CN112031051A - Metamorphic parallel six-connecting-rod bucket mechanism applied to face shovel excavator - Google Patents

Abstract

The invention discloses a metamorphic parallel six-connecting-rod bucket mechanism applied to a face shovel excavator, which comprises: the hydraulic shovel comprises a rack, movable arms, bucket rods, a bucket, two bucket rod hydraulic cylinders, two movable arm hydraulic cylinders, two bucket hydraulic cylinders, two transfer arms and two connecting rods. According to the hydraulic bucket, the bucket hydraulic cylinder is arranged between the rack and the transmission arm hinged to the movable arm, so that the hydraulic pipeline is far away from stone, the pipeline arrangement is convenient, the collision and abrasion caused by the contact of the pipeline and the stone and the pollution of the stone to a hydraulic system are prevented, the service life of the hydraulic pipeline is prolonged, and the failure rate of the hydraulic system is reduced. Meanwhile, the metamorphic parallel six-connecting-rod bucket mechanism can realize the boom-bucket cooperative stripping operation, the non-scattering lifting operation and the horizontal pushing and cleaning operation only by controlling the boom hydraulic cylinder or the bucket rod hydraulic cylinder, and has the advantages of simple structure, no position singularity and large working range.

Description

A metamorphic parallel six-link bucket mechanism applied to a front shovel excavator

technical field

The invention relates to the technical field of excavators, in particular to a metamorphic parallel six-link bucket mechanism applied to a front shovel excavator.

Background technique

Hydraulic excavators for oversized front shovels are the main tools for open-pit mining in coal mines. Before mining in open-pit mines, oversized hydraulic excavators for front shovels need to be used for stripping operations to strip off the soil or rocks covered on the ore body, before mining. In the process of excavating and loading broken coal and rock, the working environment is harsh, and the excavation equipment is required to have sufficiently high mining efficiency and energy utilization rate.

The functions of excavators are mainly completed by excavating mechanisms. The research and development of super-large mining hydraulic excavators in my country started late, especially the research on super-large front shovel excavation devices. Chinese patent CN103437386 relates to a front shovel excavating device that can automatically realize the requirements of bucket lifting, energy saving and translation. It is characterized in that one end of the bucket hydraulic cylinder is hinged with the boom rocker, and the other end is hinged with the bucket. The end of the material stone is easy to be damaged by impact or wear, which affects the excavation efficiency. Foreign super-large mining hydraulic excavator manufacturers mainly include Caterpillar of the United States (CATERPILLR), Liebherr of Germany (LIEBHERR), Komatsu Corporation of Japan (KOMATSU) and Hitachi Co., Ltd. (HITACHI). Among them, the most representative one is the mining hydraulic excavator with a "strong triangular" structure produced by Caterpillar. However, because of the twelve-bar linkage mechanism, the mechanism is complex, prone to singularity in position, and has a small working range. At the same time, the posture of the boom and stick of the mechanism is related to the parameters of the bucket hydraulic cylinder, the coupling relationship is complex, and the control is difficult. Although the technology of oversized hydraulic excavators for front shovel mining from foreign manufacturers is relatively mature, their product structure types are relatively simple so far.

Therefore, how to provide a convenient oil pipeline layout, can prevent the collision caused by the pipeline and the stone contact, and is easy to realize the attitude control of the boom and the stick, is not easy to appear strange in position, has a large working range, and has a simple and compact structure. The metamorphic parallel six-link bucket mechanism applied to the front shovel is an urgent problem to be solved by those skilled in the art.

SUMMARY OF THE INVENTION

In view of this, the present invention provides a convenient oil pipeline arrangement, which can prevent the collision caused by the contact between the pipeline and the stone, and is easy to realize the attitude control of the boom and the stick. A metamorphic parallel six-link bucket mechanism applied to a front shovel with a simple and compact structure.

In order to achieve the above object, the present invention adopts the following technical solutions:

A metamorphic parallel six-link bucket mechanism applied to a front shovel, comprising:

frame,

a boom, the lower end of the boom is hinged with one side of the top of the frame;

a stick, one end of the stick is hinged with the upper end of the boom, and the other end of the stick is hinged with a bucket;

Two stick hydraulic cylinders, the cylinder liner ends of the two stick hydraulic cylinders are respectively hinged with the top of the other side of the frame, and the piston rod ends of the two stick hydraulic cylinders are respectively connected with the bucket The middle of the rod is hinged on both sides;

Two boom hydraulic cylinders, the cylinder liner ends of the two boom hydraulic cylinders are respectively hinged with both sides of the boom middle, and the piston rod ends of the two boom hydraulic cylinders are respectively connected with the frame The other side is hinged at the bottom;

two transmission arms, the two transmission arms are symmetrically hinged on both sides of the top of the boom, and are located above the cylinder liner ends of the two boom hydraulic cylinders;

Two bucket hydraulic cylinders, the cylinder liner ends of the two bucket hydraulic cylinders are respectively hinged with one end of the two transmission arms, and the piston rod ends of the two bucket hydraulic cylinders are respectively connected to the other side of the frame top hinged;

Two bucket links, one end of the two bucket links are respectively hinged with the other ends of the two transmission arms, and the other ends of the two bucket links are respectively hinged with the bucket.

