CN109677944A - A kind of electro-hydraulic mechanism type numerical control bucket wheel machine of Three Degree Of Freedom - Google Patents
A kind of electro-hydraulic mechanism type numerical control bucket wheel machine of Three Degree Of Freedom Download PDFInfo
- Publication number
- CN109677944A CN109677944A CN201710967699.2A CN201710967699A CN109677944A CN 109677944 A CN109677944 A CN 109677944A CN 201710967699 A CN201710967699 A CN 201710967699A CN 109677944 A CN109677944 A CN 109677944A
- Authority
- CN
- China
- Prior art keywords
- freedom
- wheel machine
- bucket wheel
- connect
- cylinder body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/02—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads
- B65G65/04—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads with pick-up shovels
Abstract
A kind of electro-hydraulic mechanism type numerical control bucket wheel machine of Three Degree Of Freedom includes walking mechanism, rack, front overhang arm lifting mechanism, bucket-wheel mechanism, transportation system.The front overhang arm lifting mechanism is full revolute pair plane two-freedom mechanism; under computer programming control; front boom pitching movement is driven by link transmission by driving lever; and then it completes two-freedom pick and is taken as industry; connecting rod is telescopic rod; it is made of cylinder body and piston rod, the inside is hydraulically full, can effectively overcome the problems, such as the tipping load of front boom in practical engineering applications and solve overload protection.This kind of numerical control bucket wheel machine had both avoided the problems such as fluid pressure type bucket wheel machine high energy consumption, high maintenance cost of upkeep, in turn avoid the disadvantages of Purely mechanical bucket wheel machine flexibility is poor, working space is small, have the characteristics that low energy consumption, low-maintenance cost, high reliability, there is bigger working space and higher flexibility compared to single-degree-of-freedom front overhang arm lifting mechanism, be the strong equipment that the large bulk material of modernization industry continuously loads and unloads.
Description
Technical field
The present invention relates to jib-type bucket wheel machine field, especially a kind of electro-hydraulic mechanism type numerical control bucket wheel machine of Three Degree Of Freedom.
Background technique
Bucket wheel machine is called bucket-wheel stacker reclaimer, is the high-efficiency appliance that the large bulk material of modernization industry continuously loads and unloads, extensively
The general storage stock ground applied to bulk cargos such as harbour, harbour, metallurgy, cement, coal yards, carries out the bulk cargos such as a large amount of ores, coal, coke
Windrow, material extracting operation.Bucket wheel machine work continuously it is high-efficient, and have very strong regularity, therefore from control angle can divide
For manual, semi-automatic and automation control.Although bucket wheel machine is widely applied in engineer operation, there is also many skills
Art problem.
There are mainly two types of modes for the pitching movement of existing boom type bucket wheel machine front boom, and one is purely mechanic boom type bucket wheels
Machine, front boom realizes pitching movement by steel wire rope hoisting mechanism, though the bucket wheel machine of this type reliability with higher
And transmission efficiency, but flexibility is poor, because bucket wheel machine is low-speed heave-load device, in work progress of working continuously, and front boom
Biggish load is born, the boom type bucket wheel machine of pure mechanic structure lacks overload protection ability, and airframe structure part easily occurs just
Property destroy；Another kind is the boom type bucket wheel machine of hydraulic structure, and front boom realizes pitching movement, this type by hydraulic cylinder
Though bucket wheel machine flexibility it is good, the problems such as poor reliability, mechanical efficiency are low, energy consumption is high, and oil leak easily occurs for hydraulic system, maintenance
Maintenance and use cost are high.If controllable mechanism is introduced directly into the design of jib-type bucket wheel machine, since front boom receiving is huge
Big tipping load, and the boom type bucket wheel machine of mechanical structure can not be realized by hydraulic cylinder and be synchronized, therefore front overhang arm configuration is special
It is not the biggish unbalance loading of two driving levers receiving of plane-parallel type, and the design of mechanism, foozle have been further exacerbated by driving lever
Carrying is uneven, and electric drive system service life is caused to decline, and failure rate increases.In addition, the front overhang arm mechanism of existing bucket wheel machine is equal
For plane mechanism with single degree of freedom, structure bulky, flexibility is poor, job area is small, causes the bucket-wheel mechanism being mounted on front boom
Efficiently execute complicated heap material extracting operation.
