CN110304162A - The stump-jump mechanism and its method of digging machine - Google Patents
The stump-jump mechanism and its method of digging machine Download PDFInfo
- Publication number
- CN110304162A CN110304162A CN201910595082.1A CN201910595082A CN110304162A CN 110304162 A CN110304162 A CN 110304162A CN 201910595082 A CN201910595082 A CN 201910595082A CN 110304162 A CN110304162 A CN 110304162A
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- China
- Prior art keywords
- climbing
- crawler belt
- driven wheel
- crawler
- traveling
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- 230000007246 mechanism Effects 0.000 title claims abstract description 11
- 238000000034 method Methods 0.000 title claims description 17
- 230000009194 climbing Effects 0.000 claims abstract description 143
- 230000008878 coupling Effects 0.000 claims abstract description 20
- 238000010168 coupling process Methods 0.000 claims abstract description 20
- 238000005859 coupling reaction Methods 0.000 claims abstract description 20
- 230000004888 barrier function Effects 0.000 claims description 27
- 230000001360 synchronised effect Effects 0.000 claims description 20
- 230000008569 process Effects 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 4
- 230000005283 ground state Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/08—Superstructures; Supports for superstructures
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
Abstract
The invention discloses a kind of stump-jump mechanisms of digging machine, including tray unit, the two sides of the tray unit are symmetrically arranged with two horizontal traveling crawlers, front end synchro-meshing on the inside of the traveling crawler is connected with crawler belt driven wheel, and the backend synchronization engagement on the inside of the traveling crawler is connected with crawler belt driving wheel；It further include traveling crawler driving motor and the first speed changer in the tray unit；The output end of the traveling crawler driving motor is sequentially connected by the input terminal of first shaft coupling and first speed changer；The output end of first speed changer is connect by second shaft coupling with the crawler belt capstan drive with the crawler belt driving wheel；Stable barrier-jump effect is realized using the climbing crawler belt of adjustable inclination, and on level land when driving, climbing crawler belt is in vacant state, and then does not load, and energy loss is effectively reduced.
Description
Technical field
The invention belongs to digging machine fields.
Background technique
The existing digging machine barrier-jump process difficult to realize compared with abrupt slope, thereby reduces the environmental suitability of digging machine.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the present invention provides a kind of digging machine that can cross abrupt slope
Stump-jump mechanism and its method.
Technical solution: to achieve the above object, the stump-jump mechanism of digging machine of the invention, including tray unit, the chassis
The two sides of unit are symmetrically arranged with two horizontal traveling crawlers, and the front end synchro-meshing on the inside of the traveling crawler is connected with crawler belt
Driven wheel, the backend synchronization engagement on the inside of the traveling crawler are connected with crawler belt driving wheel；
It further include traveling crawler driving motor and the first speed changer in the tray unit；The traveling crawler driving motor
Output end be sequentially connected by the input terminal of first shaft coupling and first speed changer；The output end of first speed changer
It is connect by second shaft coupling with the crawler belt capstan drive with the crawler belt driving wheel；
The outside of the crawler belt driven wheel is concentric to be provided with climbing crawler belt driving wheel, the climbing crawler belt driving wheel and institute
Crawler belt driven wheel synchronized links are stated, the climbing crawler belt driving wheel is with the crawler belt driven wheel synchronous rotary；
It further include climbing driven wheel leg inclination adjustment axis, the climbing driven wheel leg inclination adjustment axis passes through two bearings
It is connected respectively with the climbing crawler belt driving wheel and the concentric rotation of crawler belt driven wheel；
It further include climbing driven wheel carriage drive steering engine and the second speed changer, the climbing driven wheel in the tray unit
The output end of carriage drive steering engine and the input terminal of second speed changer are sequentially connected by third shaft coupling；Described second becomes
The output end of fast device adjusts the concentric transmission connection of axis by the 4th shaft coupling and the climbing driven wheel leg inclination, climb from
Driving wheel leg inclination adjusts axis with the 4th shaft coupling synchronous rotary；
Further include and the driven wheel support of climbing；The length direction of the driven wheel support of climbing and the climbing are driven
Wheel support Inclination maneuver axis is vertical, and the one end for driven wheel support of climbing and climbing driven wheel leg inclination adjustment axis are separate
One end of 4th shaft coupling is fixedly connected, and the rotational energy of the climbing driven wheel leg inclination adjustment axis drives the climbing driven
Wheel support changes the tilt angle with ground；The other end of the driven wheel support of climbing is rotatably connected to climbing by bearing and carries out
Band driven wheel；It further include climbing crawler belt, synchro-meshing connects climbing crawler belt driven wheel respectively on the inside of the both ends of the climbing crawler belt
With climbing crawler belt driving wheel.
