CN110629816B - Three-degree-of-freedom fourteen-rod hydraulic excavator - Google Patents
Three-degree-of-freedom fourteen-rod hydraulic excavator Download PDFInfo
- Publication number
- CN110629816B CN110629816B CN201910955366.7A CN201910955366A CN110629816B CN 110629816 B CN110629816 B CN 110629816B CN 201910955366 A CN201910955366 A CN 201910955366A CN 110629816 B CN110629816 B CN 110629816B
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- Prior art keywords
- bucket
- rocker arm
- hinged
- arm
- rod
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- 210000005069 ears Anatomy 0.000 claims 2
- 238000000034 method Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000002708 enhancing effect Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000009412 basement excavation Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/301—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom with more than two arms (boom included), e.g. two-part boom with additional dipper-arm
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/302—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom with an additional link
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/308—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working outwardly
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/38—Cantilever beams, i.e. booms;, e.g. manufacturing processes, forms, geometry or materials used for booms; Dipper-arms, e.g. manufacturing processes, forms, geometry or materials used for dipper-arms; Bucket-arms
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/425—Drive systems for dipper-arms, backhoes or the like
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Shovels (AREA)
Abstract
A three-freedom-degree fourteen-rod hydraulic excavator comprises a frame, a movable arm, a bucket rod, a bucket, a first rocker arm, a second rocker arm, a first rocker arm connecting rod, a second rocker arm connecting rod, a movable arm hydraulic cylinder, a bucket rod hydraulic cylinder and a bucket hydraulic cylinder. The movable arm is hinged with the frame, the first rocker arm, the second rocker arm and the bucket rod respectively, two ends of the first rocker arm connecting rod are hinged with the frame and the first rocker arm respectively, and two ends of the second rocker arm connecting rod are hinged with the bucket rod and the second rocker arm respectively; two ends of the movable arm hydraulic cylinder are respectively hinged with the frame and the first rocker arm, and two ends of the bucket rod hydraulic cylinder are respectively hinged with the bucket rod hinge lug and the first rocker arm; and two ends of the bucket hydraulic cylinder are respectively hinged with the bucket and the second rocker arm. The invention can enhance the flexibility of the output track of the bucket, improve the aim of excavating force, and has simple and compact structure.
Description
Technical Field
The invention relates to the field of engineering excavators, in particular to a three-freedom-degree fourteen-rod hydraulic excavator which is used for improving working efficiency, enhancing flexibility of bucket output tracks and achieving the aim of improving excavating force.
Background
The hydraulic excavator has the advantages of simple structure, capability of realizing complex actions and the like, and is widely applied to mechanized construction aspects such as building and traffic industry, farmland reconstruction, water conservancy and hydropower, mine excavation, modern military engineering and the like. During the operation of an excavator, the requirement for the excavating force of the excavator becomes higher and higher due to the increasingly complex working environment. In a traditional hydraulic excavator, the track output of the root part of a bucket on a plane is realized through the combined driving of a movable arm hydraulic cylinder and a bucket rod hydraulic cylinder, and then the overturning of the bucket is realized through the driving of a single bucket hydraulic cylinder. However, due to the structural limitation, the excavating force is insufficient in the working process, and the working efficiency is low. Therefore, innovative development of a novel hydraulic excavator for improving the working efficiency, enhancing the flexibility of the bucket output track and achieving the aim of improving the excavating force is very necessary.
Disclosure of Invention
The invention aims to provide a fourteen-rod hydraulic excavator with three degrees of freedom, which can effectively solve the problems of inflexible action, limited working space and low excavating force of the traditional hydraulic excavator.
In order to achieve the above purpose, the invention adopts the following technical scheme: the utility model provides a fourteen pole hydraulic shovel of three degrees of freedom, component element includes frame, swing arm, dipper, scraper bowl, first rocking arm, second rocking arm, first rocking arm connecting rod, second rocking arm connecting rod, swing arm pneumatic cylinder, dipper pneumatic cylinder and scraper bowl pneumatic cylinder, component element's structure and relation of connection are:
the movable arm is hinged with the frame, the first rocker arm, the second rocker arm and the bucket rod respectively, two ends of the first rocker arm connecting rod are hinged with the frame and the first rocker arm respectively, two ends of the second rocker arm connecting rod are hinged with the bucket rod and the second rocker arm respectively, two ends of the movable arm hydraulic cylinder are hinged with the frame and the first rocker arm respectively, two ends of the bucket rod hydraulic cylinder are hinged with the bucket and the second rocker arm respectively, one end of the second rocker arm connecting rod is hinged with the tail end of the bucket rod, the other end of the second rocker arm connecting rod is hinged with the second rocker arm, downward pressure generated at the tail end of the bucket rod is transmitted to the second rocker arm through the second rocker arm connecting rod, one end of the bucket hydraulic cylinder is hinged with the second rocker arm, the other end of the bucket hydraulic cylinder is hinged with the bucket, the pressure is transmitted to the bucket hydraulic cylinder through the second rocker arm connecting rod so as to push the bucket, and the excavating force is increased, the bucket rod and the second rocker arm connecting rod form a parallel mechanism, and the bearing capacity of the excavator is increased when the thrust of the bucket is increased; one end of the bucket hydraulic cylinder is hinged with the second rocker arm, and the other end of the bucket hydraulic cylinder is hinged with the bucket, so that the flexibility of the bucket output track is enhanced.