How the theory of mechanisms frontier theory such as controllable mechanism, robot to be applied in the design studies of bucket wheel machine, based on machine,
Liquid integrated technology proposes and designs a kind of electro-hydraulic mechanism type numerical control bucket wheel machine of Three Degree Of Freedom, simple with mechanical structure, low
While the features such as energy consumption, high reliability, low-maintenance cost of upkeep, front boom is under the control of the computer, it can be achieved that Three Degree Of Freedom
Flexible controlled motion, has bigger working space, and higher flexibility can meet complicated heap material extracting operation requirement, simultaneously
Also there is overload protection ability and preferable offset load resistance, it has also become the engineering of one urgent need to resolve in jib-type bucket wheel machine field
Problem.
Summary of the invention
The purpose of the present invention is proposed based on machine, liquid integrated technology and design a kind of electro-hydraulic mechanism type numerical control of Three Degree Of Freedom
Bucket wheel machine, while having the characteristics that simple mechanical structure, low energy consumption, high reliability, low-maintenance cost of upkeep, front boom exists
Computer control is lower, it can be achieved that three-degree of freedom flexible controlled motion, has bigger working space, and higher flexibility can expire
The complicated heap material extracting operation requirement of foot, while also there is overload protection ability and preferable offset load resistance, it can better meet
The job requirements in the storage stock ground of the bulk cargos such as harbour, harbour, metallurgy, cement, coal yard.
The present invention reaches above-mentioned purpose by the following technical programs:
A kind of electro-hydraulic mechanism type numerical control bucket wheel machine of Three Degree Of Freedom includes walking mechanism, rack, front overhang arm lifting mechanism, bucket wheel machine
Structure, transportation system；The rack is connect by the first revolute pair with walking mechanism, and first revolute pair is driving pair, in electricity
Under the drive control of transmission system, rack can be with respect to walking mechanism rotary motion；The front overhang arm lifting mechanism is two-freedom
Full revolute pair planar five-bar mechanism drives branch, the first driving lever, rack, front boom, the front boom driving comprising front boom
Branch includes the second driving lever, first connecting rod, and second driving lever one end is connect by the second revolute pair with rack, the other end
It is connect by third revolute pair with first connecting rod one end, the first connecting rod other end is connected by the 4th revolute pair and front boom
It connects, first driving lever one end is connect by the 5th revolute pair with rack, and the other end is connected by the 6th revolute pair and front boom
It connects, first driving lever, the second driving lever are driven by electric drive system, are controlled by computer programming.
The plane single-degree-of-freedom used compared to the electro-hydraulic mechanism type numerical control bucket wheel machine front overhang arm lifting mechanism of two-freedom designs,
Under computer programming control, the front overhang arm lifting mechanism of the electro-hydraulic mechanism type numerical control bucket wheel machine of this kind of Three Degree Of Freedom can carry out two certainly
By degree coupled motions, and then realize the flexible pitching movement of front boom two-freedom wide-angle, large space, high flexibility, it is described
Bucket-wheel mechanism is mounted on front boom, under computer programming control, is had enough to meet the need by the pitching movement and rack that couple front boom
Movement, bucket-wheel mechanism can realize wide-angle, large space, the controllable flexible motion of high flexibility Three Degree Of Freedom, and then meet harbour, code
The complicated heap material extracting operation requirement in the storage stock ground of the bulk cargos such as head, metallurgy, cement, coal yard.
The front boom is fixedly connected with middle pull rod, and is reinforced by front tension bar, the middle pull rod and the fixed company of balancing stand
It connects, and is reinforced by bearing diagonal, counterweight is installed on the balancing stand.
The first connecting rod is telescopic rod, comprising the first cylinder body, First piston bar, first cylinder body and first piston
Bar is connected by first movement pair, hydraulically full in first cylinder body.
The transportation system includes first material transmission device, second material transmission device, controllable supporting mechanism, and described the
One material conveying device is mounted on front boom, is substantially carried out the conveying operation of loose unpacked material；The second material transmission device
It is mounted on controllable supporting mechanism, the main conveying for completing loose unpacked material and discharge operation, the controllable supporting mechanism are plane
Single-degree-of-freedom link mechanism drives branch, support arm comprising support arm, support arm driving branch include third driving lever,
Second connecting rod, the third driving lever one end connects by the 7th revolute pair with rack, and the other end passes through the 8th revolute pair and the
The connection of two connecting rod one end, the second connecting rod other end are connect by the 9th revolute pair with support arm, and the support arm passes through the
Ten revolute pairs are connect with rack, and the third driving lever is passed through under computer programming control by electric drive system drive control
Support arm drive branch drive control, it can be achieved that support arm pitching movement, thus realize second material transmission device convey
The wide-angle flexibility at the elevation angle adjusts.
