CN113309159A - Grader soil scraping working device based on rotary translation mechanism - Google Patents
Grader soil scraping working device based on rotary translation mechanism Download PDFInfo
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- CN113309159A CN113309159A CN202010125621.8A CN202010125621A CN113309159A CN 113309159 A CN113309159 A CN 113309159A CN 202010125621 A CN202010125621 A CN 202010125621A CN 113309159 A CN113309159 A CN 113309159A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 125
- 238000007790 scraping Methods 0.000 title claims abstract description 56
- 239000002689 soil Substances 0.000 title claims abstract description 39
- 230000008878 coupling Effects 0.000 abstract description 10
- 238000010168 coupling process Methods 0.000 abstract description 10
- 238000005859 coupling reaction Methods 0.000 abstract description 10
- 230000009471 action Effects 0.000 description 20
- 238000007493 shaping process Methods 0.000 description 18
- 238000010276 construction Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 7
- 230000008859 change Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
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- 238000000034 method Methods 0.000 description 1
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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
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
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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
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
-
- 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
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/815—Blades; Levelling or scarifying tools
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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
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
- Soil Working Implements (AREA)
Abstract
A grader soil scraping working device based on a rotary translation mechanism comprises a rack, a first rotary table, a translation mechanism, a second rotary table and a scraper mechanism, wherein the first rotary table is mounted on the rack through a revolute pair and can rotate relative to the rack; the second rotary table is arranged on the movable platform through a revolute pair and can rotate relative to the movable platform; the scraper knife mechanism can realize the lateral movement and rotation of the scraper knife; the soil scraping working device of the land scraper can realize six-degree-of-freedom movement of the scraper blade in operation, and compared with the existing land scraper, the soil scraper is good in flexibility, low in movement coupling degree, free of spherical hinge and better in rigidity and stability.
Description
Technical Field
The invention relates to a land scraper in the field of soil shoveling and transporting machinery, in particular to a land scraper soil scraping working device based on a rotary translation mechanism.
Background
The land leveler is a shoveling and transporting machine used for leveling or reshaping large-area land, filling or cutting and scraping side slopes, and breaking ice and removing snow in winter, and is a special machine used for shaping earthwork in the infrastructure of road engineering, agricultural engineering, hydraulic engineering, national defense engineering and the like. The soil scraping working device is the most important working device of the land leveler and mainly comprises a front frame, a swing frame, a traction frame and a scraper knife device; in order to meet land leveling or shaping, the soil scraping working device needs to accurately realize six-degree-of-freedom spatial motion of a scraper, namely, lifting of the scraper, inclination of the scraper, rotation of the scraper, lateral movement of the scraper (the scraper stretches relative to the left side and the right side of a machine frame), translational movement of the scraper (along the mechanical running direction), change of a cutting angle of the scraper, lateral movement of the scraper along with a rotating ring (namely, leading out of a traction frame), wherein the translational movement of the scraper is realized through mechanical linear running, and the change of the cutting angle of the scraper is realized manually or by a hydraulic cylinder.
Although the existing land levelers have been in history for decades from birth to the present, the basic structure of the existing land levelers is not changed greatly, so that the existing land levelers also have some inherent problems, for example, the existing land levelers realize the inclination of a blade through a swinging frame, and are difficult to realize the accurate inclination angle control; the traction frame is divided into an A-shaped structure and a T-shaped structure, but in any structure, in order to realize the leading-out of the traction frame, the traction frame and the front frame are connected through a hinged ball head, the ball joint has high cost and poor reliability, and in order to realize the rotation of the scraper knife, a large turntable is arranged on the traction frame, so that the weight is large and the cost is high; the existing soil scraping working device adopts a parallel space mechanism, the mechanism coupling degree is high, a scraper knife control system is complex, and high-precision motion control is difficult to realize; the prior soil scraping working device adopts a parallel space mechanism to ensure the flexibility of the scraper, but has small movement space, particularly small leading-out distance of a traction frame, small lifting height of the scraper after leading-out, limited operation space of the scraper, incapability of realizing translation in the lifting process of the scraper and the like. The problem is unsolved in the development of land levelers for decades, and further improvement of the land leveller or shaping construction technology is restricted to a certain extent.