The bucket rod is provided with three hinge holes, one end hinge hole is hinged with the bucket, the middle hinge hole is hinged with the movable arm, the other end hinge hole is hinged with the second rocker arm connecting rod, the middle part is provided with a pair of hinge lugs, and the middle hinge lug of the bucket rod is hinged with the bucket rod hydraulic cylinder.
The two groups of first rocker arms, second rocker arms, first rocker arm connecting rods, second rocker arm connecting rods, movable arm hydraulic cylinders, bucket rod hydraulic cylinders and bucket hydraulic cylinders which are hinged on the frame, the movable arms, the bucket rods and the bucket are symmetrically installed.
The invention has the outstanding advantages that:
1. the bucket rod is four pairs of rods, so that the average stress of the bucket rod is reduced, the stress distribution is more uniform, and the strength of the bucket rod is improved.
2. One end of the second rocker arm connecting rod is hinged with the tail end of the bucket rod, the other end of the second rocker arm connecting rod is hinged with the second rocker arm, and downward pressure generated by the tail end of the bucket rod is transmitted to the second rocker arm through the second rocker arm connecting rod; one end of the bucket hydraulic cylinder is hinged with the second rocker arm, the other end of the bucket hydraulic cylinder is hinged with the bucket, and pressure is transmitted to the bucket hydraulic cylinder through the second rocker arm so as to push the bucket, so that the excavating force is further increased.
3. The parallel mechanism is formed by the bucket rod and the second rocker arm connecting rod, so that the bearing capacity of the excavator can be increased when the excavating thrust of the bucket is increased; one end of the bucket hydraulic cylinder is hinged with the second rocker arm, and the other end of the bucket hydraulic cylinder is hinged with the bucket, so that the flexibility of the bucket output track is enhanced.
4. Through the cooperation of arm push rod and first rocking arm, reduced pneumatic cylinder length, improve the effective stroke of pneumatic cylinder, rational utilization power transmission improves arm driving performance, reduces the energy consumption.
5. The first rocker arm, the second rocker arm, the first rocker arm connecting rod and the second rocker arm connecting rod are symmetrically arranged on the excavator, the number of hydraulic cylinders is not increased, meanwhile, force transmission is reasonably utilized, and the excavating force of the hydraulic excavator is greatly enhanced.
Drawings
Fig. 1 is a schematic diagram of the overall structure of a three-degree-of-freedom fourteen-rod hydraulic excavator according to the present invention.
Fig. 2 is a schematic view of a partial loading structure of the three-degree-of-freedom fourteen-rod hydraulic excavator according to the present invention.
FIG. 3 is a schematic diagram of the three degree of freedom fourteen-rod hydraulic excavator according to the present invention.
Fig. 4 is a schematic view of a partial stick motion of a three-degree-of-freedom fourteen-stick hydraulic excavator according to the present invention.
FIG. 5 is a schematic view of a partial bucket movement of a three degree of freedom fourteen bar hydraulic excavator according to the present invention.
Marked in the figure as: the hydraulic machine comprises a frame 1, a movable arm hydraulic cylinder 2, a first rocker arm 3, a bucket rod hydraulic cylinder 4, a bucket rod 5, a bucket 6, a bucket hydraulic cylinder 7, a second rocker arm 8, a movable arm 9, a first rocker arm connecting rod 10, a second rocker arm connecting rod 11 and hinges R1-R15.
Detailed Description
The technical scheme of the invention is further described below through the attached drawings and the embodiments.
