a lower U-shaped supporting beam, a heightening screw and an upper U-shaped supporting beam which are sequentially arranged from bottom to top, wherein the lower U-shaped supporting beam, the heightening screw and the upper U-shaped supporting beam are parallel to each other;
the left end part of the heightening screw is connected with a heightening hand wheel, the left end of the heightening screw is slidably sleeved with a left sleeve, the right end of the heightening screw is provided with an external thread, and the right end of the heightening screw is connected with a heightening nut through a thread;
a left lower connecting rod and a middle lower connecting rod are hinged between the left sleeve and the lower U-shaped supporting beam, and a left upper connecting rod is hinged between the left sleeve and the upper U-shaped supporting beam; a right lower connecting rod is hinged between the height-adjusting nut and the lower U-shaped supporting beam, and a right upper connecting rod and an upper middle connecting rod are hinged between the height-adjusting nut and the upper U-shaped supporting beam; the left lower connecting rod and the middle lower connecting rod are arranged in parallel, and the left lower connecting rod and the right lower connecting rod are symmetrically arranged; the left upper connecting rod and the middle upper connecting rod are arranged in parallel, and the left upper connecting rod and the right upper connecting rod are symmetrically arranged;
the upper side surface of the upper U-shaped supporting beam is an arc-shaped groove, and a branch pipe assembly is arranged in the arc-shaped groove of the upper U-shaped supporting beam;
an upper U-shaped supporting beam guide groove is formed in the bottom of the arc groove at one end of the upper U-shaped supporting beam, a pushing block is slidably mounted in the upper U-shaped supporting beam guide groove, and the upper end of the pushing block is embedded with the branch pipe assembly; a threaded through hole is formed in the lower part of the pushing block, and a driving and reversing screw rod is installed in the threaded through hole of the pushing block through threaded connection; the advancing and retreating screw rod is installed at one end of the upper U-shaped supporting beam through threaded connection, and the outer end of the advancing and retreating screw rod is connected with an advancing and retreating hand wheel.
It further comprises the following steps: one side of the lower U-shaped supporting beam is provided with a lower U-shaped supporting beam guide groove, and a supporting leg assembly is accommodated in the lower U-shaped supporting beam guide groove; the supporting leg assembly comprises a folding supporting leg, and one end of the folding supporting leg is fixedly connected with a supporting leg sleeve through a supporting leg rib plate; a supporting leg upper supporting plate fixed on the lower U-shaped supporting beam is arranged above one end of the lower U-shaped supporting beam guide groove; the middle part of the supporting plate on the supporting leg is provided with a mounting hole, and the supporting leg sleeve is connected with the mounting hole of the supporting plate on the supporting leg through a supporting leg pin shaft.
The left end of the height adjusting screw rod is a square shaft, the middle part of the height adjusting hand wheel is provided with a square hole, and the square shaft of the height adjusting screw rod and the square hole of the height adjusting hand wheel are in interference fit; the left end of the heightening screw is provided with a shaft shoulder and a middle elastic cylindrical pin, the left sleeve is sleeved on the left side of the heightening screw in a clearance fit mode, the left side of the left sleeve is positioned by the shaft shoulder of the heightening screw, and the right side of the left sleeve is positioned by the middle elastic cylindrical pin.
The branch pipe assembly comprises a right support steel pipe, a middle axial guide pipe, a middle left support steel pipe, a left circumferential guide steel pipe and a left support steel pipe; the left end of the left circumferential guide steel pipe is inserted into the right hole of the left support steel pipe in an interference fit manner, and the right end of the left circumferential guide steel pipe is inserted into the left hole of the middle left support steel pipe in an interference fit manner; the left end of the middle axial conduit is inserted into the right hole of the middle left support steel pipe in an interference fit mode, and the right end of the middle axial conduit is inserted into the left hole of the right support steel pipe in an interference fit mode.
The top end of the pushing block is in small clearance fit with the left circumferential guide steel pipe, the left side of the top end of the pushing block is in contact with the right end face of the left support steel pipe, and the right side of the top end of the pushing block is in contact with the left end face of the middle left support steel pipe.
The middle shaft guide pipe is sleeved with a binding belt, and the opening end of the binding belt is fixed on the upper U-shaped supporting beam through an upper middle pin shaft and an upper middle elastic cylindrical pin.
