CN114212017A

CN114212017A - Electrically driven skidder

Info

Publication number: CN114212017A
Application number: CN202111548795.6A
Authority: CN
Inventors: 王昌耀; 莫有瑜; 程金国; 施军
Original assignee: Guangxi Yuchai Heavy Industry Co Ltd
Current assignee: Guangxi Yuchai Heavy Industry Co Ltd
Priority date: 2021-12-17
Filing date: 2021-12-17
Publication date: 2022-03-22

Abstract

The invention discloses an electrically-driven skidder carrier, belongs to the field of skidder equipment, and solves the problems of high cost and inconvenient transportation in mountainous regions caused by the fact that two pieces of equipment are required to be put into operation in the conventional skidder process. It includes the automobile body, the top integration of automobile body is provided with and is used for placing ligneous carriage and is used for snatching ligneous arm, the bottom of automobile body is equipped with four independent settings's triangle athey wheel all around, every all correspond on the bed frame of triangle athey wheel and be connected with one and drive triangle athey wheel pivoted driving motor, the automobile body on be equipped with control electronic box and battery respectively, the arm be connected with the multiple unit valve, the multiple unit valve has oil pump motor through oil pump connection, driving motor, battery, oil pump motor all with control electronic box electric connection. The electrically-driven material collecting transport vehicle integrates the functions of material collecting and transporting, effectively reduces the operation cost and improves the walking stability.

Description

Electrically driven skidder

Technical Field

The present invention relates to skidder equipment, and more particularly, it relates to an electrically driven skidder carrier.

Background

At present, timber is collected by a timber grab on a special trailer and is transported to a specified road by the special trailer. Therefore, to complete such work, two kinds of equipment and drivers thereof are required to be put into work at the same time, and the operation cost and the labor cost are high; and the transport vehicle is difficult to walk in rainy days and muddy mountainous areas of roads, so that the safety is not enough. Therefore, the development and design of a novel electrically-driven skidder carrier are urgently needed.

Disclosure of Invention

The invention aims to solve the technical problem of the prior art, and aims to provide an electrically-driven timber collecting transport vehicle which integrates the functions of collecting timber and transporting, effectively reduces the operation cost and improves the walking stability.

The technical scheme of the invention is as follows: electrically drive collection material transport vechicle, which comprises a carriage body, the top integration of automobile body is provided with and is used for placing ligneous carriage and is used for snatching ligneous arm, the bottom of automobile body is equipped with four triangle athey wheels that independently set up all around, every all correspond on the bed frame of triangle athey wheel and be connected with a drive triangle athey wheel pivoted driving motor, the automobile body on be equipped with control electronic box and battery respectively, the arm be connected with the multiple unit valve, the multiple unit valve has the oil pump motor through oil pump connection, driving motor, battery, oil pump motor all with control electronic box electric connection.

As a further improvement, automobile body top rotate and install the gyration dish, automobile body bottom install rotating electrical machines, rotating electrical machines's output is connected with the gear, gear and gyration dish inner wall set up some annular teeth of a cogwheel meshing and be connected, the carriage pass through self-discharging subassembly and install the top at the gyration dish, rotating electrical machines and control electronic box electric connection.

Further, the self-discharging subassembly include supporting seat and upset hydro-cylinder, the supporting seat fix at the gyration dish top, the rear end bottom and the supporting seat of carriage are articulated to be connected, the both ends of upset hydro-cylinder are articulated with the middle part of supporting seat, the front end bottom in carriage respectively and are connected, just upset hydro-cylinder and multiple unit valve oil circuit be connected.

Further, the automobile body on be equipped with the base, the arm include the motor that circles round, first spherical hydraulic arm, the spherical hydraulic arm of second and grab the material mechanism, the one end of first spherical hydraulic arm rotate and install on the base, the other end at first spherical hydraulic arm is installed to the one end of the spherical hydraulic arm of second, grab the material mechanism and install the other end at the spherical hydraulic arm of second, the motor that circles round install on the base, just the output of the motor that circles round is connected with first spherical hydraulic arm, the motor that circles round and control electronic box electric connection, first spherical hydraulic arm, the spherical hydraulic arm of second all be connected with the multiple unit valve oil circuit.