Disclosure of Invention
The invention aims to provide a grader soil scraping working device based on a rotary translation mechanism, which overcomes the problems of high mechanism coupling degree, difficult high-precision motion control, poor flexibility of a scraper knife, small motion space and the like of the existing grader soil scraping working device and meets the requirements of high precision, high flexibility and large working space of land leveling or shaping operation.
A grader soil scraping working device based on a rotary translation mechanism comprises a frame, a first rotary table, a translation mechanism, a second rotary table and a scraper knife mechanism, one end of the frame is connected with the front frame, the other end of the frame is connected with the rear frame, the first rotary table is arranged on the frame through a first revolute pair and driven by a first driving element, the first driving element is a hydraulic motor or an electric motor, under the driving action of the rotary table, the first rotary table can rotate relative to the frame, the leading-out of the scraper knife mechanism can be realized by matching with a translation mechanism, when the prior land leveler depends on the swing frame to realize that the scraper knife moves along with the side movement of the rotary ring (namely leading-out of the traction frame), the scraper knife moves in a complex space, the first rotary table is matched with the translation mechanism, so that the scraper knife mechanism can be led out at a large distance, the operation and the control are simple, and the translation and the accurate leading-out control of the scraper knife mechanism can be realized by matching with the second rotary table. In addition, compared with the mode that the existing grader traction frame is connected with the rack through a spherical hinge, the grader soil scraping working device based on the rotary translation mechanism is connected with the rack through the first rotary table, so that the structural rigidity and the anti-load capacity are greatly improved, and the stability of the scraper knife mechanism during leveling or shaping is improved.
The translation mechanism is a planar mechanism and comprises a longitudinal beam, a first connecting rod, a second connecting rod and a movable platform, the longitudinal beam, the first connecting rod, the second connecting rod and the movable platform form a planar double-connecting-rod four-bar mechanism, the longitudinal beam is fixedly arranged on a first rotary table, one end of the first connecting rod is connected with the longitudinal beam through a second revolute pair, the other end of the first connecting rod is connected with the movable platform through a third revolute pair, one end of the second connecting rod is connected with the longitudinal beam through a fourth revolute pair, and the other end of the second connecting rod is connected with the movable platform through a fifth revolute pair; the hole center distance between the second rotating pair and the third rotating pair is the same as the hole center distance between the fourth rotating pair and the fifth rotating pair, and the hole center distance between the fourth rotating pair and the second rotating pair is the same as the hole center distance between the fifth rotating pair and the third rotating pair, so that the longitudinal beam, the first connecting rod, the second connecting rod and the movable platform form a parallelogram structure; a hole center connecting line between the second rotating pair and the fourth rotating pair is parallel to the rotary axis of the first rotating pair, so that when the translation mechanism moves, the hole center connecting line between the fifth rotating pair and the third rotating pair is always parallel to the rotary axis of the first rotating pair, namely, the movable platform always translates relative to the first rotary table; the second connecting rod is driven by a first linear driver, one end of the first linear driver is connected with the first rotary table through a sixth revolute pair, the other end of the first linear driver is connected with the second connecting rod through a seventh revolute pair, and the first linear driver is a hydraulic cylinder or a servo electric cylinder.
In practical engineering application, when the novel land leveler is placed on a horizontal ground, the rotary axis of the first rotary table is perpendicular to the ground, when the first linear driver stretches out and draws back, the second connecting rod is driven to swing up and down around the fourth revolute pair, the movable platform can realize up-and-down translation relative to the ground and the first rotary table under the cooperation of the first connecting rod, and under the cooperation of the first rotary table, the translation mechanism and the second rotary table, the land leveler soil scraping working device based on the rotary translation mechanism can realize translation of a scraper knife mechanism in actions of lifting, inclined movement, lateral movement and the like; compared with the prior grader scraping working device which relies on complex coupled space motion to realize the movement of the scraper blade, the grader scraping working device adopting the translation mechanism has better dynamic performances such as motion accuracy, controllability and stability, and can better meet the technical requirements of high-quality leveling or shaping construction of the scraper blade mechanism.