As can be seen from the above technical solutions, compared with the prior art, the present disclosure provides a metamorphic parallel six-link bucket mechanism applied to a front shovel excavator. On the arm, the hydraulic pipeline is kept away from the stone, which is convenient for pipeline layout, and prevents the collision and wear caused by the contact between the pipeline and the stone, and the pollution of the hydraulic system by the stone, which prolongs the service life of the hydraulic pipeline and reduces the hydraulic pressure. System failure rate. At the same time, the metamorphic parallel six-link bucket mechanism only needs to control a single hydraulic cylinder to realize the attitude control of the boom and the stick, with simple structure, no singular position and large working range.

Description of drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only It is an embodiment of the present invention. For those of ordinary skill in the art, other drawings can also be obtained according to the provided drawings without creative work.

1 is a schematic structural diagram of a metamorphic parallel six-link bucket mechanism applied to a front shovel provided by the present invention.

Among them: 1- frame, 2- boom, 3- stick, 4- bucket, 5- stick hydraulic cylinder, 6- boom hydraulic cylinder, 7- transfer arm, 8- bucket hydraulic cylinder, 9- Bucket linkage.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

The embodiment of the present invention discloses a metamorphic parallel six-link bucket mechanism applied to a front shovel, comprising:

rack 1,

Boom 2, the lower end of boom 2 is hinged with the top side of frame 1;

A stick 3, one end of the stick 3 is hinged with the upper end of the boom 2, and the other end of the stick 3 is hinged with a bucket 4;

Two stick hydraulic cylinders 5, the cylinder liner ends of the two stick hydraulic cylinders 5 are respectively hinged with the top of the other side of the frame 1, and the piston rod ends of the two stick hydraulic cylinders 5 are respectively connected to the middle of the stick 3. side hinge;

Two boom hydraulic cylinders 6, the cylinder liner ends of the two boom hydraulic cylinders 6 are respectively hinged with both sides of the middle of the boom 2, and the piston rod ends of the two boom hydraulic cylinders 6 are respectively connected with the other side of the frame 1 bottom hinged;

Two transmission arms 7, the two transmission arms 7 are symmetrically hinged on both sides of the top of the boom 2, and are located above the cylinder liner ends of the two boom hydraulic cylinders 6;

Two bucket hydraulic cylinders 8, the cylinder liner ends of the two bucket hydraulic cylinders 8 are respectively hinged with one end of the two transmission arms 7, and the piston rod ends of the two bucket hydraulic cylinders 8 are respectively connected with the other end of the frame 1. Side top hinged;

Two bucket links 9, one end of the two bucket links 9 is hinged with the other end of the two transmission arms 7 respectively, and the other end of the two bucket links 9 is hinged with the bucket 4 respectively.

In the metamorphic parallel six-link bucket mechanism of the present invention, when the boom 2 is operated, the posture of the boom 2 is only controlled by the boom hydraulic cylinder 6, so under the driving action of the boom hydraulic cylinder 6, the bucket can be guaranteed 4. It is lifted approximately horizontally to prevent the material from falling, and there is no need to control the bucket hydraulic cylinder 8, which makes the control structure simpler. When the attitude of the boom 2 remains unchanged, the attitude of the stick 3 is only controlled by the stick hydraulic cylinder 5, so the bucket 4 can be guaranteed to dig horizontally under the driving action of the stick hydraulic cylinder 5. When the bucket 4 moves, the transmission arm 7 is driven by the bucket hydraulic cylinder 8 and drives the bucket 4 to rotate around the stick 3 through the bucket connecting rod 9 . The meaning of metamorphism is that when the boom, stick and bucket are driven by three different hydraulic cylinders, the frame boundary of the mechanism and the drive rod are different.

The metamorphic parallel six-link bucket mechanism of the present invention decomposes the traditional twelve-link mechanism into a series of a four-link main working motion and a six-link adaptive working motion, so that the metamorphic parallel six-link shovel The bucket mechanism is simpler, and at the same time, the movement of the two connecting rods is locked by the boom hydraulic cylinder or the stick hydraulic cylinder to achieve the decoupling effect. Specifically: the main operation movement is divided into the main operation of the boom and the main operation of the stick. Among them, during the main operation of the boom, the arm hydraulic cylinder 5 is locked, and the main working four-link is the frame 1, the combination of the boom 2 and the arm 3, the boom hydraulic cylinder 6 piston rod, and the boom hydraulic cylinder 6 cylinder barrel. , the adaptive six-link is the frame 1, the combination of the boom 2 and the stick 3, the bucket hydraulic cylinder 8, the transmission arm 7, the bucket link 9, and the bucket 4; when the stick is working, the boom hydraulic pressure Cylinder 6 is locked, the main working four-link is the combination of frame 1 and boom 2, the stick hydraulic cylinder 5 piston rod, the stick hydraulic cylinder 5 cylinder, the stick 3, and the adaptive six-link is the frame 1 and the stick. Boom 2 combination, bucket hydraulic cylinder 8, transmission arm 7, bucket connecting rod 9, stick 3, bucket 4; when the bucket is working, the boom hydraulic cylinder 6 and the stick hydraulic cylinder 5 are locked, and the operation 6 The connecting rod is a combination of a frame 1, a boom 2 and an arm 3, a bucket hydraulic cylinder 8 piston rod, a bucket hydraulic cylinder 8 cylinder, a transmission arm 7, a bucket connecting rod 9, and a bucket 4.