Further, vertical electrical turntable is installed, in the shaft of the electrical turntable at the top of the tray unit
It is fixedly installed with lifting linear motor, is fixedly installed camera mounting portion at the top of the lifting push rod of the lifting linear motor,
Camera is installed on the camera mounting portion.
Further, the barrier-jump method of the stump-jump mechanism of digging machine, including
In level walking, climb driven wheel support and ground make to climb tray unit at the angle centainly to raise up
Crawler belt and the ground state that be in disengaging isolated, at this time only traveling crawler and ground face contact；Control traveling crawler driving at this time
Motor, and then so that crawler belt driving wheel is driven traveling crawler, and then realize the level walking of tray unit, at the same time traveling crawler
The rotation of synchronous drive crawler belt driven wheel, crawler belt driven wheel drives climbing crawler belt driving wheel synchronous rotary at this time, and then crawler belt of climbing
Driving wheel drives climbing crawler belt operation, due to not contacted in level walking climbing crawler belt with ground, and then crawler belt of climbing at this time
In non-loaded idling conditions；
When previously encountering abrupt slope formula barrier, first controls traveling crawler and slowly run to forward close to abrupt slope formula obstacle
Object at the same time by climbing driven wheel carriage drive steering engine, and then controls climbing driven wheel leg inclination adjustment axis rotation, climbs
Driven wheel leg inclination adjustment axis rotation in slope drives the tilt angle for driven wheel support of climbing to change, until climbing driven wheel
The tilt angle of bracket is consistent with the steep slope tilt angle of abrupt slope formula barrier, and then the downside track-face of climbing crawler belt is made to incline
Rake angle is consistent with the steep slope tilt angle of abrupt slope formula barrier；As tray unit continues close to abrupt slope formula barrier, directly
Downside track-face to climbing crawler belt starts to be bonded the steep slope for touching abrupt slope formula barrier, driven by control climbing at this time
Wheel support drives steering engine, rotates climbing driven wheel leg inclination adjustment axis counterclockwise, and then drive driven wheel support edge of climbing
Climbing driven wheel leg inclination adjustment axis rotates counterclockwise, and then the downside track-face of climbing crawler belt is made to fit closely abrupt slope formula barrier
Hinder the steep slope of object, then carries out control traveling crawler on this basis and slowly walk forward, traveling crawler can synchronous belt at this time
Dynamic crawler belt driven wheel rotation, crawler belt driven wheel drive climbing crawler belt driving wheel synchronous rotary, and then crawler belt driving wheel of climbing drives
Crawler belt of climbing is run, and then realizes the climbing movement of climbing crawler belt；Crawler belt to be climbed is climbed upwards to abrupt slope formula barrier
When upper end, the front end of traveling crawler also reaches the upper end of abrupt slope formula barrier, and subsequent process only needs normal driving crawler belt to transport forward
Climbing process can be completed in row.
The utility model has the advantages that structure of the invention is simple, when crawler belt of climbing is climbed upwards to the upper end of abrupt slope formula barrier, row
The front end for walking crawler belt also reaches the upper end of abrupt slope formula barrier, and subsequent process, which only needs normal driving crawler belt to move forwards, can be completed
Climbing process；Stable barrier-jump effect is realized using the climbing crawler belt of adjustable inclination, and on level land when driving, climbing is carried out
Band is in vacant state, and then does not load, and energy loss is effectively reduced.
Detailed description of the invention
Attached drawing 1 is the overall structure diagram of the equipment；
Attached drawing 2 is the transmission schematic diagram inside tray unit；
Attached drawing 3 is the climbing schematic diagram of the device；
Attached drawing 4 is climbing crawler belt schematic diagram；
5 traveling crawler structural schematic diagram of attached drawing.
Specific embodiment
The present invention will be further explained with reference to the accompanying drawing.