The second rotary table is connected with the movable platform through an eighth rotary pair, the second rotary table is driven by a second driving element, the second rotary table rotates relative to the movable platform under the driving of the second rotary table, the leveling or leveling operation requirements of the scraper knife mechanism are met, the rotary axis of the eighth rotary pair is parallel to that of the first rotary pair, and the second driving element is a hydraulic motor or a motor.
The scraper knife mechanism comprises a supporting plate, a first sliding plate, a second sliding plate and a scraper knife, the supporting plate is connected with a second rotary table through a ninth rotary pair, the rotary axis of the ninth rotary pair is perpendicular to the rotary axis of an eighth rotary pair, the supporting plate is driven by a third driving element, the third driving element is a hydraulic motor or a motor, under the driving action of the third driving element, the supporting plate can rotate relative to the second rotary table, the inclination of the scraper knife mechanism is further realized, the slope leveling and shaping operation requirements are met, compared with the existing grader which depends on complex coupling motion or manual adjustment of the inclination angle of the scraper knife, the scraper knife slope operation is realized, the inclination angle of the scraper knife based on the rotary translation mechanism is easy to control, and under the cooperation of the first rotary table, the translation mechanism and the second rotary table, the scraper knife mechanism can realize translation in the slope operation, the scraper knife can better meet the requirements of leveling and shaping the side slope;
the first sliding plate is connected with the supporting plate through a first sliding pair and driven by a second linear driver, one end of the second linear driver is fixed on the supporting plate, the other end of the second linear driver is fixed on the first sliding plate, and the first sliding plate can slide relative to the supporting plate under the driving action of the second linear driver, so that the scraper knife can extend to one side relative to the supporting plate; the second linear driver is a hydraulic cylinder or a servo electric cylinder.
The second sliding plate is connected with the first sliding plate through a second sliding pair, the second sliding plate is driven by a third linear driver, one end of the third linear driver is fixed on the first sliding plate, the other end of the third linear driver is fixed on the second sliding plate, and under the driving action of the third linear driver, the second sliding plate can slide relative to the first sliding plate, so that the scraper knife can extend to the other side relative to the first sliding plate; the third linear driver is a hydraulic cylinder or a servo electric cylinder; the second sliding plate is connected with the scraper knife through a tenth revolute pair, the scraper knife is driven by a fourth linear driver, one end of the fourth linear driver is connected with the second sliding plate through an eleventh revolute pair, the other end of the fourth linear driver is connected with the scraper knife through a twelfth revolute pair, and the scraper knife can rotate relative to the second sliding plate under the driving action of the fourth linear driver, so that the cutting angle of the scraper knife can be changed; the fourth linear driver is a hydraulic cylinder or a servo electric cylinder.
Compare current leveler and scrape native equipment and adopt single linear actuator to accomplish the spiller left and right side and move, this kind of leveler based on gyration translation mechanism scrapes native equipment and adopts double slide, double linear actuator to accomplish the spiller side and move, and the spiller moves all to each side and accomplishes under independent linear actuator drive, the spiller is under first slide, second slide drive to and under second linear actuator, the drive of third linear actuator, the spiller can realize that long distance side moves (the spiller stretches for the frame left and right side).
Under the coordination action of the frame, the first rotary table, the translation mechanism, the second rotary table and the scraper blade mechanism, the scraper blade not only can realize translation of actions such as scraper blade lifting motion, tilting motion, rotary motion, leading-out motion and the like, but also can realize six-degree-of-freedom controllable adjustment such as large-distance side movement (the scraper blade stretches relative to the left side and the right side of the frame), scraper blade translation (along the mechanical driving direction) and scraper blade cutting angle change.