It should be noted that, in the description of the present invention, unless explicitly specified and limited otherwise, the terms "connected" and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, integrally connected, mechanically connected, or electrically connected; either directly or indirectly via an intermediary. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front," "rear," "head," "tail," and the like are used as an orientation or positional relationship based on that shown in the drawings, merely to facilitate description of the invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
As shown in fig. 1 to 4, the three-degree-of-freedom fourteen-rod hydraulic excavator of the present invention comprises a frame 1, a boom cylinder 2, a first rocker arm 3, an arm cylinder 4, an arm 5, a bucket 6, a bucket cylinder 7, a second rocker arm 8, a boom 9, a first rocker arm connecting rod 10, a second rocker arm connecting rod 11, and hinges R1 to R15; the specific structure and connection relation of the component elements are as follows:
one end of the movable arm hydraulic cylinder 2 is hinged with the frame 1 through a hinge R5, and the other end of the movable arm hydraulic cylinder is hinged with the first rocker arm 3 through a hinge R6; one end of the first rocker arm 3 is hinged with the movable arm 9 through a hinge R4, the other end of the first rocker arm 3 is hinged with the first rocker arm connecting rod 10 through a hinge R3, the first rocker arm connecting rod 10 is hinged with the frame 1 through a hinge R2, one end of the bucket rod hydraulic cylinder 4 is hinged with the first rocker arm 3 through a hinge R7, the other end of the bucket rod hydraulic cylinder 4 is hinged with the bucket rod 5 through a hinge R8, the bucket 6 is hinged with the bucket rod 5 through a hinge R15, one end of the bucket rod hydraulic cylinder 7 is hinged with the bucket 6 through a hinge R14, and the other end of the bucket rod hydraulic cylinder 7 is hinged with the second rocker arm 8 through a hinge R13; one end of the second rocker arm 8 is hinged with the movable arm 9 through a hinge R9, the other end of the second rocker arm 8 is hinged with the second rocker arm connecting rod 11 through a hinge R12, the second rocker arm connecting rod 11 is hinged with the bucket rod 5 through a hinge R11, one end of the movable arm 9 is hinged with the bucket rod 5 through a hinge R10, and the other end of the movable arm 9 is hinged with the frame 1 through a hinge R1.
Working principle and process:
excavating working conditions:
under the working condition, the movable arm hydraulic cylinder 2 contracts to drive the first rocker arm 3 to rotate around the hinge R4, one end of the first rocker arm connecting rod 10 is hinged with the first rocker arm 3, the other end of the first rocker arm connecting rod is hinged with the frame 1, the movable arm 9 is further enabled to rotate anticlockwise, the excavating device is enabled to be close to an excavating plane as much as possible, the bucket rod hydraulic cylinder 4 is contracted to be shortest, the bucket rod 5 is enabled to rotate anticlockwise, and the bucket 6 is adjusted to be in an initial excavating position through the bucket hydraulic cylinder 7; when the tooth tip of the bucket 6 is contacted with the digging surface, firstly, the bucket rod hydraulic cylinder 4 is extended for a certain length, the bucket rod 5 rotates clockwise around the hinge R10, the second rocker arm connecting rod 11 moves downwards parallel to the directions of the hinges R9 and R10, so that the second rocker arm 8 rotates around the hinge R9 to push the bucket hydraulic cylinder 7, meanwhile, the bucket hydraulic cylinder 7 is driven to adjust the position of the bucket 6, and the process is repeated for 3-4 times until the bucket rod hydraulic cylinder 4 extends to the maximum position; the bucket hydraulic cylinder 7 is driven to enable the bucket 6 to rotate clockwise to load, the bucket rod hydraulic cylinder 4 is compressed to recover the bucket rod 5, the movable arm hydraulic cylinder 2 is driven to lift the movable arm, and the excavating task is completed.
Unloading working conditions:
under the working condition, the bucket hydraulic cylinder 7 is contracted, so that the bucket 6 rotates anticlockwise to be ready for unloading, the bucket rod hydraulic cylinder 4 is contracted, the bucket rod 5 is recovered, the movable arm hydraulic cylinder 2 is driven, the movable arm 9 is lifted, and the unloading task is completed.