The stump-jump mechanism of the digging machine as shown in attached drawing 1 to 5, including tray unit 15, the two sides pair of the tray unit 15
Claim to be provided with two horizontal traveling crawlers 33, the front end synchro-meshing of 33 inside of traveling crawler is connected with crawler belt driven wheel
56, the backend synchronization engagement of 33 inside of traveling crawler is connected with crawler belt driving wheel 42；
It further include traveling crawler driving motor 41 and the first speed changer 36 in the tray unit 15；The traveling crawler drives
The output end of dynamic motor 41 is sequentially connected by the input terminal of first shaft coupling 37 and first speed changer 36；Described first becomes
The output end of fast device 36 and the crawler belt driving wheel 42 are sequentially connected by second shaft coupling 35 and the crawler belt driving wheel 42；
The outside of the crawler belt driven wheel 56 is concentric to be provided with climbing crawler belt driving wheel 55, the climbing crawler belt driving wheel
55 with 56 synchronized links of crawler belt driven wheel, the climbing crawler belt driving wheel 55 is with 56 synchronous rotary of crawler belt driven wheel；
It further include climbing driven wheel leg inclination adjustment axis 54, the climbing driven wheel leg inclination adjustment axis 54 passes through two
Bearing is connected with the climbing crawler belt driving wheel 55 and the concentric rotation of crawler belt driven wheel 56 respectively；
It further include climbing driven wheel carriage drive steering engine 40 and the second speed changer 38, the climbing in the tray unit 15
The input terminal of the output end of driven wheel carriage drive steering engine 40 and second speed changer 38 is connected by the transmission of third shaft coupling 39
It connects；The output end of second speed changer 38 adjusts axis 54 together by the 4th shaft coupling 34 and the climbing driven wheel leg inclination
Axle center transmission connection, climbing driven wheel leg inclination adjustment axis 54 is with 34 synchronous rotary of the 4th shaft coupling；
Further include and the driven wheel support 53 of climbing；The length direction of the driven wheel support 53 of climbing and the climbing
Driven wheel leg inclination adjusts axis 54 vertically, and the one end for driven wheel support 53 of climbing and the climbing driven wheel leg inclination tune
Bearing 54 is fixedly connected far from one end of the 4th shaft coupling 34, the rotational energy band of the climbing driven wheel leg inclination adjustment axis 54
Move the tilt angle of the climbing driven wheel support 53 change and ground；The other end of the driven wheel support 53 of climbing passes through axis
It holds and is rotatably connected to climbing crawler belt driven wheel 51；It further include climbing crawler belt 52, it is same respectively on the inside of the both ends of the climbing crawler belt 52
Step engagement connection climbing crawler belt driven wheel 51 and climbing crawler belt driving wheel 55.
The top of the tray unit 15 is equipped with vertical electrical turntable 22, consolidates in the shaft 23 of the electrical turntable 22
Dingan County is fixedly installed camera installation at the top of the lifting push rod 24 of the lifting linear motor 27 equipped with linear motor 27 is gone up and down
Portion 25 is equipped with camera 26 on the camera mounting portion.
The barrier-jump method and obstacle detouring process of the stump-jump mechanism of digging machine:
In level walking, climb driven wheel support 53 and ground make tray unit 15 at the angle centainly to raise up
Climbing crawler belt 52 and the ground state that be in disengaging isolated, at this time only traveling crawler 33 with face contact；Control walking at this time
Track drive motor 41, and then so that crawler belt driving wheel 42 is driven traveling crawler 33, and then realize the level walking of tray unit 15,
33 synchronous drive crawler belt driven wheel 56 of traveling crawler rotates at the same time, and crawler belt driven wheel 56 drives climbing crawler belt driving wheel at this time
55 synchronous rotaries, so climb crawler belt driving wheel 55 drive climbing crawler belt 52 run, due to level walking climbing crawler belt 52 with
Ground does not contact, and then crawler belt 52 of climbing at this time is in non-loaded idling conditions；
When previously encountering abrupt slope formula barrier 57, first controls traveling crawler 33 and slowly run to forward close to abrupt slope formula barrier
Hinder object 57, at the same time by climbing driven wheel carriage drive steering engine 40, and then controls climbing driven wheel leg inclination and adjust axis
54 rotations, the climbing driven wheel leg inclination adjustment rotation of axis 54 drive the tilt angle for driven wheel support 53 of climbing to change,
Until the tilt angle for driven wheel support 53 of climbing is consistent with the steep slope tilt angle of abrupt slope formula barrier 57, and then make to climb
The downside track-face tilt angle of crawler belt 52 is consistent with the steep slope tilt angle of abrupt slope formula barrier 57；With tray unit 15
Continue close to abrupt slope formula barrier 57, until the downside track-face of climbing crawler belt 52, which starts fitting, touches abrupt slope formula barrier 57
Steep slope, at this time by control climbing driven wheel carriage drive steering engine 40, make climb driven wheel leg inclination adjustment axis 54 it is inverse
Hour hands rotation, and then driven wheel support 53 of climbing is driven to rotate counterclockwise along climbing driven wheel leg inclination adjustment axis 54, in turn
So that the downside track-face of climbing crawler belt 52 is fitted closely the steep slope of abrupt slope formula barrier 57, is then controlled on this basis
The slowly walking forward of traveling crawler 33, the synchronous drive crawler belt driven wheel 56 of the meeting of traveling crawler 33 at this time rotate, crawler belt driven wheel 56
Climbing 55 synchronous rotary of crawler belt driving wheel is driven, and then crawler belt driving wheel 55 of climbing drives climbing crawler belt 52 to run, and then realizes
The climbing movement of climbing crawler belt 52；When the upward climbing of crawler belt 52 of climbing to the upper end of abrupt slope formula barrier 57, traveling crawler
33 front end also reaches the upper end of abrupt slope formula barrier 57, and subsequent process, which only needs normal driving crawler belt 33 to move forwards, can be completed
Climbing process.