Compared with the prior art, the grader soil scraping working device based on the rotary translation mechanism has the beneficial effects that:
1) when the existing land scraper relies on the swing frame to realize that the scraper moves along with the side of the rotary ring (namely the traction frame is led out), the movement of the scraper is complex space movement, and the first rotary table of the land scraper soil scraping working device based on the rotary translation mechanism is matched with the translation mechanism, so that the large-distance leading-out of the scraper mechanism can be realized, the operation and the control are simple, and the translation and the accurate leading-out control of the scraper mechanism can be realized by being matched with the second rotary table.
2) Compared with the mode that the existing grader traction frame is connected with the rack through a spherical hinge, the grader soil scraping working device based on the rotary translation mechanism is connected with the rack through the first rotary table, so that the structural rigidity and the anti-load capacity are greatly improved, and the stability of the scraper knife mechanism during leveling or shaping is improved.
3) The grader soil scraping working device based on the rotary translation mechanism can realize translation of the scraper blade mechanism in actions of lifting, inclined moving, lateral moving and the like, effectively reduces the control difficulty of the scraper blade and better meets construction requirements compared with the complex coupled motion control of the scraper blade of the existing grader; compared with the prior grader scraping working device which relies on complex coupled space motion to realize the movement of the scraper blade, the grader scraping working device adopting the translation mechanism has better dynamic performances such as motion accuracy, controllability and stability, and can better meet the technical requirements of high-quality leveling or shaping construction of the scraper blade mechanism.
4) Compared with the prior land scraper which relies on complex coupling motion or manually adjusts the inclination angle of the scraper to realize the slope operation of the scraper, the soil scraping working device of the land scraper based on the rotary translation mechanism not only has easy control of the inclination angle of the scraper, but also can realize translation of the scraper mechanism in the slope operation under the cooperation of the first rotary table, the translation mechanism and the second rotary table, so that the scraper can better meet the requirements of slope leveling and shaping.
5) The scraper knife of the grader soil scraping working device based on the rotary translation mechanism can realize translation of actions such as scraper knife lifting motion, tilting motion, rotary motion and leading-out motion, and the scraper knife can be controlled and adjusted in six degrees of freedom such as large-distance lateral movement (the scraper knife stretches leftwards and rightwards relative to a rack), scraper blade translational movement (along a mechanical driving direction), scraper knife cutting angle change and the like.
Drawings
Fig. 1 is a front view of a grader scraping working device based on a rotary translation mechanism.
Fig. 2 is a perspective view of a grader soil scraping working device based on a rotary translation mechanism.
Fig. 3 is a schematic diagram of a grader soil scraping working device based on a rotary translation mechanism.
Fig. 4 is a schematic view of a blade mechanism of a grader soil scraping working device based on a rotary translation mechanism.
Fig. 5 is a schematic drawing of the blade mechanism of the grader scraping working device based on the rotary translation mechanism.
Fig. 6 is a schematic rotation diagram of a blade mechanism of a grader soil scraping working device based on a rotary translation mechanism.
Fig. 7 is a schematic view of the translational elevation of a blade mechanism of a grader scraping device based on a rotary translational mechanism.
Fig. 8 is a top view of a grader scraping device based on a rotary translation mechanism according to the present invention.
Fig. 9 is a schematic diagram of a second rotary table and a scraper mechanism of a grader soil scraping working device based on a rotary translation mechanism.
Fig. 10 is a partial schematic view of a blade mechanism of a grader scraping implement based on a rotary translation mechanism according to the present invention.
Fig. 11 is a schematic view of a blade of a grader scraping working device based on a rotary translation mechanism.
Fig. 12 is a schematic inclination view of a blade of a grader scraping work apparatus based on a rotary translation mechanism according to the present invention.
Fig. 13 is one of schematic side-shifting diagrams of a blade of a grader scraping working device based on a rotary translation mechanism according to the present invention.
Fig. 14 is a schematic diagram of the second side shift of the cutting blade of the grader scraper working device based on the rotary translation mechanism.
Fig. 15 is a third schematic diagram of the blade side shifting of the grader scraper working device based on the rotary translation mechanism.
Fig. 16 is a fourth schematic diagram of the blade side shift of the grader scraper working device based on the rotary translation mechanism.