Furthermore, a small arm telescopic oil cylinder is arranged between the material grabbing mechanism and the second spherical hydraulic arm and is connected with the oil way of the multi-way valve.

Furthermore, the material grabbing mechanism comprises a connecting seat, two material grabbing claws and a material grabbing oil cylinder, the connecting seat is rotatably connected with the output end of the small arm telescopic oil cylinder, the two material grabbing claws are symmetrically hinged to the bottom of the connecting seat, each material grabbing claw is correspondingly connected with one material grabbing oil cylinder between the connecting seat, two ends of each material grabbing oil cylinder are respectively hinged to the middle of the outer side of each material grabbing claw and one side of the connecting seat, and the material grabbing oil cylinders are connected with the oil circuit of the multi-way valve.

Furthermore, four supporting legs are arranged between the triangular crawler wheels and the vehicle body, one ends of the supporting legs are hinged to the vehicle body, the other ends of the supporting legs are connected with the base frame of the triangular crawler wheels in a rotating mode, four independent suspension oil cylinders are arranged between the supporting legs and the vehicle body, two ends of each independent suspension oil cylinder are respectively hinged to the vehicle body and the corresponding supporting leg, and the four independent suspension oil cylinders are connected with the multi-way valve through a balance control system.

Furthermore, the balance control system comprises an electronic gyroscope, a control module and distribution valves, the four independent suspension oil cylinders are all connected with a distribution valve oil circuit, the distribution valves are connected with a multi-way valve oil circuit, the electronic gyroscope is installed on the vehicle body, the electronic gyroscope and the distribution valves are all electrically connected with the control module, and the control module is electrically connected with the control electronic box.

Further, the carriage include the railway carriage or compartment body, railway carriage or compartment body bottom articulated the being connected with supporting seat, upset hydro-cylinder respectively, the equal detachable of both sides and the front end of the railway carriage or compartment body is installed and is increased the frame.

Further, the front end, the rear end and the two sides of the vehicle body are provided with cameras, and the cameras are electrically connected with the control electric box.

Advantageous effects

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

1. according to the electrically-driven timber collecting transport vehicle, the mechanical arms for grabbing timber are integrated on the vehicle body, the timber collecting and transporting functions are integrated, the operation cost is effectively reduced, the four independently arranged triangular crawler wheels are arranged at the bottom of the vehicle body, the four triangular crawler wheels are controlled to independently travel by controlling the electronic box, the traveling stability is improved, and the problem that the timber collecting and transporting operation in mountainous regions is difficult to perform is solved.

2. According to the electrically-driven lumber collection transport vehicle, the mechanical arm and the carriage are rotatably mounted on the vehicle body, and in the lumber collection process, the mechanical arm is used for grabbing the lumber, and then the lumber is rapidly placed on the carriage by matching with the rotation of the carriage, so that the lumber can be conveniently grabbed and transported, and the working efficiency is effectively improved.

3. According to the electrically-driven skidder transport vehicle, the triangular crawler wheels are connected with the vehicle body through the supporting legs, the independent suspension oil cylinders and the balance system, the electronic gyroscope of the balance control system is used for sensing the angle of the vehicle body, and the control module is used for controlling the distribution valve to supply hydraulic oil to the independent suspension oil cylinders, so that the angle of the triangular crawler wheels is changed, the balance of the vehicle body can be automatically adjusted according to the terrain, the trafficability of the transport vehicle is better, and the electrically-driven skidder transport vehicle is particularly suitable for operation and running in a forestry environment.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is an enlarged view of the structure of the vehicle body of the present invention;

FIG. 3 is an enlarged view of the structure at A in FIG. 2;

FIG. 4 is an enlarged view of the structure of the robot arm of the present invention;

FIG. 5 is an enlarged schematic view of the connection structure of the triangular crawler wheels and the vehicle body according to the present invention;

FIG. 6 is a schematic view of the electro-hydraulic connection of the present invention.