Compared with the prior art, the present invention has the following advantages:

1. The two ends of the bucket hydraulic cylinder are hinged with the frame and the transfer arm respectively, which is convenient for the pipeline to be fixed on the frame and the boom, avoids the pipeline hanging in the air, prevents accidental collision and wear with the ore during excavation, and can reduce the on-site stone material Pollution of the hydraulic system, prolong the life of the hydraulic system pipeline, and reduce the failure rate of the hydraulic system.

2. When the boom or stick is working, the metamorphic parallel six-link bucket mechanism is driven by the boom or stick, and the coupling of the hydraulic cylinder is small. Compared with the "strong triangle", the twelve-link mechanism is decomposed It is a series of a four-link main working motion and a six-link adaptive working motion, and only needs to control a single hydraulic cylinder to realize the attitude control of the boom and the stick. When the boom and the stick hydraulic cylinder are locked, the bucket hydraulic cylinder can be operated to drive the metamorphic parallel six-bar linkage mechanism to realize the bucket excavation operation.

3. When the boom is working, its posture is only controlled by the boom hydraulic cylinder. During the horizontal lifting of the bucket, the bucket hydraulic cylinder is locked, and the boom drives the transmission arm to rotate backwards, and the boom is used as the driving element of the bucket. The mechanism can make the bucket self-adaptive follow-up motion, so that it can lift without spreading material, and it is not necessary to control the bucket hydraulic cylinder. When the stick is working, when the boom posture remains unchanged, the stick posture is only controlled by the stick hydraulic cylinder; during the horizontal excavation of the bucket, the length of the bucket hydraulic cylinder remains unchanged, and the boom hydraulic cylinder is in a floating condition. Under the action of gravity, the bucket moves close to the ground. Under the constraint of the bucket hydraulic cylinder, the bucket rotates clockwise around the stick through the bucket mechanism with the stick as the driving element, and the digging angle is adaptively adjusted to achieve a horizontal Dig without manipulating the bucket. Therefore, the structure fully meets the excavation requirements, and the metamorphic multi-link mechanism can complete the horizontal pushing and horizontal lifting functions of the bucket only by controlling a single hydraulic cylinder. When the horizontal pushing and horizontal lifting functions are completed, it is only necessary to lock the bucket hydraulic cylinder. The metamorphic multi-link mechanism can automatically adjust the bucket angle, and the corresponding functions can be completed by controlling a single hydraulic cylinder.

4. The structure is compact, the coupling of the hydraulic cylinder is small, it is easy to coordinate control, and the motion analysis is simple.

The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the various embodiments can be referred to each other. As for the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant part can be referred to the description of the method.

The above description of the disclosed embodiments enables any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (1)

1. a metamorphic parallel six-link bucket mechanism applied to a front shovel, is characterized in that, comprises: rack (1), A boom (2), the lower end of the boom (2) is hinged to one side of the top of the frame (1); an arm (3), one end of the arm (3) is hinged with the upper end of the boom (2), and the other end of the arm (3) is hinged with a bucket (4); Two parallel arm hydraulic cylinders (5), the cylinder liner ends of the parallel arm hydraulic cylinders (5) are respectively hinged to both sides of the lower part of the boom (2), the pistons of the parallel arm hydraulic cylinders (5) The rod ends are respectively hinged with both sides of the middle part of the stick (3); Two parallel linkage arm hydraulic cylinders (6), the cylinder liner ends of the two parallel linkage arm hydraulic cylinders (6) are respectively hinged with both sides of the middle of the boom (2), and the two boom arm hydraulic cylinders The ends of the piston rods of (6) are respectively hinged with the frame (1); Two transmission arms (7), the two transmission arms (7) are symmetrically hinged on both sides of the top of the boom (2), and are located at the cylinder liner ends of the two boom hydraulic cylinders (6) above; Two parallel bucket hydraulic cylinders (8), the cylinder liner ends of the two parallel bucket hydraulic cylinders (8) are respectively hinged with one end of the two transmission arms (7), the two parallel bucket hydraulic cylinders The end of the piston rod of (8) is hinged with the top of the other side of the frame (1); Two bucket connecting rods (9), one end of the two bucket connecting rods (9) is respectively hinged with the other end of the two transmission arms (7), and the other end of the two bucket connecting rods (9) They are respectively hinged with the buckets (4).

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