Fig. 17 is a schematic view of a supporting plate of a grader scraping working device based on a rotary translation mechanism.
Fig. 18 is a schematic view of a supporting plate and a first sliding plate of a grader scraping working device based on a rotary translation mechanism.
Fig. 19 is a schematic view of a first slide plate of a grader scraping work device based on a rotary translation mechanism.
Fig. 20 is a schematic view of a second slide plate of a grader scraping work apparatus based on a rotary translation mechanism according to the present invention.
Detailed Description
The technical solution of the present invention is further illustrated by the accompanying drawings and examples.
Referring to fig. 1, 2, 3 and 4, the grader soil scraping device based on the rotary translation mechanism comprises a frame 1, a first rotary table 3, a translation mechanism, a second rotary table 16 and a scraper mechanism, wherein one end of the frame 1 is connected with a front frame 22, the other end of the frame 1 is connected with a rear frame 21, the first rotary table 3 is mounted on the frame 1 through a first revolute pair 2 and driven by a first driving element 40, the first driving element 40 is a hydraulic motor or an electric motor, under the driving action of the first driving element, the first rotary table 3 can rotate relative to the frame 1, and the scraper mechanism can be led out by matching with the translation mechanism.
Referring to fig. 2, 5 and 6, when the conventional land scraper relies on the swing frame to realize that the scraper moves along with the side of the rotary ring (i.e. the traction frame is led out), the scraper moves in a complex space, the first rotary table 3 is matched with the translation mechanism, so that the scraper mechanism can be led out in a large distance, the operation and control are simple, and the second rotary table 16 is matched to realize the translation and accurate leading-out control of the scraper mechanism. In addition, compared with the mode that the existing grader traction frame is connected with the rack through a spherical hinge, the grader soil scraping working device based on the rotary translation mechanism is connected with the rack through the first rotary table, so that the structural rigidity and the anti-load capacity are greatly improved, and the stability of the scraper knife mechanism during leveling or shaping is improved.
Referring to fig. 1, 2 and 3, the translation mechanism is a planar mechanism and includes a longitudinal beam 4, a first connecting rod 7, a second connecting rod 8 and a movable platform 14, the longitudinal beam 4, the first connecting rod 7, the second connecting rod 8 and the movable platform 14 form a planar double-connecting-rod four-bar mechanism, the longitudinal beam 4 is fixedly mounted on the first rotating table 3, one end of the first connecting rod 7 is connected with the longitudinal beam 4 through a second revolute pair 6, the other end of the first connecting rod is connected with the movable platform 14 through a third revolute pair 13, one end of the second connecting rod is connected with the longitudinal beam 4 through a fourth revolute pair 5, and the other end of the second connecting rod is connected with the movable platform 14 through a fifth revolute pair 12; the pitch between the second revolute pair 6 and the third revolute pair 13 is the same as the pitch between the fourth revolute pair 5 and the fifth revolute pair 12, and the pitch between the fourth revolute pair 5 and the second revolute pair 6 is equal to the pitch between the fifth revolute pair 12 and the third revolute pair 13, so that the longitudinal beam 4, the first connecting rod 7, the second connecting rod 8 and the movable platform 14 form a parallelogram structure; the hole center connecting line between the second rotating pair 6 and the fourth rotating pair 5 is parallel to the rotary axis of the first rotating pair 2, so that when the translation mechanism moves, the hole center connecting line between the fifth rotating pair 12 and the third rotating pair 13 is always parallel to the rotary axis of the first rotating pair 2, namely, the movable platform 14 always translates relative to the first rotary table 3; the second connecting rod 8 is driven by a first linear driver 9, one end of the first linear driver 9 is connected with the first rotary table 3 through a sixth revolute pair 10, the other end of the first linear driver is connected with the second connecting rod 8 through a seventh revolute pair 11, and the first linear driver 9 is a hydraulic cylinder or a servo electric cylinder.