The second connecting rod is telescopic rod, comprising the second cylinder body, second piston bar, second cylinder body and second piston
Bar is connected by the second prismatic pair, hydraulically full in second cylinder body.
In practical engineering applications, in order to improve the load capacity and stability of cantilever style bucket wheel machine, this kind of Three Degree Of Freedom
The front overhang arm lifting mechanism of electro-hydraulic mechanism type numerical control bucket wheel machine is designed using plane-parallel type, common by two sets of front boom driving branches
Front boom is driven to carry out pitching movement, the cylinder body of two sets of front booms driving branch passes through pipeline connection.When this kind three is free
Spend electro-hydraulic mechanism type numerical control bucket wheel machine without design, manufacture, installation error ideal case under, according to pascal's principle, before two sets
The intracorporal fluid pressure of cantilever drive branch cylinder can keep balancing in real time, and contained cylinder body can be considered with piston rod to be fixedly connected；
When front boom bears the design, manufacture, installation of larger unbalance loading and mechanism there are under error situation, which can be such that front boom drives
Minute movement, the intracorporal fluid pressure balance of real-time ensuring cylinder occur for cylinder body contained by dynamic branch and piston rod, and then guarantee two
Set front boom driving branch carries simultaneously, and then the driving lever carrying for guaranteeing that two sets of front boom driving branches include is balanced, this sets
The offset load resistance of front overhang arm lifting mechanism greatly improved in meter, improves electric drive system service life, reduces failure rate.Separately
Outside, by introducing the auxiliary equipments such as overflow valve in front overhang arm lifting mechanism, the overload of front overhang arm lifting mechanism can be solved easily
Protection problem.
Similarly, in order to improve the load capacity and stability of second material transmission device, the electro-hydraulic mechanism of this kind of Three Degree Of Freedom
The controllable supporting mechanism of formula numerical control bucket wheel machine is designed using plane-parallel type, drives support arm jointly by two sets of support arm driving branches
The wide-angle flexibility adjustment at the conveying elevation angle is carried out, the cylinder body of two sets of support arms driving branch passes through pipeline connection.When this kind
The electro-hydraulic mechanism type numerical control bucket wheel machine of Three Degree Of Freedom without design, manufacture, installation error ideal case under, according to pascal's principle,
The pressure of liquid can keep balancing in real time in the cylinder body of two sets of support arms driving branch, support arm drive cylinder body contained by branch with
Piston rod, which can be considered, to be fixedly connected, when the design, manufacture, installation that second material transmission device bears larger unbalance loading and mechanism are deposited
Under error situation, which can make cylinder body contained by support arm driving branch and piston rod that minute movement, real-time ensuring occur
The intracorporal fluid pressure balance of cylinder, and then guarantee that two sets of support arm driving branches carry simultaneously, and then guarantee that two sets of support arms drive
The driving lever carrying that dynamic branch is included is balanced, which greatly improved the offset load resistance of second material transmission device, mention
High electric drive system service life reduces failure rate.In addition, by introducing the attached dresses such as overflow valve in controllable supporting mechanism
It sets, can solve the problems, such as second material transmission device overload protection easily.
The hydraulic system that the electro-hydraulic mechanism type numerical control bucket wheel machine of this kind of Three Degree Of Freedom introduces only is used as necessary overload protection hand
Section, and as front overhang arm lifting mechanism, the design of controllable supporting mechanism, manufacture, installation error Active Compensation, it is ensured that use
Two sets of front booms driving branch, the support arm of plane-parallel type design drive the loaded equilibrium of driving lever contained by branch, and non-principal
Power-transmission system, therefore the problems such as the boom type bucket wheel machine mechanical efficiency for avoiding existing hydraulic structure is low, energy consumption is high, together
When can pass through again compared to existing purely mechanic boom type bucket wheel machine and introduce the preferable overload protection ability of the devices realization such as overflow valve.