Claims (4)
1. The utility model provides a fourteen pole hydraulic shovel of three degrees of freedom, component element includes frame, swing arm, dipper, scraper bowl, first rocking arm, second rocking arm, first rocking arm connecting rod, second rocking arm connecting rod, swing arm pneumatic cylinder, dipper pneumatic cylinder and scraper bowl pneumatic cylinder, its characterized in that, component element's structure and relation of connection are:
the movable arm is hinged with the frame, the first rocker arm, the second rocker arm and the bucket rod respectively, two ends of the first rocker arm connecting rod are hinged with the frame and the first rocker arm respectively, two ends of the second rocker arm connecting rod are hinged with the bucket rod and the second rocker arm respectively, two ends of the movable arm hydraulic cylinder are hinged with the frame and the first rocker arm respectively, two ends of the bucket hydraulic cylinder are hinged with the bucket and the second rocker arm respectively, one end of the second rocker arm connecting rod is hinged with the tail end of the bucket rod, the other end of the second rocker arm connecting rod is hinged with the second rocker arm, downward pressure generated at the tail end of the bucket rod is transmitted to the second rocker arm through the second rocker arm connecting rod, one end of the bucket hydraulic cylinder is hinged with the second rocker arm, and the other end of the bucket hydraulic cylinder is hinged with the bucket, and the pressure is transmitted to the second rocker arm through the second rocker arm to the bucket hydraulic cylinder to push the bucket;
the bucket rod is four pairs of rods;
the bucket rod is provided with three hinge holes, one end hinge hole is hinged with the bucket, the middle hinge hole is hinged with the movable arm, and the other end hinge hole is hinged with the second rocker arm connecting rod.
2. The three degree of freedom fourteen bar hydraulic excavator of claim 1 wherein the stick and second rocker link comprise a parallel mechanism.
3. The three degree of freedom fourteen bar hydraulic excavator of claim 1 wherein the arm middle has a pair of articulated ears, the arm middle articulated ears being articulated with the arm hydraulic cylinder.
4. The three degree of freedom fourteen bar hydraulic excavator of claim 1 wherein the two sets of first rocker arms, second rocker arms, first rocker arm links, second rocker arm links, boom cylinders, arm cylinders and bucket cylinders hinged to the frame, boom, arm and bucket are symmetrically mounted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910955366.7A CN110629816B (en) | 2019-10-09 | 2019-10-09 | Three-degree-of-freedom fourteen-rod hydraulic excavator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910955366.7A CN110629816B (en) | 2019-10-09 | 2019-10-09 | Three-degree-of-freedom fourteen-rod hydraulic excavator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110629816A CN110629816A (en) | 2019-12-31 |
| CN110629816B true CN110629816B (en) | 2024-03-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910955366.7A Active CN110629816B (en) | 2019-10-09 | 2019-10-09 | Three-degree-of-freedom fourteen-rod hydraulic excavator |
Country Status (1)
| Country | Link |
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| CN (1) | CN110629816B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115324134B (en) * | 2022-08-19 | 2024-08-30 | 广西大学 | Three-electric cylinder and one-motor hybrid driving excavating mechanism |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR19980044674A (en) * | 1996-12-07 | 1998-09-05 | 도시히꼬 다께우찌 | Excavator Bucket |
| JPH11117342A (en) * | 1997-10-13 | 1999-04-27 | Susumu Kawaguchi | Shovel system excavator and front attachment |
| CN102720229A (en) * | 2012-06-01 | 2012-10-10 | 燕山大学 | Motion redundancy face shovel excavating mechanism capable of optimizing lifting force |
| CN103046586A (en) * | 2012-12-05 | 2013-04-17 | 燕山大学 | Digging loading device for optimizing digging force |
| CN103382728A (en) * | 2013-07-01 | 2013-11-06 | 燕山大学 | Face shovel excavating and loading device capable of optimizing lifting power of moveable arm and drive of bucket rod |
| CN211037090U (en) * | 2019-10-09 | 2020-07-17 | 广西大学 | Three-degree-of-freedom fourteen-rod hydraulic excavator |
-
2019
- 2019-10-09 CN CN201910955366.7A patent/CN110629816B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR19980044674A (en) * | 1996-12-07 | 1998-09-05 | 도시히꼬 다께우찌 | Excavator Bucket |
| JPH11117342A (en) * | 1997-10-13 | 1999-04-27 | Susumu Kawaguchi | Shovel system excavator and front attachment |
| CN102720229A (en) * | 2012-06-01 | 2012-10-10 | 燕山大学 | Motion redundancy face shovel excavating mechanism capable of optimizing lifting force |
| CN103046586A (en) * | 2012-12-05 | 2013-04-17 | 燕山大学 | Digging loading device for optimizing digging force |
| CN103382728A (en) * | 2013-07-01 | 2013-11-06 | 燕山大学 | Face shovel excavating and loading device capable of optimizing lifting power of moveable arm and drive of bucket rod |
| CN211037090U (en) * | 2019-10-09 | 2020-07-17 | 广西大学 | Three-degree-of-freedom fourteen-rod hydraulic excavator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110629816A (en) | 2019-12-31 |
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