The brackets are not connected with the small arm and the connecting rod of the excavator, but are placed on the ground in pairs, and the brackets on two sides are symmetrical about a longitudinal vertical plane. Each bracket weighs about 10kg, an excavator is not needed to be used for lifting and moving when the device is used, a driver only needs to carry to a required position, then the end effector needing to be replaced is placed on the two brackets by using a method of adding a steel wire rope to the excavator, and the lower hole in the forearm of the excavator is dropped to a proper position. Then, the heights of the left bracket and the right bracket are respectively adjusted, the adjustable variable quantity of the height of each bracket is 82mm, and the displacement precision is controlled by a screw pair and can reach 0.020 mm; then, the positions of the end effectors placed on the two supports relative to the two supports are moved back and forth, the front and back position variation of the end effectors relative to the supports is 70mm, and the displacement precision is controlled by a screw pair and can reach 0.020 mm; the left and right position variation of the end effector relative to the bracket is 50mm, the displacement precision is controlled by a driver and can reach 0.500mm, and thus, the lower hole on the forearm of the excavator can be aligned with the upper hole on the end effector. The subsequent work is the same as the previous operation, after the installation is finished, the two auxiliary installation and adjustment brackets are lifted to the following vehicle, namely, the replacement operation of the end effector is finished once, the requirements of posture adjustment and alignment installation of the end effector can be well met, generally, the time for replacing the end effector once only needs about 6 minutes, although the method of the quick connector is not quick, five additional defects caused by the quick connector are also avoided.
Drawings
FIG. 1 is a schematic illustration of the operation of the present invention for replacing a bucket of a hydraulic excavator;
FIG. 2 is a front view of the lowest position of the present invention;
FIG. 3 is a front view of the present invention in any elevational position;
FIG. 4 is a left side view of the lowest position of the present invention;
FIG. 5 is a top view of the leg assembly of the present invention when it is abducted;
FIG. 6 is a top view of the leg assembly of the present invention as received therein;
FIG. 7 is a front view of the raise screw;
FIG. 8 is a front view of the upper U-brace assembly;
FIG. 9 is a left side view of the upper U-brace assembly;
FIG. 10 is a front view of the twist tie;
FIG. 11 is a left side view of the twist tie;
FIG. 12 is a front view of the lower left link;
FIG. 13 is an A-direction view of the lower left link;
FIG. 14 is a front view of the upper left link;
FIG. 15 is a view of the upper left link in the direction B;
FIG. 16 is a front view of the lower U-shaped corbel;
FIG. 17 is a cross-sectional view of the lower U-shaped corbel;
FIG. 18 is a top view of the lower U-brace;
FIG. 19 is a left side view of the lower U-brace;
FIG. 20 is a front view of the left sleeve;
FIG. 21 is a left side view of the left sleeve;
FIG. 22 is a front view of the nut;
FIG. 23 is a left side view of the nut;
FIG. 24 is a front view of the leg assembly;
FIG. 25 is a top view of the leg assembly;
FIG. 26 is a front view of the manifold assembly;
FIG. 27 is a diagrammatic view of the motion of the present invention;
FIG. 28 is a schematic diagram of the calculation of the degree of freedom of the lower sub-mechanism when the screw is not rotated;
FIG. 29 is a schematic diagram of the calculation of the degree of freedom of the lower sub-mechanism when the screw rod rotates;
FIG. 30 is a schematic diagram illustrating the calculation of the degree of freedom of the upper sub-mechanism when the screw is not rotated;
FIG. 31 is a schematic view of the calculation of the degrees of freedom of the upper sub-mechanism when the screw rod rotates;
FIG. 32 is a simplified computational diagram of the force analysis of the present invention.
In the figure: 1, arranging a U-shaped supporting beam assembly; 2, right supporting steel pipes; 3, a right upper pin shaft; 4, an upper right elastic cylindrical pin; 5, an upper connecting rod; 6, a pin shaft is arranged on the middle part; 7, an upper elastic cylindrical pin; 8, an axial conduit; 9, binding tapes; 10 middle left support steel tube; 11, a left upper pin shaft; 12, an upper left elastic cylindrical pin; 13 a left upper link; 14, left sleeve; 15 left front upper pin; 16 left rear upper pin; 17, heightening the screw rod; 18 heightening hand wheel; 19 a left lower link; 20 middle left front upper pin; 21 middle left rear upper pin; 22, a lower U-shaped supporting beam; 23, a left lower pin shaft; 24, a lower left elastic cylindrical pin; 25 middle elastic cylindrical pins; 26 middle and lower connecting rods; 27 middle and lower pin shafts; 28 middle and lower elastic cylindrical pins; 29 support leg pin shafts; 30 support leg elastic cylindrical pins; an upper support plate with 31 support legs; a 32-leg assembly; 33, a right lower pin shaft; 34 a lower right elastic cylindrical pin; 35 heightening nuts; 36 right lower link; 37 right front upper pin; 38 right rear upper pin; 39 right upper link; 40 middle right front upper pin; 41 middle right rear upper pin; 42 left circumferential guide steel pipe; 43 left support steel tube;
1-1, arranging a U-shaped supporting beam; 1-2, installing an elastic retainer ring; 1-3 of a pushing block; 1-4, an internal thread block is arranged; 1-5 advancing and retreating hand wheels; 1-6 advancing and retreating screws;
1-51 left advancing and retreating hand wheels; 1-52 right advancing and retreating hand wheels;
18-1 left heightening hand wheel; 18-2 right heightening hand wheel;
32-1 leg sleeve; 32-2 landing leg rib plates; 32-3, folding and unfolding the supporting legs; 32-4 left leg; 32-5 right leg.