The electro-hydraulic mechanism type numerical control bucket wheel machine of this kind of Three Degree Of Freedom is using link transmission instead of the hydraulic knot of existing bucket wheel machine
Structure, overcomes that the boom type bucket wheel machine poor reliability of existing hydraulic structure, mechanical efficiency is low, energy consumption is high, and hydraulic system easily occurs
The problems such as oil leak, has the characteristics that mechanical efficiency is high, good reliability, at the same significantly reduce bucket wheel machine maintenance and use at
This height.The front boom of single-degree-of-freedom front overhang arm lifting mechanism or the steel wire rope winch control used compared to boom type bucket wheel machine
Mechanism, the electro-hydraulic mechanism type numerical control bucket wheel machine space of this kind of Three Degree Of Freedom is bigger, job area is wider, flexibility is more high excellent
Point, the complicated heap material extracting operation that can be very good the storage stock ground for meeting the bulk cargos such as harbour, harbour, metallurgy, cement, coal yard are wanted
It asks.
Compared with prior art, of the invention to have the prominent advantages that:
1. compared to the front overhang arm lifting mechanism using the design of full revolute pair plane single-degree-of-freedom, the electro-hydraulic mechanism type of this kind of Three Degree Of Freedom
The front overhang arm lifting mechanism of numerical control bucket wheel machine is using the full revolute pair planar five-bar mechanism design of two-freedom, in computer programming control
Under system, front boom can realize two-freedom pitching movement, in the case where rack has enough to meet the need movement cooperation, it can be achieved that three-degree of freedom flexible is controllable
Movement, has bigger working space, and higher flexibility can meet complicated heap material extracting operation requirement.
2. front boom pitching movement is controlled using steel wire rope winch compared to existing purely mechanic boom type bucket wheel machine, caused by
The disadvantages of front boom flexibility is poor, working space is small, structure bulky, the electro-hydraulic mechanism type numerical control bucket wheel machine structure of this kind of Three Degree Of Freedom
Simply, front overhang arm lifting mechanism uses four bar controllable mechanism of two-freedom, and front boom can be achieved under computer programming control
The intelligent flexible movement of large space, high flexibility, high controllability.In addition, by the way that the dress such as overflow valve is added on telescopic rod
It sets, can realize overload protection function easily, solve the problems, such as that purely mechanic boom type bucket wheel machine lacks overload protection, substantially
The reliability of bucket wheel machine is improved, failure rate is reduced.
3. the electro-hydraulic mechanism type numerical control bucket wheel machine of this kind of Three Degree Of Freedom is using link transmission instead of the hydraulic of existing bucket wheel machine
Transmission, overcomes that the boom type bucket wheel machine poor reliability of existing hydraulic structure, mechanical efficiency is low, energy consumption is high, and hydraulic system is easily sent out
The problems such as raw oil leak has the characteristics that mechanical efficiency height, good reliability, while significantly reducing the failure rate of bucket wheel machine, effectively
It saves maintenance and use cost is high.
4. the controllable supporting mechanism structure of the electro-hydraulic mechanism type numerical control bucket wheel machine transportation system of this kind of Three Degree Of Freedom is simple, mechanism
The degree of coupling is low, and programming Control is easy, and the conveying inclination angle of second material transmission device can need to carry out NC postprocessing according to actual job
Single-degree-of-freedom adjustment；Under rack gyroscopic action, the bucket-wheel mechanism on front boom is mounted under computer programming control, it can be real
Existing Three Degree Of Freedom heap material extracting operation.The electro-hydraulic mechanism type numerical control bucket wheel machine of this kind of Three Degree Of Freedom is simple with structure, low energy consumption, reliably
Property it is good, safeguard and be applicable in the features such as at low cost, compared to existing bucket wheel machine have huge technical advantage.
Detailed description of the invention
Fig. 1 is the electro-hydraulic mechanism type numerical control bucket wheel machine schematic diagram of Three Degree Of Freedom of the present invention.
Fig. 2 is the electro-hydraulic mechanism type numerical control bucket wheel machine structural scheme of mechanism of Three Degree Of Freedom of the present invention.
Fig. 3 is front boom structural schematic diagram of the present invention.
Fig. 4 is the electro-hydraulic mechanism type numerical control bucket wheel machine wide-angle operation schematic diagram of Three Degree Of Freedom of the present invention.
Fig. 5 is one of electro-hydraulic mechanism type numerical control bucket wheel machine 3 d pose schematic diagram of Three Degree Of Freedom of the present invention.
Fig. 6 is the two of the electro-hydraulic mechanism type numerical control bucket wheel machine 3 d pose schematic diagram of Three Degree Of Freedom of the present invention.