Wherein: the device comprises a vehicle body 1, a carriage 2, a mechanical arm 3, a triangular crawler wheel 4, a driving motor 5, a rotary disc 6, a rotary motor 7, a gear 8, a support seat 9, a turnover oil cylinder 10, a base 11, a support leg 12, an independent suspension oil cylinder 13, a camera 14, a mounting plate 15, a support block 16, a carriage 21, a heightening frame 22, a rotary motor 31, a first spherical hydraulic arm 32, a second spherical hydraulic arm 33, a small arm telescopic oil cylinder 34, a connecting seat 35, a material grabbing claw 36 and a material grabbing oil cylinder 37.

Detailed Description

The invention will be further described with reference to specific embodiments shown in the drawings.

Referring to fig. 1-6, the electrically-driven skidder carrier comprises a vehicle body 1, a carriage 2 for placing wood and a mechanical arm 3 for grabbing wood are integrally arranged at the top of the vehicle body 1, the mechanical arm 3 is positioned between the carriage 2 and a cab of the vehicle body 1, four independent triangular crawler wheels 4 are arranged around the bottom of the vehicle body 1, a driving motor 5 for driving the triangular crawler wheels 4 to rotate is correspondingly connected to a base frame of each triangular crawler wheel 4, a control electronic box and a storage battery are respectively arranged on the vehicle body 1, wherein the mechanical arm 3 is connected with a multi-way valve, the multi-way valve is connected with an oil pump motor through an oil pump, hydraulic oil is supplied to the multi-way valve through the oil pump and then supplied to the mechanical arm 3 through the multi-way valve, the driving mechanical arm 3 is driven to rotate, the driving motor 5, the storage battery and the oil pump are electrically connected with a control electronic box, and control is realized circuit communication, preferably, the oil pump motor passes through controller and control electronic box electric connection, makes things convenient for the independent control oil pump motor, and every driving motor 5 all makes things convenient for every driving motor 5 of independent control through a controller and control electronic box electric connection.

According to the electrically-driven timber collecting transport vehicle, the mechanical arm 3 for grabbing timber is integrated on the vehicle body 1, the timber collecting and transporting functions are integrated, the operation cost is effectively reduced, the four independent triangular crawler wheels 4 are arranged at the bottom of the vehicle body 1, the four triangular crawler wheels 4 are controlled to independently travel by the control electronic box, the traveling stability is improved, and the problem that the timber collecting and transporting operation in the mountainous region is difficult to perform is solved.

Preferably, install gyration dish 6 at 1 top of automobile body rotation, wherein, gyration dish 6 passes through thrust bearing and installs at 1 top of automobile body, install rotating electrical machines 7 in 1 bottom of automobile body, the output of this rotating electrical machines 7 is connected with gear 8, this gear 8 is connected with the meshing of the ring-shaped teeth of a cogwheel that the inner wall of gyration dish 6 was seted up, carriage 2 passes through the self-discharging subassembly and installs the top at gyration dish 6, rotating electrical machines 7 and control electronic box electric connection, rotating electrical machines 7 passes through controller and control electronic box electric connection, realize independent control rotating electrical machines 7. Specifically, the self-discharging subassembly includes supporting seat 9 and upset hydro-cylinder 10, and wherein, supporting seat 9 is fixed at 6 tops of gyration dish, and the rear end bottom of carriage 2 is connected with supporting seat 9 is articulated, and the both ends of upset hydro-cylinder 10 are connected with the middle part of supporting seat 9, the front end bottom of carriage 2 is articulated respectively, and upset hydro-cylinder 10 and multiple unit valve oil circuit are connected.

In the embodiment, in the process of collecting the timber, the transport vehicle drives the gear 8 to rotate by using the rotary motor 7, so as to drive the rotary disc 6 to rotate, so as to drive the supporting seat 9 to rotate, so that the carriage 2 rotates, and the mechanical arm 3 is matched to place the timber; when the timber needs to be unloaded, the overturning oil cylinder 10 is used for driving the front end of the carriage 2 to be lifted, and then the unloading of the timber can be realized.