The symbols in the figure are as follows: hminA minimum height of the rack; h, any height of the bracket; c1A lower U-shaped supporting beam guide groove; c2An upper U-shaped supporting beam guide groove; d2The pitch diameter of the screw; the length of the X screw between revolute pairs C, G; hyThe height between the axes of the upper pin shaft and the lower pin shaft is the same as the height of the bracket at any height;
A1a bucket upper left hole; a. the2A bucket upper right hole; b is1A bucket left lower hole; b is2A bucket right lower hole; a CD bucket; the ZE bucket left ear; YE bucket right ear; OD bucket upper hole axis; ZZG bracket left support tube; a YZG bracket right supporting tube; ZZJ left bracket; a YZJ right bracket; ZG upper left bracket height; YG Upper right bracket height; KJ left and right stent span;
Wxmounting holes of the supporting leg pin shafts; a. theSA mounting hole of the upper right pin shaft; b isSA mounting hole of the middle upper pin shaft; kSA mounting hole of the upper left pin shaft; dxA mounting hole of the left lower pin shaft; i isxMounting holes of the middle and lower pin shafts; exA mounting hole of the lower right pin shaft;
a, a revolute pair consisting of an upper U-shaped supporting beam and a right upper connecting rod; b, a revolute pair consisting of the upper U-shaped supporting beam and the upper left connecting rod; c, a revolute pair consisting of the left upper connecting rod, the left lower connecting rod and the left sleeve; d, a revolute pair consisting of the left lower connecting rod and the lower U-shaped supporting beam; e, a revolute pair consisting of the right lower connecting rod and the lower U-shaped supporting beam; g, a revolute pair consisting of the right upper connecting rod, the right lower connecting rod and the heightening nut; i, a revolute pair consisting of a middle lower connecting rod and a lower U-shaped supporting beam; j, a revolute pair consisting of an upper connecting rod and a height-adjusting nut; revolute pair consisting of U-shaped supporting beam on K and middle upper connecting rod(ii) a Q, a revolute pair consisting of a middle lower connecting rod and a left sleeve; l is22The distance between the revolute pairs D and E; l is19The distance between the two revolute pairs on all the connecting rods; the equivalent moving pair is calculated by the degree of freedom formed by the left U sleeve and the heightening screw; the equivalent moving pair is calculated by the degree of freedom formed by the V heightening screw and the heightening nut;
F0half weight of the fitting; driving moment on the screw when M rises; the turning angle of the screw rod when theta rises; angular displacement of all connecting rods when phi rises; f94The left lower connecting rod supports the left sleeve; f74The supporting force of the screw on the left sleeve; f65The support force of the right lower connecting rod to the nut; f75The support force of the screw on the nut.
Detailed Description
The following is a specific embodiment of the present invention, which will be further described with reference to the accompanying drawings.
As shown in fig. 1 to 7, an auxiliary mounting and adjusting bracket for quickly replacing an end effector of a hydraulic excavator comprises a lower U-shaped supporting beam 22, a height-adjusting screw 17 and an upper U-shaped supporting beam 1-1 which are sequentially arranged from bottom to top, wherein the lower U-shaped supporting beam 22, the height-adjusting screw 17 and the upper U-shaped supporting beam 1-1 are parallel. The height adjusting screw 17 is connected with the lower U-shaped supporting beam 22 through a left lower connecting rod 19, a middle lower connecting rod 26 and a right lower connecting rod 36 to form a lower sub-mechanism, the height adjusting screw 17 is connected with the upper U-shaped supporting beam 1-1 through a left upper connecting rod 13, a right upper connecting rod 39 and an upper middle connecting rod 5 to form an upper sub-mechanism, and when the height adjusting screw 17 is used, height adjustment is carried out through the height adjusting screw 17. By using the combination mode of the lower sub mechanism and the upper sub mechanism, on one hand, a larger height variation can be obtained by a shorter support length, and on the other hand, the height-adjusting hand wheel is operated by hands with proper height. The upper side surface of the upper U-shaped supporting beam 1-1 is an arc groove, a supporting tube component is arranged in the arc groove of the upper U-shaped supporting beam 1-1, when the U-shaped supporting beam is used, the end effector is placed on the supporting tube component, and position adjustment is carried out through the advancing and retreating screw rods 1-4.
Referring to fig. 20 to 23, the square shaft at the left end of the height-adjusting screw 17 is in interference fit with the square hole of the height-adjusting hand wheel 18, and the height-adjusting hand wheel 18 is made of Polytetrafluoroethylene (PTFE). The left side of the heightening screw 17 is sleeved in the left sleeve 14 in a clearance fit mode, the left side of the left sleeve 14 is positioned by a shaft shoulder of the heightening screw 17, the right side of the left sleeve 14 is positioned by a middle elastic cylindrical pin 25 on the heightening screw 17, and the right side of the heightening screw 17 and the heightening nut 35 form a screw pair.