Fig. 7 is the three of the electro-hydraulic mechanism type numerical control bucket wheel machine 3 d pose schematic diagram of Three Degree Of Freedom of the present invention.
Specific embodiment
Technical solution of the present invention is described further below by way of drawings and examples.
Comparative diagram 1, Fig. 2, Fig. 3, a kind of electro-hydraulic mechanism type numerical control bucket wheel machine of Three Degree Of Freedom, comprising walking mechanism 1, rack 3,
Front overhang arm lifting mechanism, bucket-wheel mechanism 21, transportation system；The rack 3 is connect by the first revolute pair 2 with walking mechanism 1, institute
Stating the first revolute pair 2 is driving pair, and under the drive control of electric drive system, rack 3 can be with respect to walking mechanism rotary motion；Institute
Stating front overhang arm lifting mechanism is the full revolute pair planar five-bar mechanism of two-freedom, drives branch, the first driving lever comprising front boom
11, rack 3, front boom 9, the front boom driving branch includes the second driving lever 5, first connecting rod 7, second driving lever 5
One end is connect by the second revolute pair 4 with rack 3, and the other end is connect by third revolute pair 6 with 7 one end of first connecting rod, described
7 other end of first connecting rod is connect by the 4th revolute pair 8 with front boom 9, and described first driving lever, 11 one end passes through the 5th rotation
Pair 12 is connect with rack 3, and the other end is connect by the 6th revolute pair 10 with front boom 9, and first driving lever 11, second is actively
Bar 5 is driven by electric drive system, is controlled by computer programming.
Comparative diagram 1, Fig. 4, the plane used compared to the electro-hydraulic mechanism type numerical control bucket wheel machine front overhang arm lifting mechanism of two-freedom
Single-degree-of-freedom design, under computer programming control, the front boom of the electro-hydraulic mechanism type numerical control bucket wheel machine of this kind of Three Degree Of Freedom is gone up and down
Mechanism can carry out two-freedom coupled motions, and then realization 9 two-freedom wide-angle of front boom, large space, high flexibility is soft
Property pitching movement, the bucket-wheel mechanism 21 is mounted on front boom 9, under computer programming control, passes through coupling front boom 9
Pitching movement and the turnover movement of rack 3, bucket-wheel mechanism 21 can realize that wide-angle, large space, high flexibility Three Degree Of Freedom are controllably soft
Property movement, and then the complicated heap material extracting operation for meeting the storage stock ground of the bulk cargos such as harbour, harbour, metallurgy, cement, coal yard is wanted
It asks.
Comparative diagram 1, Fig. 3, the front boom 9 are fixedly connected with middle pull rod 24, and are reinforced by front tension bar 25, the middle drawing
Bar 24 is fixedly connected with balancing stand 26, and is reinforced by bearing diagonal 27, is equipped with counterweight 20 on the balancing stand 26.
Comparative diagram 1, Fig. 2, the first connecting rod 7 are telescopic rod, include the first cylinder body 7.1, First piston bar 7.3, institute
It states the first cylinder body 7.1 and is connect with First piston bar 7.3 by first movement pair 7.2, it is hydraulically full in first cylinder body 7.1.
Comparative diagram 1, Fig. 2, the transportation system include first material transmission device, second material transmission device, controllable branch
Support mechanism, the first material transmission device are mounted on front boom 9, are substantially carried out the conveying operation of loose unpacked material；Described
Two material conveying devices are mounted on controllable supporting mechanism, the main conveying for completing loose unpacked material and discharge operation, described controllable
Supporting mechanism is plane single-degree-of-freedom link mechanism, drives branch, support arm 19 comprising support arm, the support arm drives branch
Including third driving lever 15, second connecting rod 17, described 15 one end of third driving lever is connect by the 7th revolute pair 14 with rack 3,
The other end is connect by the 8th revolute pair 16 with 17 one end of second connecting rod, and 17 other end of second connecting rod passes through the 9th revolute pair
18 connect with support arm 19, and the support arm 19 is connect by the tenth revolute pair 13 with rack 3, and the third driving lever 15 is by electricity
Transmission system drives control drives the drive control of branch, it can be achieved that support arm under computer programming control by support arm
15 pitching movement, to realize the wide-angle flexibility adjustment at the second material transmission device conveying elevation angle.
Comparative diagram 1, Fig. 2, the second connecting rod 17 be telescopic rod, include the second cylinder body 17.1, second piston bar 17.3,
Second cylinder body 17.1 is connect with second piston bar 17.3 by the second prismatic pair 17.2, is full of in second cylinder body 17.1
Liquid.