Referring to fig. 1, 3, 7 and 8, in practical engineering application, when the novel land leveler is placed on a horizontal ground, the rotation axis of the first rotary table 3 is perpendicular to the ground, when the first linear driver 9 is stretched, the second connecting rod 8 is driven to swing up and down around the fourth revolute pair 5, the movable platform 14 is matched with the first connecting rod 7 to translate up and down relative to the ground and the first rotary table 3, and under the matching of the first rotary table 3, the translation mechanism and the second rotary table 16, the land leveler soil scraping working device based on the rotary translation mechanism can realize the translation of the scraper blade mechanism in actions of lifting, tilting movement, lateral movement and the like, so that compared with the complex coupling motion control of the scraper blade of the existing land leveler, the control difficulty of the scraper blade is effectively reduced, and the construction requirements are better met; compared with the prior grader scraping working device which relies on complex coupled space motion to realize the movement of the scraper blade, the grader scraping working device adopting the translation mechanism has better dynamic performances such as motion accuracy, controllability and stability, and can better meet the technical requirements of high-quality leveling or shaping construction of the scraper blade mechanism.
Referring to fig. 1, 5, 6 and 9, the second rotary table 16 is connected to the movable platform 14 through an eighth revolute pair 15, the second rotary table 16 is driven by a second driving element 17, and the second rotary table 16 rotates relative to the movable platform 14 under the driving of the second driving element, so that the leveling or leveling operation requirement of the scraper knife mechanism is met. The rotation axis of the eighth revolute pair 15 is parallel to the rotation axis of the first revolute pair 2, and the second driving element 17 is a hydraulic motor or an electric motor.
Referring to fig. 1, 4, 9, 10 and 11, the scraper knife mechanism includes a support plate 24, a first sliding plate 25, a second sliding plate 26 and a scraper knife 19, the support plate 24 is connected to the second rotary table 16 through a ninth revolute pair 23, a revolution axis of the ninth revolute pair 23 is perpendicular to a revolution axis of the eighth revolute pair 15, the support plate 24 is driven by a third driving element 18, the third driving element 18 is a hydraulic motor or an electric motor, and under the driving action, the support plate 24 can rotate relative to the second rotary table 16 according to fig. 12, so that the scraper knife mechanism can be inclined, and the requirements of slope leveling and shaping operations are met. Compared with the prior land scraper which relies on complex coupling motion or manually adjusts the inclination angle of the scraper to realize the slope operation of the scraper, the soil scraping working device of the land scraper based on the rotary translation mechanism not only has the easily controlled inclination angle of the scraper 19, but also can realize translation of the scraper mechanism in the slope operation under the cooperation of the first rotary table 3, the translation mechanism and the second rotary table 16, so that the scraper 19 can better meet the requirements of slope leveling and shaping.
Referring to fig. 4, 9, 10, 13 and 14, the first sliding plate 25 is connected to the supporting plate 24 through a first moving pair 30, the first sliding plate 25 is driven by a second linear driver 32, one end of the second linear driver 32 is fixed to the supporting plate 24, the other end of the second linear driver 32 is fixed to the first sliding plate 25, and under the driving action of the second linear driver 32, the first sliding plate 25 can slide relative to the supporting plate 24, so that the blade 19 can extend to one side relative to the supporting plate 24; the second linear actuator 32 is a hydraulic cylinder or a servo electric cylinder.
Referring to fig. 4, 9, 10, 15 and 16, the second sliding plate 26 is connected to the first sliding plate 25 through a second sliding pair 31, the second sliding plate 26 is driven by a third linear driver 41, one end of the third linear driver 41 is fixed to the first sliding plate 25, the other end of the third linear driver 41 is fixed to the second sliding plate 26, and under the driving action of the third linear driver 41, the second sliding plate 26 can slide relative to the first sliding plate 25, so that the blade 19 can extend to the other side relative to the first sliding plate 25; the third linear driver 41 is a hydraulic cylinder or a servo electric cylinder; the second slide plate 26 is connected to the blade 19 via a tenth revolute pair 27.