Referring to fig. 12 to 15, the following sub-mechanism:
the left lower connecting rod 19 is in clearance fit with the left front upper pin 15 and the left rear upper pin 16, the left front upper pin 15 and the left rear upper pin 16 are in interference fit with the left sleeve 14, the left lower connecting rod 19 is in clearance fit with the left lower pin shaft 23, and the left lower pin shaft 23 is positioned on the lower U-shaped supporting beam 22 through the left lower elastic cylindrical pin 24. The middle lower connecting rod 26 is in clearance fit with the middle left front upper pin 20 and the middle left rear upper pin 21, the middle left front upper pin 20 and the middle left rear upper pin 21 are in interference fit with the left sleeve 14, the middle lower connecting rod 26 is in clearance fit with the middle lower pin shaft 27, and the middle lower pin shaft 27 is positioned on the lower U-shaped supporting beam 22 through the middle lower elastic cylindrical pin 28. The right lower connecting rod 36 is in clearance fit with the right front upper pin 37 and the right rear upper pin 38, the right front upper pin 37 and the right rear upper pin 38 are in interference fit with the heightening nut 35, the right lower connecting rod 36 is in clearance fit with the right lower pin shaft 33, and the right lower elastic cylindrical pin 34 positions the right lower pin shaft 33 on the lower U-shaped supporting beam 22.
A feeding mechanism:
the left upper connecting rod 13 is in clearance fit with a left front upper pin 15 and a left rear upper pin 16, the left upper connecting rod 13 is in clearance fit with the left upper pin shaft 11, and the left upper elastic cylindrical pin 12 positions the left upper pin shaft 11 on the upper U-shaped supporting beam assembly 1. The middle upper connecting rod 5 is in clearance fit with the middle right front upper pin 40 and the middle right rear upper pin 41, the middle upper connecting rod 5 is in clearance fit with the middle upper pin shaft 6, the middle upper elastic cylindrical pin 7 positions the middle upper pin shaft 6 on the upper U-shaped supporting beam component 1, and the middle right front upper pin 40, the middle right rear upper pin 41 and the heightening nut 35 are in interference fit. The right upper connecting rod 39 is in clearance fit with the right upper pin shaft 3, the right upper elastic cylindrical pin 4 positions the right upper pin shaft 3 on the upper U-shaped supporting beam assembly 1, and the right upper connecting rod 39 is in clearance fit with the right front upper pin 37 and the right rear upper pin 38.
Referring to fig. 8 and 9, the upper U-shaped corbel assembly 1:
the upper U-shaped supporting beam 1-1 provides a foundation for installation of the branch pipe assembly. Hole A on upper U-shaped supporting beam 1-1SZhonganMounting the upper right pin shaft 3 and the hole KSMiddle mounting middle upper pin shaft 6 and hole BSThe left upper pin shaft 11 is installed in the middle. The pushing block 1-3 and the advancing and retreating screw rod 1-6 form a revolute pair, and the pushing block 1-3 and the upper U-shaped supporting beam guide groove C on the right side of the upper U-shaped supporting beam 1-12A moving pair is formed, and the upper elastic retainer ring 1-2 restricts the push block 1-3 on the advancing and retreating screw rod 1-6. The upper internal thread block 1-4 is welded on the right side of the upper U-shaped supporting beam 1-1, and the advancing and retreating screw rod 1-6 and the upper internal thread block 1-4 form a screw pair. The advancing and retreating hand wheels 1-5 are made of Polytetrafluoroethylene (PTFE), and the advancing and retreating hand wheels 1-5 are fixedly arranged at the right ends of the advancing and retreating screw rods 1-6 through square holes.
Referring again to fig. 2, 3 and 26, the branch pipe assembly is used to solve the problem of support and relative displacement of the end effector of the hydraulic excavator to be replaced. The left side of the left circumferential guide steel pipe 42 is inserted into the right hole of the left support steel pipe 43 in an interference fit manner, and the right side of the left circumferential guide steel pipe 42 is inserted into the left hole of the middle left support steel pipe 10 in an interference fit manner. The left side of the middle axial conduit 8 is inserted into the right hole of the middle left support steel pipe 10 in an interference fit manner, and the right side of the middle axial conduit 8 is inserted into the left hole of the right support steel pipe 2 in an interference fit manner, so that an integral branch pipe assembly is formed.
With reference to the tie shown in fig. 10 and 11, the branch pipe assembly is placed on the upper U-shaped corbel assembly 1, and the branch pipe assembly is restrained on the upper U-shaped corbel assembly 1 by the tie 9, the upper-middle pin shaft 6 and the upper-middle elastic cylindrical pin 7 and can move left and right relative to the upper U-shaped corbel assembly 1. The power moving left and right comes from the push blocks 1-3, a small gap is formed between the top surfaces of the push blocks 1-3 and the left circumferential guide steel pipe 42, the gap is 0.5mm, the left side of the top of each push block 1-3 is in contact with the left support steel pipe 43, and the right side of the top of each push block 1-3 is in contact with the middle left support steel pipe 10. The end effector, i.e., the accessory, to be replaced can be rolled back and forth relative to the manifold assembly, driven by the driver's hands and controlled by the distance of the back and forth movement to the location of the hole alignment.