Comparative diagram 1, Fig. 2, Fig. 5, in practical engineering applications, in order to improve the load capacity and stabilization of cantilever style bucket wheel machine
Property, the front overhang arm lifting mechanism of the electro-hydraulic mechanism type numerical control bucket wheel machine of this kind of Three Degree Of Freedom is designed using plane-parallel type, before two sets
Cantilever drive branch drives front boom 9 to carry out pitching movement, cylinder body 7.1.1, the cylinder of two sets of front booms driving branch jointly
Body 7.1.2 passes through 28 connection of pipeline.When the electro-hydraulic mechanism type numerical control bucket wheel machine of this kind of Three Degree Of Freedom is without design, manufacture, installation error
Ideal case under, according to pascal's principle, the fluid pressure in cylinder body 7.1.1 and cylinder body 7.1.2 can keep balancing in real time,
One cylinder body 7.1 can be considered with First piston bar 7.3 to be fixedly connected, when front boom 9 bears design, the system of larger unbalance loading and mechanism
It makes, install there are under error situation, which can make the first cylinder body 7.1 and First piston bar 7.3 in front boom driving branch
Minute movement occurs, the fluid pressure in real-time ensuring cylinder body 7.1.1 and cylinder body 7.1.2 balances, and then guarantees two sets of front booms
Driving branch carries simultaneously, and then the driving lever carrying for guaranteeing that two sets of front boom driving branches include is balanced, which substantially mentions
The high offset load resistance of front overhang arm lifting mechanism, improves electric drive system service life, reduces failure rate.In addition, passing through
Auxiliary equipments, the overload protections that front overhang arm lifting mechanism can be solved easily such as overflow valve is introduced in front overhang arm lifting mechanism to ask
Topic.
Comparative diagram 1, Fig. 2, Fig. 6, similarly, in order to improve the load capacity and stability of second material transmission device, this kind
The controllable supporting mechanism of the electro-hydraulic mechanism type numerical control bucket wheel machine of Three Degree Of Freedom is designed using plane-parallel type, by two sets of support arm driving branch
The wide-angle flexibility that chain drives support arm 19 to carry out the conveying elevation angle jointly adjusts, the cylinder body of two sets of support arms driving branch
17.1.1, cylinder body 17.1.2 passes through 29 connection of pipeline.When the electro-hydraulic mechanism type numerical control bucket wheel machine of this kind of Three Degree Of Freedom is without design, system
It makes, under the ideal case of installation error, according to pascal's principle, the fluid pressure in cylinder body 17.1.1 and cylinder body 17.1.2 can be real
When keep balance, the second cylinder body 17.1 can be considered with second piston bar 17.3 to be fixedly connected, when second material transmission device receiving
There are under error situation, which can make contained by support arm driving branch for the design of larger unbalance loading and mechanism, manufacture, installation
With second piston bar 17.3 minute movement occurs for the second cylinder body 17.1, the liquid in real-time ensuring cylinder body 17.1.1 and cylinder body 17.1.2
Body pressure balance, and then guarantee that two sets of support arm driving branches carry simultaneously, and then guarantee that two sets of support arm driving branches are wrapped
The driving lever carrying contained is balanced, which greatly improved the offset load resistance of second material transmission device, improve electric powertrain
System service life, reduces failure rate.In addition, can be solved easily by introducing the auxiliary equipments such as overflow valve in controllable supporting mechanism
Certainly the problem of second material transmission device overload protection.
Comparative diagram 1, Fig. 2, Fig. 5, Fig. 6, the hydraulic system that the electro-hydraulic mechanism type numerical control bucket wheel machine of this kind of Three Degree Of Freedom introduces is only
It is missed as necessary overload protection means, and as front overhang arm lifting mechanism, the design of controllable supporting mechanism, manufacture, installation
The Active Compensation of difference, it is ensured that using master contained by two sets of front booms driving branch of plane-parallel type design, support arm driving branch
The loaded equilibrium of lever, and non-staple power-transmission system, therefore the boom type bucket wheel machine for avoiding existing hydraulic structure is mechanical
The problems such as low efficiency, high energy consumption, while again can be real by introducing the devices such as overflow valve compared to existing purely mechanic boom type bucket wheel machine
Now preferable overload protection ability.