The blade mechanism will now be further described and illustrated by way of a specific embodiment:
referring to fig. 4, 9 and 10, the blade mechanism includes a supporting plate 24, a first sliding plate 25, a second sliding plate 26 and a blade 19, one side of the supporting plate 24 is connected to the second rotary table 16 through a ninth rotating pair 23, the other side of the supporting plate 24 is provided with a first guide rail 33, the rotation axis of the ninth rotating pair 23 is perpendicular to the rotation axis of the eighth rotating pair 15, the supporting plate 24 is driven by a third driving element 18, and under the driving action of the supporting plate 24, referring to fig. 5, 6 and 12, the supporting plate 24 can rotate relative to the second rotary table 16, so as to realize the inclination of the blade mechanism, and meet the requirements of the slope leveling and shaping operation, compared with the existing grader which depends on complicated coupling motion or manual adjustment of the blade inclination angle to realize the blade slope operation, the grader soil scraping working device based on the rotary translation mechanism is not only easy to control the inclination angle of the blade 19, but also can realize the blade slope operation on the first rotary table 3, Under the cooperation of the translation mechanism and the second rotary table 16, the scraper knife mechanism can realize translation in the slope operation, so that the scraper knife 19 can better meet the requirements of slope leveling and shaping.
Referring to fig. 4, 9, 17, 18 and 19, one side of the first sliding plate 25 is connected to a first guide rail 33 of the supporting plate 24 through a first moving pair 30, the other side of the first sliding plate 25 is provided with a second guide rail 38, the first sliding plate 25 is driven by a second linear actuator 32, the second linear actuator 32 is a hydraulic cylinder or a servo electric cylinder, a cylinder end 34 of the second linear actuator 32 is fixed on the supporting plate 24, a push rod end 35 of the second linear actuator 32 is fixed on the first sliding plate 25, and under the driving action of the second linear actuator 32, referring to fig. 13 and 14, the first sliding plate 25 can slide relative to the supporting plate 24, so that the blade 19 can extend to one side relative to the supporting plate 24.
Referring to fig. 4, 9, 18 and 20, one side of the second sliding plate 26 is connected to the first sliding plate 25 through a second sliding pair 31, the other side of the second sliding plate is connected to the blade 19 through a tenth rotating pair 27, the second sliding plate 26 is driven by a third linear actuator 41, the third linear actuator 41 is a hydraulic cylinder or a servo electric cylinder, a cylinder end 37 of the third linear actuator 41 is fixed to the first sliding plate 25, a push rod end 36 of the third linear actuator 41 is fixed to the second sliding plate 26, and under the driving action of the third linear actuator 41, referring to fig. 15 and 16, the second sliding plate 26 can slide relative to the first sliding plate 25, so that the blade 19 can extend to the other side relative to the first sliding plate 25.
Compared with the prior soil scraping working device of the land leveler, the soil scraping working device of the land leveler based on the rotary translation mechanism adopts a single linear driver to complete left and right side movement of the scraper blade, the soil scraping working device of the land leveler based on the rotary translation mechanism adopts double sliding plates and double linear drivers to complete side movement of the scraper blade, the side movement of the scraper blade to each side is all completed under the driving of the independent linear drivers, the scraper blade 19 is driven by the first sliding plate 25 and the second sliding plate 26, and under the driving of the second linear driver 32 and the third linear driver 41, the scraper blade 19 can realize long-distance side movement (the scraper blade 19 stretches to the left and right sides of the frame 1).
Referring to fig. 9, 10 and 11, the blade 19 is driven by a fourth linear driver 28, one end of the fourth linear driver 28 is connected to the second sliding plate 26 through an eleventh revolute pair 42, and the other end of the fourth linear driver 28 is connected to the blade 19 through a twelfth revolute pair 29, and the blade 19 can rotate relative to the second sliding plate 26 under the driving action of the fourth linear driver 28, referring to fig. 12, so as to change the cutting angle of the blade 19; the fourth linear actuator 28 is a hydraulic cylinder or a servo electric cylinder.