With reference to fig. 16 to 19, the holes D in the lower U-shaped corbel 22xA left lower pin shaft 23 and a hole I are arranged in the middlexMiddle mounting middle lower pin shaft 27, hole ExAnd a right lower pin shaft 33 is installed in the middle. The supporting plate 31 on the supporting leg is welded on the lower U-shaped supporting beam22, a lower U-shaped supporting beam guide groove C1Is the constricted space of leg assembly 32.
Referring to fig. 24 and 25, the leg assembly includes a leg sleeve 32-1, a leg rib 32-2, and a telescopic leg 32-3. The supporting leg sleeve 32-1 is arranged in the hole W of the lower U-shaped supporting beam through the supporting leg pin shaft 29xIn the middle, a support leg rib plate 32-2 and a folding and unfolding support leg 32-3 are welded on a support leg sleeve 32-1, the support leg rib plate 32-2 is welded on the folding and unfolding support leg 32-3, and the folding and unfolding support leg 32-3 is of a steel plate forming structure.
As shown in fig. 28 to 29, the lower sub-mechanism is used to solve the problem of half the height variation of the bracket and installing the height-adjusting hand wheel at the proper operating height:
the mechanism comprises a revolute pair C consisting of a left lower connecting rod and a left sleeve, a revolute pair D consisting of a left lower connecting rod and a lower U-shaped supporting beam, a revolute pair E consisting of a right lower connecting rod and a lower U-shaped supporting beam, a revolute pair G consisting of a right lower connecting rod and an heightening screw, a revolute pair I consisting of a middle lower connecting rod and a lower U-shaped supporting beam, a revolute pair Q consisting of a middle lower connecting rod and a left sleeve, a freedom calculation equivalent revolute pair U consisting of a left sleeve and an heightening screw, a revolute pair consisting of a left sleeve and an heightening screw, a height-heightening nut and an heightening screw, a parallelogram mechanism consisting of CDIQ, an isosceles trapezoid mechanism consisting of CG and capable of changing the length of CDEG, and the change of the length of the CG is realized through a revolute pair consisting.
Calculating the degree of freedom of the following sub-mechanisms:
the height-adjusting nut 35 and the height-adjusting screw 17 form a screw pair, the height-adjusting nut 35 and the left sleeve 14 form a rotation pair, the rest of the mutually connected components form a rotation pair, when the height-adjusting screw 17 does not rotate, the plane mechanism is formed, and as shown in fig. 28, the degree of freedom F of the lower sub mechanism is 3 n-2PLThe space mechanism is a stable structure with the screw rod rotating, in this case, the heightening screw rod 17, the heightening nut 35 and the left sleeve 14 correspond to a lengthened rod, the lengthened rod is equivalent to two members to form a moving pair U, as shown in fig. 29, the space mechanism is degenerated to a planar mechanism again, and the degree of freedom F of the lower sub mechanism is 3 n-2PL3 × 5-2 × 7 ═ 1, it is shown that the up-regulation movement is possible.
As shown in fig. 30 to 31, the upper sub-mechanism is used to solve the problem of half the height variation of the bracket and installing the upper U-shaped corbel assembly that moves forward and backward:
the mechanism comprises a revolute pair A consisting of an upper U-shaped supporting beam component and a right upper connecting rod, a revolute pair B consisting of the upper U-shaped supporting beam component and the left upper connecting rod, a revolute pair C consisting of the left upper connecting rod and a left sleeve, a revolute pair G consisting of the right upper connecting rod and a height-adjusting nut, a revolute pair J consisting of the middle upper connecting rod and the height-adjusting nut, a revolute pair K consisting of the upper U-shaped supporting beam component and the middle upper connecting rod, a freedom calculation equivalent moving pair V consisting of a height-adjusting screw rod and a height-adjusting nut, a parallelogram mechanism consisting of AKJG, an isosceles trapezoid mechanism with the length of CG changeable by ABCG, and the length change of the CG is realized through a spiral pair consisting of the height-adjusting screw rod.
Calculating the degree of freedom of the upper sub mechanism:
when the height-adjusting screw 17 is not rotated, the mechanism is a plane mechanism, and as shown in fig. 30, the degree of freedom F of the upper sub mechanism relative to the upper U-shaped corbel assembly 1 is 3 n-2PLThe space mechanism is a stable structure with the height adjusting screw 17 rotating, in this case, the height adjusting screw 17, the height adjusting nut 35 and the left sleeve 14 are equivalent to a long rod, the long rod is equivalent to two members to form a moving pair V, as shown in fig. 31, the space mechanism is regressed to be a planar mechanism again, and the relative degree of freedom F of the lower sub mechanism is 3 n-2PL3 × 5-2 × 7 ═ 1, it is shown that the up-regulation movement is possible.