Comparative diagram 1, Fig. 4, Fig. 5, Fig. 6, Fig. 7, the electro-hydraulic mechanism type numerical control bucket wheel machine of this kind of Three Degree Of Freedom utilize link transmission
Instead of the hydraulic structure of existing bucket wheel machine, boom type bucket wheel machine poor reliability, the mechanical efficiency of existing hydraulic structure are overcome
Low, the problems such as energy consumption is high, and oil leak easily occurs for hydraulic system, has the characteristics that mechanical efficiency is high, good reliability, is greatly reduced simultaneously
Bucket wheel machine maintenance and use cost are high.Compared to boom type bucket wheel machine use single-degree-of-freedom front overhang arm lifting mechanism or
The front overhang arm mechanism of steel wire rope winch control, the electro-hydraulic mechanism type numerical control bucket wheel machine space of this kind of Three Degree Of Freedom is bigger, makees
The advantages that industry range is wider, flexibility is higher, can be very good to meet the bulk cargos such as harbour, harbour, metallurgy, cement, coal yard
Store the complicated heap material extracting operation requirement in stock ground.
Claims (3)
1. a kind of electro-hydraulic mechanism type numerical control bucket wheel machine of Three Degree Of Freedom, it is characterised in that: include walking mechanism, rack, front boom liter
Descending mechanism, bucket-wheel mechanism, transportation system；The rack is connect by the first revolute pair with walking mechanism, first revolute pair
For driving pair；The front overhang arm lifting mechanism be the full revolute pair planar five-bar mechanism of two-freedom, comprising front boom driving branch,
First driving lever, rack, front boom, the front boom driving branch include the second driving lever, first connecting rod, and described second actively
Bar one end is connect by the second revolute pair with rack, and the other end passes through third revolute pair and connect with first connecting rod one end, and described the
The one connecting rod other end is connect by the 4th revolute pair with front boom, and first driving lever one end passes through the 5th revolute pair and rack
Connection, the other end are connect by the 6th revolute pair with front boom.
2. transportation system according to claim 1, it is characterised in that: include controllable supporting mechanism, the controllable support machine
Structure is plane single-degree-of-freedom link mechanism, drives branch, support arm comprising support arm, the support arm driving branch includes third
Driving lever, second connecting rod, third driving lever one end are connect by the 7th revolute pair with rack, and the other end is dynamic by eight revolution
Pair is connect with second connecting rod one end, and the second connecting rod other end is connect by the 9th revolute pair with support arm, the support arm
It is connect by the tenth revolute pair with rack.
3. the electro-hydraulic mechanism type numerical control bucket wheel machine of a kind of Three Degree Of Freedom according to claim 1, it is characterised in that: the front overhang
Arm is fixedly connected with middle pull rod, and is reinforced by front tension bar, and the middle pull rod is fixedly connected with balancing stand, and is added by bearing diagonal
Gu counterweight is installed on the balancing stand,
The first connecting rod is telescopic rod, includes the first cylinder body, First piston bar, and first cylinder body and First piston bar are logical
First movement pair is crossed to connect, it is hydraulically full in first cylinder body,
The second connecting rod is telescopic rod, includes the second cylinder body, second piston bar, and second cylinder body and second piston bar are logical
The second prismatic pair is crossed to connect, it is hydraulically full in second cylinder body,
The driving pair, the first driving lever, the second driving lever, third driving lever are driven by electric drive system,
The front overhang arm lifting mechanism is designed using plane-parallel type, drives front boom jointly by two sets of front boom driving branches, institute
The cylinder body for stating two sets of front boom driving branches passes through pipeline connection,
The controllable supporting mechanism is designed using plane-parallel type, drives support arm jointly by two sets of support arm driving branches, described