Referring to fig. 1, 2, 5, 6, 7, 12, 14, 16, under the cooperation of the frame 1, the first revolving platform 3, the translation mechanism, the second revolving platform 16, and the scraper mechanism, the scraper 19 can realize the six-degree-of-freedom controllable adjustment of the scraper such as lifting movement, tilting movement, revolving movement, drawing movement, etc., the scraper moves laterally at a large distance (the scraper extends laterally to the left and right of the frame), the scraper moves linearly (along the machine traveling direction), the cutting angle of the scraper changes, etc., compared with the complicated space coupling motion of the existing grader soil scraping working device, the device has the characteristics of good flexibility, low motion coupling degree, low control difficulty, large action space, good support rigidity and stability and the like, and can better meet the leveling and shaping operation with higher construction technical requirements.
In addition to the technical features described in the specification, the technology is known to those skilled in the art.
Claims (3)
1. The utility model provides a leveler soil scraping work device based on gyration translation mechanism which characterized in that: comprises a frame, a first rotary table, a translation mechanism, a second rotary table and a scraper knife mechanism, wherein the first rotary table is arranged on the frame through a first revolute pair and driven by a first driving element,
the translation mechanism is a planar mechanism and comprises a longitudinal beam, a first connecting rod, a second connecting rod and a movable platform, the longitudinal beam, the first connecting rod, the second connecting rod and the movable platform form a planar double-connecting-rod four-bar mechanism, the longitudinal beam is fixedly arranged on a first rotary table, one end of the first connecting rod is connected with the longitudinal beam through a second revolute pair, the other end of the first connecting rod is connected with the movable platform through a third revolute pair, one end of the second connecting rod is connected with the longitudinal beam through a fourth revolute pair, and the other end of the second connecting rod is connected with the movable platform through a fifth revolute pair; the center distance between the second revolute pair and the third revolute pair is the same as the center distance between the fourth revolute pair and the fifth revolute pair, and the center distance between the fourth revolute pair and the second revolute pair is equal to the center distance between the fifth revolute pair and the third revolute pair; a hole center connecting line between the second rotating pair and the fourth rotating pair is parallel to the rotary axis of the first rotating pair; the second connecting rod is driven by a first linear driver, one end of the first linear driver is connected with the first rotary table through a sixth revolute pair, and the other end of the first linear driver is connected with the second connecting rod through a seventh revolute pair;
the second rotary table is connected with the movable platform through an eighth rotary pair, the second rotary table is driven by a second driving element, and the rotary axis of the eighth rotary pair is parallel to that of the first rotary pair.
2. The grader soil scraping device based on the rotary translation mechanism according to claim 1, wherein:
the scraper knife mechanism comprises a supporting plate, a first sliding plate, a second sliding plate and a scraper knife, the supporting plate is connected with a second rotary table through a ninth rotating pair, the rotary axis of the ninth rotating pair is vertical to the rotary axis of the eighth rotating pair, the supporting plate is driven by a third driving element,
the first sliding plate is connected with the supporting plate through a first sliding pair, the first sliding plate is driven by a second linear driver, one end of the second linear driver is fixed on the supporting plate, and the other end of the second linear driver is fixed on the first sliding plate;
the second sliding plate is connected with the first sliding plate through a second sliding pair, the second sliding plate is driven by a third linear driver, one end of the third linear driver is fixed on the first sliding plate, and the other end of the third linear driver is fixed on the second sliding plate;
the second sliding plate is connected with the scraper knife through a tenth revolute pair, the scraper knife is driven by a fourth linear driver, one end of the fourth linear driver is connected with the second sliding plate through an eleventh revolute pair, and the other end of the fourth linear driver is connected with the scraper knife through a twelfth revolute pair.
3. The grader soil scraping device based on the rotary translation mechanism according to claim 1, wherein: one end of the frame is connected with the front frame, the other end of the frame is connected with the rear frame, the first driving element, the second driving element and the third driving element are all hydraulic motors or motors, and the first linear driver, the second linear driver, the third linear driver and the fourth linear driver are hydraulic cylinders or servo electric cylinders.
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| CN202010125621.8A CN113309159A (en) | 2020-02-27 | 2020-02-27 | Grader soil scraping working device based on rotary translation mechanism |
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