The above is only a preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (3)
1. the stump-jump mechanism of digging machine, it is characterised in that: including tray unit (15), the two sides of the tray unit (15) are symmetrically set
Two horizontal traveling crawlers (33) are equipped with, the front end synchro-meshing on the inside of the traveling crawler (33) is connected with crawler belt driven wheel
(56), the backend synchronization engagement on the inside of the traveling crawler (33) is connected with crawler belt driving wheel (42)；
It further include traveling crawler driving motor (41) and the first speed changer (36) in the tray unit (15)；The traveling crawler
The output end of driving motor (41) is sequentially connected by the input terminal of first shaft coupling (37) and first speed changer (36)；Institute
The output end and the crawler belt driving wheel (42) for stating the first speed changer (36) pass through second shaft coupling (35) and crawler belt active
Take turns (42) transmission connection；
The outside of the crawler belt driven wheel (56) is concentric to be provided with climbing crawler belt driving wheel (55), the climbing crawler belt driving wheel
(55) and crawler belt driven wheel (56) synchronized links, the climbing crawler belt driving wheel (55) are same with the crawler belt driven wheel (56)
Step rotation；
It further include climbing driven wheel leg inclination adjustment axis (54), climbing driven wheel leg inclination adjustment axis (54) passes through two
Bearing is connected with the climbing crawler belt driving wheel (55) and the concentric rotation of crawler belt driven wheel (56) respectively；
It further include climbing driven wheel carriage drive steering engine (40) and the second speed changer (38) in the tray unit (15), it is described to climb
The output end of slope driven wheel carriage drive steering engine (40) and the input terminal of second speed changer (38) pass through third shaft coupling
(39) it is sequentially connected；The output end of second speed changer (38) passes through the 4th shaft coupling (34) and the driven wheel support of climbing
Inclination maneuver axis (54) concentric transmission connection, climbing driven wheel leg inclination adjustment axis (54) is with the 4th shaft coupling (34)
Synchronous rotary；
Further include and the driven wheel support (53) of climbing；The length direction of the driven wheel support (53) of climbing and the climbing
Driven wheel leg inclination adjusts axis (54) vertically, and the one end for driven wheel support (53) of climbing is inclined with the driven wheel support of climbing
Angle adjustment axis (54) is fixedly connected far from one end of the 4th shaft coupling (34), and the climbing driven wheel leg inclination adjusts axis (54)
Rotational energy drive the driven wheel support (53) of the climbing to change the tilt angle with ground；The driven wheel support (53) of climbing
The other end by bearing be rotatably connected to climbing crawler belt driven wheel (51)；It further include climbing crawler belt (52), the climbing crawler belt
(52) synchro-meshing connection climbing crawler belt driven wheel (51) and climbing crawler belt driving wheel (55) respectively on the inside of both ends.
2. the stump-jump mechanism of digging machine according to claim 1, it is characterised in that: install at the top of the tray unit (15)
Have vertical electrical turntable (22), lifting linear motor (27) be fixedly installed in the shaft (23) of the electrical turntable (22),
It is fixedly installed camera mounting portion (25) at the top of the lifting push rod (24) of lifting linear motor (27), the camera peace
Camera (26) are installed in dress portion.