The cylinder body of two sets of support arm driving branches passes through pipeline connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710967699.2A CN109677944A (en) | 2017-10-18 | 2017-10-18 | A kind of electro-hydraulic mechanism type numerical control bucket wheel machine of Three Degree Of Freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710967699.2A CN109677944A (en) | 2017-10-18 | 2017-10-18 | A kind of electro-hydraulic mechanism type numerical control bucket wheel machine of Three Degree Of Freedom |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109677944A true CN109677944A (en) | 2019-04-26 |
Family
ID=66183841
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710967699.2A Pending CN109677944A (en) | 2017-10-18 | 2017-10-18 | A kind of electro-hydraulic mechanism type numerical control bucket wheel machine of Three Degree Of Freedom |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109677944A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110406987A (en) * | 2019-06-24 | 2019-11-05 | 太重（天津）滨海重型机械有限公司 | Stacker-reclaimer |
| CN110789953A (en) * | 2019-11-11 | 2020-02-14 | 刘功利 | Automatic equipment for loading and unloading goods in railway transportation |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19726554A1 (en) * | 1997-06-23 | 1998-12-24 | Man Takraf Foerdertechnik Gmbh | Excavator with rotating bucket wheel |
| CN102145815A (en) * | 2010-12-31 | 2011-08-10 | 广西大学 | Spatial four-degree-of-freedom controllable palletizing robot |
| CN104328811A (en) * | 2014-11-26 | 2015-02-04 | 北方重工集团有限公司 | Mining type compact bucket wheel excavator |
| CN106088182A (en) * | 2016-06-24 | 2016-11-09 | 山东交通学院 | A kind of multiple-unit connecting rod drives plane three mobility to load robot |
-
2017
- 2017-10-18 CN CN201710967699.2A patent/CN109677944A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19726554A1 (en) * | 1997-06-23 | 1998-12-24 | Man Takraf Foerdertechnik Gmbh | Excavator with rotating bucket wheel |
| CN102145815A (en) * | 2010-12-31 | 2011-08-10 | 广西大学 | Spatial four-degree-of-freedom controllable palletizing robot |
| CN104328811A (en) * | 2014-11-26 | 2015-02-04 | 北方重工集团有限公司 | Mining type compact bucket wheel excavator |
| CN106088182A (en) * | 2016-06-24 | 2016-11-09 | 山东交通学院 | A kind of multiple-unit connecting rod drives plane three mobility to load robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110406987A (en) * | 2019-06-24 | 2019-11-05 | 太重（天津）滨海重型机械有限公司 | Stacker-reclaimer |
| CN110789953A (en) * | 2019-11-11 | 2020-02-14 | 刘功利 | Automatic equipment for loading and unloading goods in railway transportation |
| CN110789953B (en) * | 2019-11-11 | 2021-01-26 | 刘功利 | Automatic equipment for loading and unloading goods in railway transportation |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201045235Y (en) | Mobile concrete cloth machine | |
| CN105417380A (en) | Novel intelligent stand column swing arm crane | |
| CN109677944A (en) | A kind of electro-hydraulic mechanism type numerical control bucket wheel machine of Three Degree Of Freedom | |
| CN103899588B (en) | Lorry-mounted crane multi-way reversing device and straight-arm lorry-mounted crane | |
| CN204823889U (en) | Has born of same parents of change function from adjustment mechanism formula hoist | |
| CN103569875A (en) | Plane two-degree-of-freedom seven-rod closed chain type reach stacker for containers | |
| CN202321978U (en) | Combined lifting appliance for metallurgical environment | |
| CN106081932B (en) | A kind of multiple-unit connecting rod driving plane controlled skidding formula pitches wooden machine | |
| CN103072826B (en) | The luffing device of stacker-reclaimer and stacker-reclaimer | |
| CN106865278A (en) | Turn round telescopic ship loader | |
| CN108516442A (en) | A kind of more steel wire rope coal deep-well lifting systems of split type floating head sheave group | |
| CN109677947A (en) | A kind of electro-hydraulic mechanism type numerical control bucket wheel machine of two-freedom | |
| CN203717509U (en) | Lorry-mounted crane multi-way reversing device and straight-arm lorry-mounted crane | |
| CN101941653A (en) | Method for improving capacity of flat-head-type tower crane and new-type flat-head-type tower crane | |
| CN201762039U (en) | Novel flat-top tower crane | |
| CN203959668U (en) | Grab bucket | |
| CN106120886A (en) | A kind of multiple-unit linear drives plane three mobility crowd shovel loads robot | |
| CN202279645U (en) | Lorry-mounted crane with link mechanisms | |
| CN106002983B (en) | A kind of shovel palletizing mechanical arm | |
| CN215160531U (en) | Hydraulic energy storage device and hoisting mechanism | |
| CN203048195U (en) | Amplitude changing device of stacker-reclaimer and stacker-reclaimer | |
| CN106966286A (en) | The multifunctional hanging tool of crane gear | |
| AU2018400554B2 (en) | Materials Handling Machine | |
| CN104828712A (en) | Space crane with six degree of freedom | |
| CN113135506A (en) | Hydraulic balance crane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190426 |