As shown in fig. 27, the degree of freedom of the motion diagram of the entire gantry mechanism is calculated:
when the height adjusting screw 17 is not rotated, the mechanism is a plane mechanism, and the degree of freedom F of the bracket mechanism is 3 n-2PLThe height adjusting screw 17 is a space mechanism when rotating, in this case, the height adjusting screw 17, the height adjusting nut 35 and the left sleeve 14 are equivalent to an elongated rod, the elongated rod is equivalent to two members to form a moving pair U, and the freedom degree F of the bracket mechanism is 3 n-2PL3 × 9-2 × 13 ═ 1, it is shown that a movement of raising is possible.
And combining the stress analysis calculation diagram of the integral bracket mechanism shown in fig. 32:
setting the gravity of the fitting to be F0(N) due to the symmetry relationship F94=F65Due to the action-reaction relationship F74=F75,2F94sinφ=0.5F0,F94=0.25F0/sinφ,F74=F94cosφ,F74=0.25F0/sinφ×cosφ=0.25F0Tan phi when axial tension F exists on the screw 1774While increasing the driving circumferential force F on the screw 1717t=F74tan(α+ρV) And alpha is the pitch diameter d of the screw2Upper lead angle, ρVIs equivalent friction angle phi is an acute angle between all the connecting rods and the horizontal line, and the distance between two rotating pairs on all the connecting rods is L19The driving torque acting on the screw is M, and M-F is the pitch diameter of the screw17t d2/2,M=F74tan(α+ρV)d2/2=0.25F0/tanφ×tan(α+ρV)d2/2;
The angular displacement of the heightening screw 17 is theta, the screw pitch of the screw is p (mm), the differential of the axial displacement between the heightening screw 17 and the heightening nut 35 is X, and the length X of the heightening screw 17 between the revolute pair C, G is 2L19cosφ+L22The differential X of length X ═ dX ═ - (2L)19sin phi) d phi, height H between upper and lower pin shaft axes at any height of the brackety=2L19sin phi, height HyDifferential of (y) dHy=(2L19cosφ)dφ;
The ratio of the differential X of the length X of the heightening screw 17 to the pitch P is equal to the ratio of the differential d theta of the angular displacement of the heightening screw 17 to 2 pi, namely d theta is 2 pi X/P;
setting the mechanical efficiency of the screw pair as eta, and setting the eta as-0.5F according to the energy equation M (d theta)0×y,Mη2πx/P=–0.5F0(2L19cosφ)dφ,Mη2π×(–2L19sinφ)dφ/P=–0.5F0(2L19cos phi) d phi to obtain a driving moment M of
M=0.25F0PL19cosφ/(ηπ×L19sinφ)=0.25F0P/(ηπtanφ);
As an example, d is 20mm, P is 4mm, d2d-0.5P 18mm, profile angle β 30 °, lead angle α arctan [ P/(pi d)2)]=arctan[4/(π18)]4.046 DEG, 0.11 f coefficient of friction, and p is the equivalent friction angleVThe mechanical efficiency η of the screw pair is tan α/tan (α + ρ ═ arctan (f/cos β) ═ arctan (0.11/cos30 °) 7.239 °, and the mechanical efficiency η of the screw pair is tan α/tan (α + ρ ═ tan-V)=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°)=1090N·mm,Mmin=0.25F0P/(ηπtanφmax)=0.25×700×4/(0.354×π×tan45°)=494N·mm;
Increase the pull-up force F of the screw 1774Maximum value of (F)74maxAnd minimum value F74minAre respectively as
F74max=0.25F0/tanφmin=0.25×700/tan30°=303.109N,F74min=0.25F0/tanφmax=0.25×700/tan45°=175N;
Diameter d of heightening hand wheel 1818The torque force exerted by a single hand on the outer circumference of a single height-adjusting hand wheel 18 is F, 80mm18,F18Maximum value of (F)18maxAnd minimum value F18minAre respectively as
F18max=Mmax/d18=1090/80=13.625N,F18min=Mmin/d18The torque force is very small at 494/80-6.175N;
Hy=2L19sinφ,y=dHy=(2L19cosφ)dφ,X=2L19cosφ+L22,x=dX=–(2L19sinφ)dφ,dθ=2πx/P=2π(–2L19sinφ)dφ/P;y/dθ=(2L19cosφ)dφ/[2π(–2L19sinφ)dφ/P]pcos phi/(-2 pi sin phi) — P/(2 pi tan phi), d theta-2 pi y tan phi/P, height HyThe variation y of (d) is 2mm, phimin=30°,φmax45 DEG, P4 mm, the minimum rotation of the height adjusting screw 17Angle d thetamin=–2πy tanφminThe maximum angle d theta of the screw 17 is increased by-2 pi × 2tan30 °/4-1.8138 rad-103.923 °max=–2πy tanφmax-2 pi × 2tan45 °/4-3.14159 rad-180 °, legend HyX decreases when increasing, which indicates that the height H isyWhen the variation y of (d) is 2mm, the rotation angle of the height-adjusting screw 17 is large, and when the rotation angle d θ of the height-adjusting screw 17 is pi/6, 30 °, the height H is set to be largeryThe variation y of (a) is-Pd theta/(2 pi tan phi), ymin=–Pdθ/(2πtanφmin) -4 × pi/6/(2 pi tan30 °) -0.577 mm, and when the rotation angle d θ of the screw 17 is increased to pi/4 to 45 °, y is increased to 45 °max=–Pdθ/(2πtanφmax) -4 × pi/4/(2 pi tan45 °) -0.500 mm, which means that it is very easy to adjust the height-adjusting screw 17 with a larger rotation angle to adjust a smaller displacement;
if the height HyThe variation y of (d) is 0.020mm, and the minimum rotation angle d theta of the height-adjusting screw 17min=–2πy tanφmin-2 pi × 0.020tan30 °/4-0.01814 rad-1.039 °, and the maximum rotation angle d θ of the height-adjusting screw 17max=–2πy tanφmax/P=–2π×0.020tan45°/4=–0.03141rad=–1.8°;
The total weight of the stent is calculated to be 9.58 kg;
the height variation of the accessory on the support is 82mm, the displacement precision is controlled by the spiral pair and can reach 0.020mm, the variation of the front position and the rear position of the accessory relative to the support is 70mm, the displacement precision is controlled by the spiral pair and can reach 0.020mm, the variation of the left position and the right position of the accessory relative to the support is 50mm, the displacement precision is controlled by a driver and can reach 0.500mm, and the requirements of posture adjustment and alignment installation of the accessory can be met quickly.