3. the barrier-jump method of the stump-jump mechanism of digging machine according to claim 2, it is characterised in that: including
In level walking, climb driven wheel support (53) and ground make tray unit (15) at the angle centainly to raise up
Climbing crawler belt (52) and the ground state that be in disengaging isolated, at this time only traveling crawler (33) with face contact；It controls at this time
Traveling crawler driving motor (41), and then so that crawler belt driving wheel (42) is driven traveling crawler (33), and then realize tray unit
(15) level walking, traveling crawler (33) synchronous drive crawler belt driven wheel (56) rotates at the same time, at this time crawler belt driven wheel
(56) climbing crawler belt driving wheel (55) synchronous rotary is driven, and then crawler belt driving wheel (55) drive climbing crawler belt (52) fortune of climbing
Row due to not contacting in level walking climbing crawler belt (52) with ground, and then climbs crawler belt (52) in non-loaded at this time
Idling conditions；
When previously encountering abrupt slope formula barrier (57), first controls traveling crawler (33) and slowly run to forward close to abrupt slope formula barrier
Hinder object (57), at the same time by climbing driven wheel carriage drive steering engine (40), and then controls climbing driven wheel leg inclination tune
Bearing (54) rotation, climbing driven wheel leg inclination adjustment axis (54) rotation drive the tilt angle for driven wheel support (53) of climbing
It changes, until the climb tilt angle of driven wheel support (53) and the steep slope tilt angle one of abrupt slope formula barrier (57)
It causes, and then makes climb the downside track-face tilt angle of crawler belt (52) and the steep slope tilt angle one of abrupt slope formula barrier (57)
It causes；As tray unit (15) continue close to abrupt slope formula barrier (57), until the downside track-face of climbing crawler belt (52) starts
Fitting touches the steep slope of abrupt slope formula barrier (57), at this time by control climbing driven wheel carriage drive steering engine (40), makes
Driven wheel leg inclination adjustment axis (54) of climbing rotates counterclockwise, and then drives driven wheel support (53) of climbing along climbing driven wheel
Leg inclination adjusts axis (54) and rotates counterclockwise, and then the downside track-face of climbing crawler belt (52) is made to fit closely abrupt slope formula obstacle
The steep slope of object (57) then carries out control traveling crawler (33) slowly walking forward, at this time traveling crawler on this basis
(33) meeting synchronous drive crawler belt driven wheel (56) rotation, crawler belt driven wheel (56) drive climbing crawler belt driving wheel (55) is synchronous to revolve
Turn, and then crawler belt driving wheel (55) drive climbing crawler belt (52) operation of climbing, and then the climbing for realizing climbing crawler belt (52) is dynamic
Make；When crawler belt of climbing (52) climbing to the upper end of abrupt slope formula barrier (57) upwards, the front end of traveling crawler (33) is also reached
The upper end of abrupt slope formula barrier (57), subsequent process, which only needs normal driving crawler belt (33) to move forwards, can be completed climbing process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910595082.1A CN110304162A (en) | 2019-07-03 | 2019-07-03 | The stump-jump mechanism and its method of digging machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910595082.1A CN110304162A (en) | 2019-07-03 | 2019-07-03 | The stump-jump mechanism and its method of digging machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110304162A true CN110304162A (en) | 2019-10-08 |
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ID=68078099
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910595082.1A Withdrawn CN110304162A (en) | 2019-07-03 | 2019-07-03 | The stump-jump mechanism and its method of digging machine |
Country Status (1)
| Country | Link |
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| CN (1) | CN110304162A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112276896A (en) * | 2020-09-14 | 2021-01-29 | 安徽广祺智能电器股份有限公司 | Electric power remote centralized control system |
| CN112937513A (en) * | 2021-04-09 | 2021-06-11 | 北京石油化工学院 | Irradiation-resistant nuclear emergency robot and movable chassis thereof |
| CN114016362A (en) * | 2021-11-18 | 2022-02-08 | 孙建军 | Road and bridge construction distance marking and dotting equipment and method thereof |
-
2019
- 2019-07-03 CN CN201910595082.1A patent/CN110304162A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112276896A (en) * | 2020-09-14 | 2021-01-29 | 安徽广祺智能电器股份有限公司 | Electric power remote centralized control system |
| CN112937513A (en) * | 2021-04-09 | 2021-06-11 | 北京石油化工学院 | Irradiation-resistant nuclear emergency robot and movable chassis thereof |
| CN114016362A (en) * | 2021-11-18 | 2022-02-08 | 孙建军 | Road and bridge construction distance marking and dotting equipment and method thereof |
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Application publication date: 20191008 |