CN117738262A - Dedicated manipulator of earth excavation - Google Patents
Dedicated manipulator of earth excavation Download PDFInfo
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- CN117738262A CN117738262A CN202311548354.5A CN202311548354A CN117738262A CN 117738262 A CN117738262 A CN 117738262A CN 202311548354 A CN202311548354 A CN 202311548354A CN 117738262 A CN117738262 A CN 117738262A
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- spring
- soil
- ring spring
- roller
- earth
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- 238000009412 basement excavation Methods 0.000 title claims abstract description 35
- 239000002689 soil Substances 0.000 claims abstract description 96
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 7
- 230000002093 peripheral effect Effects 0.000 abstract description 5
- 238000000034 method Methods 0.000 description 11
- 230000003139 buffering effect Effects 0.000 description 6
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 4
- 238000007789 sealing Methods 0.000 description 4
- 238000005299 abrasion Methods 0.000 description 3
- 230000002035 prolonged effect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 229910000851 Alloy steel Inorganic materials 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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- Earth Drilling (AREA)
Abstract
The invention relates to the field of earth excavation, and discloses a special manipulator for earth excavation, which comprises a support frame, wherein a rotating mechanism is arranged on the support frame and used for rotating broken soil, the rotating mechanism comprises a roller, the periphery of the roller is fixedly connected with a plurality of broken soil shovels, and the inside of each broken soil shovel is provided with a soil outlet; the lower end of the roller is provided with a conveying mechanism which is used for conveying soil, and the conveying mechanism comprises a conveying belt roller. According to the invention, two rollers with the soil breaking shovel are adopted to rotate to excavate soil, meanwhile, the soil is prevented from accumulating in the soil breaking shovel to influence the soil breaking effect by arranging the soil outlet in the soil breaking shovel, and the rotating rollers drive the conveying belt to roll so as to convey scattered soil to the peripheral soil conveying device.
Description
Technical Field
The invention belongs to the technical field of earth excavation, and particularly relates to a special manipulator for earth excavation.
Background
The field of earth excavation needs to be excavated by using machinery, the most widely used excavator is the excavator at present, the excavator is excavated by the bucket at the tail end of the mechanical arm of the excavator, the method is practical in the earlier stage of excavation, but when the excavated earthwork forms a deeper pit hole, the side wall of the earthwork needs to be excavated, the defect of the bucket type mechanical arm can be shown, the traditional bucket type mechanical arm is more beneficial to excavating soil at the bottom of the earthwork, but when the side wall of the earthwork is excavated, the bucket type mechanical arm can deflect due to unbalanced stress, the grabbing effect can be weakened, meanwhile, the traditional bucket type mechanical arm rotates the bucket after excavating the soil every time, the soil block is put on one side or in a transport vehicle, a great deal of time is needed to be wasted in the back and forth rotation, and the working efficiency is reduced.
Disclosure of Invention
In order to solve the technical problems of the traditional bucket manipulator, the invention provides a special manipulator for earth excavation, which adopts the following technical scheme: the special manipulator for earth excavation comprises a support frame, wherein a rotating mechanism is arranged on the support frame and used for rotating the broken soil, the rotating mechanism comprises a roller, a plurality of broken soil shovels are fixedly connected to the periphery of the roller, and soil outlet holes are formed in the broken soil shovels; the cylinder lower extreme is provided with conveying mechanism, conveying mechanism is used for carrying earth, and conveying mechanism includes the conveyer belt gyro wheel, the conveyer belt is installed in the peripheral sleeve joint of conveyer belt gyro wheel, conveyer belt external surface fixedly connected with a plurality of antislip strips.
As a preferred implementation mode of the invention, the upper end and the lower end of the roller are fixedly connected with the protruding round table, the lower surface of the protruding round table at the lower end of the roller is fixedly connected with a plurality of cylindrical latches, and the cylindrical latches correspond to gaps between the anti-slip strips fixedly connected with the surface of the conveyor belt and are meshed with the anti-slip strips.
As a preferred implementation mode of the invention, the roller is a double-shaft motor, the double-shaft transmission rod is a shaft rod, the shaft rod penetrates through the upper end and the lower end of the supporting frame and is fixedly sleeved with the upper end and the lower end of the supporting frame, and the upper end and the lower end of the shaft rod are fixedly connected with limiting blocks.
As a preferred implementation mode of the invention, the lower ends of the supporting frames are fixedly connected with the two supporting frames through the connecting plate, the outer sides of the supporting frames are fixedly connected with the hydraulic structures, the other ends of the hydraulic structures are rotatably embedded on the mounting plate, the mounting plate is provided with a plurality of bolt holes, and fixing bolts are arranged in the mounting plate.
As a preferable implementation mode of the invention, the shaft rods at the two ends of the conveyor belt roller are movably connected with the inner side of the lower end of the supporting frame.
According to the invention, when the mechanical arm is used for digging soil, the force applied by the soil breaking shovel on the roller to the soil layer is used for realizing soil digging, the corresponding supporting force is provided for the supporting frame through the hydraulic structure, and if the conventional hydraulic cylinder is used, the impact force is larger in the digging process, the abrasion to the hydraulic cylinder is larger, and the service life of the hydraulic cylinder is influenced, so that the whole service life of the machine is influenced.