Referring to fig. 1, the present invention is a schematic diagram of the operation of a hydraulic excavator when replacing a bucket:
the working process is as follows,
the left support ZZJ and the right support YZJ are held in place by hand, the left leg 32-4 is opened, the right leg 32-5 is opened, and the bucket CD is lifted by the excavator and placed on the left support tube ZZG of the left support and the right supportOn the right supporting tube YZG, the upper left hole A on the left ear ZE of the bucket is solved1And the upper right hole A on the right lug YE of the bucket2Problem of alignment with a hole in the end of the excavator forearm for mounting the first support shaft, or upper left hole A1And the upper right hole A2The axis OD of the left ear and the right ear are overlapped with the axis of the hole at the tail end of the small arm of the excavator, and the inner sides of the left ear and the right ear are clamped into the tail end of the small arm;
the driver has empirically placed the axis of the hole in the end of the excavator boom in the proper position and now needs to move the axis OD forward and backward, raise and lower the left end of the axis OD, and raise and lower the right end of the axis OD to achieve alignment;
the specific operation is that the left advancing and retreating hand wheels 1-51 and the right advancing and retreating hand wheels 1-52 are rotated in the same direction to realize the back and forth movement of the bucket CD, the left advancing and retreating hand wheels 1-51 are rotated to realize the back and forth movement of the left side of the bucket CD, the right advancing and retreating hand wheels 1-52 are rotated to realize the back and forth movement of the right side of the bucket CD, the left heightening hand wheels 18-1 and the right heightening hand wheels 18-2 are rotated in the same direction to realize the lifting movement of the bucket CD, the left heightening hand wheels 18-1 are rotated to realize the lifting movement of the left side of the bucket CD, the driver pushes the end effector left and right by hand, the end effector rolls left and right relative to the branch pipe assembly and moves left and right relative to the support, the distance of left and right movement, alignment operation is realized, and the upper support shaft is inserted after alignment;
after the upper supporting shaft is inserted, the transverse position of the bucket relative to the tail end of the small arm is determined, and the hole on the tail end of the connecting rod connected with the rocker through rotation and the left lower hole B of the bucket are connected with the hole on the tail end of the connecting rod1And the right lower hole B of the bucket2The alignment is easily solved, and the alignment and the installation of the lower support shaft can be realized only by simultaneously rotating the left heightening hand wheel 18-1 and the right heightening hand wheel 18-2 in the same direction to realize the lifting movement of the bucket CD.