Preferably, a base 11 is arranged on the vehicle body 1, the mechanical arm 3 includes a rotary motor 31, a first spherical hydraulic arm 32, a second spherical hydraulic arm 33 and a material grabbing mechanism, wherein the first spherical hydraulic arm 32 and the second spherical hydraulic arm 33 are both existing spherical power mechanical arms, the mechanical arms can be driven to rotate by hydraulic oil to form a joint rotating structure, one end of the first spherical hydraulic arm 32 is rotatably mounted on the base 11, one end of the second spherical hydraulic arm 33 is mounted at the other end of the first spherical hydraulic arm 32, the material grabbing mechanism is mounted at the other end of the second spherical hydraulic arm 33, the rotary motor 31 is mounted on the base 11, an output end of the rotary motor 31 is connected with the first spherical hydraulic arm 32, the rotary motor 31 is electrically connected with a control electronic box, specifically, the rotary motor 31 is electrically connected with the control electronic box through a controller to realize independent control of the rotary motor 31, the first spherical hydraulic arm 32 and the second spherical hydraulic arm 33 are both connected with the oil circuit of the multi-way valve, and provide hydraulic oil for the two spherical hydraulic arms so as to drive the two spherical hydraulic arms to rotate. The material grabbing mechanism comprises a connecting seat 35, two material grabbing claws 36 and a material grabbing oil cylinder 37, wherein the connecting seat 35 is rotatably connected with the output end of the small arm telescopic oil cylinder 34, the two material grabbing claws 36 are symmetrically hinged to the bottom of the connecting seat 35, one material grabbing oil cylinder 37 is correspondingly connected between each material grabbing claw 36 and the connecting seat 35, two ends of each material grabbing oil cylinder 37 are respectively hinged to the middle of the outer side of each material grabbing claw 36 and one side of the connecting seat 35, and the material grabbing oil cylinders 37 are connected with the oil circuit of the multi-way valve.

In this embodiment, when the transport cart grabs the wood, the rotary motor 31, the first spherical hydraulic arm 32 and the second spherical hydraulic arm 33 are controlled to work to drive the material grabbing mechanism to move to the place where the wood is located, then the material grabbing cylinder 37 is controlled to drive the two material grabbing claws 36 to open to cover the wood, then the material grabbing cylinder 37 is reset to grab the wood, finally the rotary motor 31, the first spherical hydraulic arm 32 and the second spherical hydraulic arm 33 are controlled to work, the rotary motor 7 is controlled to rotate the carriage 2, the carriage 2 is matched with the mechanical arm 3, and the wood is placed on the carriage 2 quickly. This electricity drive collection material transport vechicle snatchs timber through arm 3, then cooperates the rotation in carriage 2, can be quick place timber on carriage 2, snatch and transport timber very convenient, effectively improve work efficiency.

Preferably, a small arm telescopic oil cylinder 34 is further arranged between the material grabbing mechanism and the second spherical hydraulic arm 33, and the small arm telescopic oil cylinder 34 is connected with the multi-way valve oil way. The length of grabbing material mechanism is adjusted to the flexible hydro-cylinder 34 of accessible forearm to snatch timber more far away, application scope is wider.

Preferably, still be equipped with supporting shoe 16 in the front end bottom both sides of carriage 2, supporting shoe 16 comprises iron plate and rubber pad, and the rubber pad is located the iron plate bottom, and the iron plate is connected with carriage 2, and when carriage 2 descends, the rubber pad meets the department with supporting seat 9 earlier, realizes the buffering to carriage 2, and whole supporting shoe 16 can play the effect of supporting carriage 2 for carriage 2 is more steady.

Preferably, a mounting plate 15 is erected on the vehicle body 1, and the base 11 is mounted on the top of the mounting plate 15, so that the mechanical arm 3 is convenient to mount. Furthermore, a plurality of air holes are formed in the mounting plate 15, so that the weight of the vehicle body 1 can be reduced, and heat dissipation of components such as a battery below the mounting plate 15 can be facilitated.

Preferably, the supporting legs 12 are arranged between the four triangular crawler wheels 4 and the vehicle body 1, one ends of the supporting legs 12 are hinged to the vehicle body 1, the other ends of the supporting legs 12 are rotatably connected with the base frame of the triangular crawler wheels 4, the independent suspension oil cylinders 13 are arranged between the four supporting legs 12 and the vehicle body 1, two ends of each independent suspension oil cylinder 13 are hinged to the vehicle body 1 and the corresponding supporting leg 12 respectively, and the four independent suspension oil cylinders 13 are connected with the multi-way valve through a balance control system. Specifically, the balance control system comprises an electronic gyroscope, a control module and a distribution valve, wherein the four independent suspension oil cylinders 13 are all connected with an oil circuit of the distribution valve, the distribution valve is connected with an oil circuit of the multi-way valve, the electronic gyroscope is installed on the vehicle body 1, the electronic gyroscope and the distribution valve are all electrically connected with the control module, and the control module is electrically connected with a control electric box.

The electrically-driven skidder truck of the embodiment comprises a triangular crawler wheel 4, a supporting leg 12, an independent suspension oil cylinder 13, a balance system and a truck body 1, wherein the electronic gyroscope of the balance control system is used for sensing the angle of the truck body, and then hydraulic oil is provided for the independent suspension oil cylinder 13 through a control module control distribution valve, so that the angle of the triangular crawler wheel 4 is changed, the balance of the truck body 1 can be automatically adjusted according to the terrain, the trafficability characteristic of the truck is better, and the electrically-driven skidder truck is particularly suitable for operation and running in a forestry environment.

Preferably, the carriage 2 includes the carriage body 21, wherein, the carriage body 21 bottom is connected with supporting seat 9, upset hydro-cylinder 10 are articulated respectively, and the both sides and the front end of the carriage body 21 are all detachably installed and are increased the frame 22, and increase the frame 22 and be connected with the carriage body 21 through the bolt, play the effect of increasing the carriage 2, realize loading more timber. In other embodiments, the heightening frame 22 can also be inserted into a steel cylinder arranged on the side surface of the carriage body 21 in a sliding manner, so that the assembly and disassembly are more convenient.

Preferably, all be equipped with camera 14 at the front end of automobile body 1, rear end and both sides, this camera 14 and control electronic box electric connection can realize the peripheral object of automatic monitoring automobile body 1 to improve the reliability of transport vechicle walking.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that those skilled in the art can make various changes and modifications without departing from the structure of the invention, which will not affect the effect of the invention and the practicability of the patent.

Claims

1. Electrically drive collection material transport vechicle, including automobile body (1), its characterized in that, the top integration of automobile body (1) is provided with and is used for placing ligneous carriage (2) and is used for snatching ligneous arm (3), the bottom of automobile body (1) is equipped with four triangle athey wheels (4) that independently set up all around, every all correspond on the bed frame of triangle athey wheel (4) and be connected with one and drive triangle athey wheel (4) pivoted driving motor (5), automobile body (1) on be equipped with control electronic box and battery respectively, arm (3) be connected with the multiple unit valve, the multiple unit valve has the oil pump motor through oil pump connection, driving motor (5), battery, oil pump motor all with control electronic box electric connection.

2. The electrically-driven skidder carrier vehicle according to claim 1, wherein the top of the vehicle body (1) is rotatably provided with a rotary disc (6), the bottom of the vehicle body (1) is provided with a rotary motor (7), the output end of the rotary motor (7) is connected with a gear (8), the gear (8) is meshed with the annular gear teeth arranged on the inner wall of the rotary disc (6) and is connected with the annular gear teeth, the carriage (2) is arranged on the top of the rotary disc (6) through a self-unloading assembly, and the rotary motor (7) is electrically connected with a control electric box.