Claims (6)

1. An auxiliary mounting and adjusting bracket for quickly replacing an end effector of a hydraulic excavator,
the method is characterized in that:
the device comprises a lower U-shaped supporting beam (22), a height-adjusting screw rod (17) and an upper U-shaped supporting beam (1-1) which are sequentially arranged from bottom to top, wherein the lower U-shaped supporting beam (22), the height-adjusting screw rod (17) and the upper U-shaped supporting beam (1-1) are mutually parallel;
the left end part of the heightening screw rod (17) is connected with a heightening hand wheel (18), the left end of the heightening screw rod (17) is slidably sleeved with a left sleeve (14), the right end of the heightening screw rod (17) is provided with an external thread, and the right end of the heightening screw rod (17) is connected with a heightening nut (35) through a thread;
a left lower connecting rod (19) and a middle lower connecting rod (26) are hinged between the left sleeve (14) and the lower U-shaped supporting beam (22), and a left upper connecting rod (13) is hinged between the left sleeve (14) and the upper U-shaped supporting beam (1-1); a right lower connecting rod (36) is hinged between the height-adjusting nut (35) and the lower U-shaped supporting beam (22), and a right upper connecting rod (39) and an upper middle connecting rod (5) are hinged between the height-adjusting nut (35) and the upper U-shaped supporting beam (1-1); the left lower connecting rod (19) and the middle lower connecting rod (26) are arranged in parallel, and the left lower connecting rod (19) and the right lower connecting rod (36) are symmetrically arranged; the left upper connecting rod (13) and the middle upper connecting rod (5) are arranged in parallel, and the left upper connecting rod (13) and the right upper connecting rod (39) are symmetrically arranged;
the upper side surface of the upper U-shaped supporting beam (1-1) is an arc groove, and a branch pipe assembly is arranged in the arc groove of the upper U-shaped supporting beam (1-1);
the bottom of the arc groove at one end of the upper U-shaped supporting beam (1-1) is provided with an upper U-shaped supporting beam guide grooveC 2) Upper U-shaped corbel guide groove: (C 2) The middle part is provided with a pushing block (1-3) in a sliding way, and the upper end of the pushing block (1-3) is embedded with the branch pipe component; a threaded through hole is formed in the lower part of the pushing block (1-3), and a forward and backward screw rod (1-4) is installed in the threaded through hole of the pushing block (1-3) in a threaded connection mode; the advancing and retreating screw rods (1-4) are installed at one end of the upper U-shaped supporting beam (1-1) through threaded connection, and the outer ends of the advancing and retreating screw rods (1-4) are connected with advancing and retreating hand wheels (1-5).
2. The hydraulic excavator end effector quick change auxiliary mount adjustment bracket of claim 1, wherein the auxiliary mount adjustment bracket is adapted to be quickly replaced by a quick change end effectorIn the following steps: one side of the lower U-shaped supporting beam (22) is provided with a lower U-shaped supporting beam guide groove (C 1) Lower U-shaped corbel guide groove (C 1) In which a leg assembly (32) is housed; the supporting leg assembly (32) comprises a folding supporting leg (32-3), and one end of the folding supporting leg (32-3) is fixedly connected with a supporting leg sleeve (32-1) through a supporting leg rib plate (32-2); the lower U-shaped supporting beam guide groove (C 1) A supporting leg upper supporting plate (31) fixed on the lower U-shaped supporting beam (22) is arranged above one end of the lower U-shaped supporting beam; the middle part of the supporting plate (31) on the supporting leg is provided with a mounting hole, and the supporting leg sleeve (32-1) is connected with the mounting hole of the supporting plate (31) on the supporting leg through a supporting leg pin shaft (29).
3. The hydraulic excavator end effector quick change auxiliary mount adjustment bracket of claim 1, wherein: the left end of the height-adjusting screw rod (17) is a square shaft, the middle part of the height-adjusting hand wheel (18) is provided with a square hole, and the square shaft of the height-adjusting screw rod (17) is in interference fit with the square hole of the height-adjusting hand wheel (18); the left end of the heightening screw rod (17) is provided with a shaft shoulder and a middle elastic cylindrical pin (25), the left sleeve (14) is sleeved on the left side of the heightening screw rod (17) in a clearance fit mode, the left side of the left sleeve (14) is positioned by the shaft shoulder of the heightening screw rod (17), and the right side of the left sleeve (14) is positioned by the middle elastic cylindrical pin (25).
4. The hydraulic excavator end effector quick change auxiliary mount adjustment bracket of claim 1, wherein: the branch pipe assembly comprises a right support steel pipe (2), a middle shaft guide pipe (8), a middle left support steel pipe (10), a left circumferential guide steel pipe (42) and a left support steel pipe (43); the left end of the left circumferential guide steel pipe (42) is inserted into a right hole of the left support steel pipe (43) in an interference fit manner, and the right end of the left circumferential guide steel pipe (42) is inserted into a left hole of the middle left support steel pipe (10) in an interference fit manner; the left end of the middle axial guide pipe (8) is inserted into a right hole of the middle left support steel pipe (10) in an interference fit mode, and the right end of the middle axial guide pipe (8) is inserted into a left hole of the right support steel pipe (2) in an interference fit mode.
5. The hydraulic excavator end effector quick change auxiliary mount adjustment bracket of claim 4, wherein: the top end of the pushing block (1-3) is in small clearance fit with the left circumferential guide steel pipe (42), the left side of the top end of the pushing block (1-3) is in contact with the right end face of the left support steel pipe (43), and the right side of the top end of the pushing block (1-3) is in contact with the left end face of the middle left support steel pipe (10).
6. The hydraulic excavator end effector quick change auxiliary mount adjustment bracket of claim 4, wherein: the middle axial guide pipe (8) is sleeved with a binding belt (9), and the opening end of the binding belt (9) is fixed on the upper U-shaped supporting beam (1-1) through an upper middle pin shaft (6) and an upper middle elastic cylindrical pin (7).
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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* 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
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

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070034125A1 (en) * 2005-08-09 2007-02-15 Wen-Ping Lo Hidden electric power elevating stand structure

Patent Citations (5)

* 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
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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