3. The electrically driven skidder carrier as claimed in claim 2, wherein said dump unit comprises a support base (9) and a dump cylinder (10), said support base (9) is fixed on the top of said rotary plate (6), said carriage (2) is hinged to said support base (9) at the bottom of the rear end, said dump cylinder (10) is hinged to the middle of said support base (9) at the bottom of the front end of said carriage (2) at the two ends, and said dump cylinder (10) is connected to said multi-way valve oil circuit.

4. The electrically-driven skidded transport vehicle as claimed in claim 1, wherein said vehicle body (1) is provided with a base (11), said robot arm (3) comprises a rotary motor (31), a first spherical hydraulic arm (32), a second spherical hydraulic arm (33) and a material-grasping mechanism, one end of said first spherical hydraulic arm (32) is rotatably mounted on said base (11), one end of said second spherical hydraulic arm (33) is mounted on the other end of said first spherical hydraulic arm (32), said material-grasping mechanism is mounted on the other end of said second spherical hydraulic arm (33), said rotary motor (31) is mounted on said base (11), and the output end of said rotary motor (31) is connected with said first spherical hydraulic arm (32), said rotary motor (31) is electrically connected with a control box, said first spherical hydraulic arm (32) and said material-grasping mechanism are mounted on said base (11), and said rotary motor (31) is electrically connected with said control box, And the second spherical hydraulic arms (33) are connected with the oil circuit of the multi-way valve.

5. The electric driven skidder carrier as claimed in claim 4, wherein a small arm telescopic oil cylinder (34) is arranged between the material grabbing mechanism and the second spherical hydraulic arm (33), and the small arm telescopic oil cylinder (34) is connected with the oil circuit of the multi-way valve.

6. The electrically-driven material collecting transport vehicle as claimed in claim 5, wherein the material grabbing mechanism comprises a connecting seat (35), two material grabbing claws (36) and a material grabbing oil cylinder (37), the connecting seat (35) is rotatably connected with the output end of the small arm telescopic oil cylinder (34), the two material grabbing claws (36) are symmetrically hinged to the bottom of the connecting seat (35), each material grabbing claw (36) is correspondingly connected with one material grabbing oil cylinder (37) between the connecting seat (35) and the connecting seat (36), two ends of the material grabbing oil cylinder (37) are respectively hinged to the middle of the outer side of each material grabbing claw (36) and one side of the connecting seat (35), and the material grabbing oil cylinder (37) is connected with the oil circuit of the multi-way valve.

7. The electric driven skidder carrier vehicle as claimed in claim 1, wherein, four supporting legs (12) are arranged between the triangular crawler wheels (4) and the vehicle body (1), one end of each supporting leg (12) is hinged with the vehicle body (1), the other end of each supporting leg is rotatably connected with the base frame of the triangular crawler wheel (4), four independent suspension cylinders (13) are arranged between the supporting legs (12) and the vehicle body (1), two ends of each independent suspension cylinder (13) are respectively hinged with the vehicle body (1) and the supporting legs (12), and the four independent suspension cylinders (13) are connected with the multi-way valve through a balance control system.

8. The electrically driven skidded transport vehicle as claimed in claim 7, wherein said balance control system comprises an electronic gyroscope, a control module and a distribution valve, wherein four of said independent suspension cylinders (13) are connected to a distribution valve oil circuit, said distribution valve is connected to a multi-way valve oil circuit, said electronic gyroscope is mounted on the vehicle body (1), said electronic gyroscope and said distribution valve are electrically connected to said control module, and said control module is electrically connected to said control electronic box.

9. The electric driven skidder carrier vehicle as claimed in claim 3, wherein said carriage (2) comprises a carriage body (21), the bottom of said carriage body (21) is hinged with the supporting seat (9) and the turning cylinder (10), and the heightening frames (22) are detachably mounted on the two sides and the front end of said carriage body (21).

10. The electrically driven skidded transport vehicle according to any one of claims 1-9, wherein said vehicle body (1) is provided with a camera (14) at the front end, at the rear end and at both sides, said camera (14) being electrically connected to a control electronics box.