Therefore, the invention improves on the basis of the existing hydraulic cylinder, designs a structure for buffering force so as to reduce the impact on the hydraulic structure in the process of excavating, thereby prolonging the service life of the hydraulic structure; the harder the soil, the greater the required force, and the greater the supporting force required by the hydraulic structure to provide for the support frame, so the buffer forces of different magnitudes need to be configured for different soil properties, if the matching is improper, the abrasion of the hydraulic structure or the insufficient excavating force still can be caused, for example, the loose soil properties, the small excavating force is required, if the smaller buffer force is configured, the abrasion of the hydraulic structure still can be caused, and if the larger buffer force is configured for the soil layer with harder soil properties, the insufficient excavating force can be caused, and the soil layer cannot be excavated.
As a preferred embodiment of the present invention, the hydraulic structure includes a hydraulic cylinder and a support rod, the hydraulic cylinder is rotatably embedded in the mounting plate, and the specific structure may adopt a structure commonly used in the prior art, and the rotation of the hydraulic cylinder is achieved by installing a bearing adapted to the hydraulic cylinder in the mounting plate and controlling the rotation of the connected bearing of the hydraulic cylinder electrically or manually. The telescopic rod of pneumatic cylinder one end outside nested have a sleeve, and concrete structure can adopt commonly used among the prior art, through having seted up a draw-in groove in the pneumatic cylinder position of corresponding installation sleeve, telescopic one end is through setting up the spacing card of bolt and going into the draw-in groove, telescopic one end can reciprocate in the draw-in groove. The one end of bracing piece stretches into in the sleeve and through the screw thread spacing, the tip that the bracing piece is located the one end of sleeve is equipped with the conical head, be equipped with a plurality of spring clamps on the conical head from inside to outside, the tip of bracing piece is supported with the telescopic link of pneumatic cylinder and is connected, the telescopic link external fixation cover of pneumatic cylinder is equipped with the spring group, the spring group includes a plurality of spring from inside to outside, a plurality of spring and a plurality of spring clamps one-to-one of conical head from inside to outside in the spring group, every spring clamp corresponds a card spring.
As a preferred embodiment of the present invention, the spring set includes a first ring spring, a second ring spring, a third ring spring, and a fourth ring spring from inside to outside, stiffness coefficients of the first ring spring, the second ring spring, the third ring spring, and the fourth ring spring sequentially increase, the conical head is provided with a first spring clamp, a second spring clamp, a third spring clamp, and a fourth spring clamp from inside to outside, one end of the first ring spring, the second ring spring, the third ring spring, and one end of the fourth ring spring are fixed on the hydraulic cylinder, and caliber sizes of the other ends of the first ring spring, the second ring spring, the third ring spring, and the fourth ring spring are respectively configured to be capable of leaning against the first spring clamp, the second spring clamp, the third spring clamp, and the fourth spring clamp.
As a preferable implementation mode of the invention, the inner wall of the sleeve corresponding to the supporting rod end is provided with external threads, the outer wall of the supporting rod is correspondingly provided with internal threads, and the supporting rod is in threaded connection with the sleeve through the internal threads and the external threads.
The sleeve is driven to rotate by the rotary hydraulic cylinder, so that the support rod stretches in the sleeve, the closer the conical head of the support rod is to the hydraulic cylinder, the larger the compression force on the spring group is, the smaller the buffer effect provided by the spring group is, the smaller the compression force on the spring group is when the conical head of the support rod is far away from the hydraulic cylinder, and the larger the buffer effect provided by the spring group is, concretely, as one end of the spring group is fixedly connected with the hydraulic cylinder, in the process that the conical head is gradually far away from the hydraulic cylinder, the fourth ring spring is firstly separated from the fourth spring clamp, then the third ring spring is separated from the third spring clamp, then the second ring spring is separated from the second spring clamp, the support of the buffer force of the multi-stage spring is realized, when soft soil needs to be excavated, the support rod extends outwards by rotating the hydraulic cylinder, namely the fourth ring spring is separated from the fourth spring clamp, the third ring spring is separated from the third spring clamp, the second ring spring is separated from the second spring clamp, only the first spring clamp is in contact with the first ring spring, the buffer force is large at the moment, the conical head is relatively far away from the hydraulic cylinder, the hydraulic cylinder cannot be worn, meanwhile, the hydraulic structure can provide enough supporting force for the supporting frame to enable the soil breaking shovel on the roller to dig a soil layer, when harder soil needs to be dug, the supporting rod is enabled to be compressed inwards through the rotating hydraulic cylinder, namely the second ring spring is enabled to be in contact with the second spring clamp, meanwhile the first spring clamp is in contact with the first ring spring, the buffer force is reduced, the supporting force provided for the supporting frame by the hydraulic structure can be increased adaptively, the soil breaking shovel on the roller can dig the soil layer, and when harder soil needs to be dug, the soil breaking shovel can be adjusted according to the method.
Compared with the prior art, the invention has the following beneficial effects: according to the invention, two rollers with the soil breaking shovel are adopted to rotate to excavate soil, meanwhile, the soil is prevented from accumulating in the soil breaking shovel to influence the soil breaking effect by arranging the soil outlet in the soil breaking shovel, and the rotating rollers drive the conveying belt to roll so as to convey scattered soil to the peripheral soil conveying device. The hydraulic structure corresponds to different soil properties, and impact on the hydraulic structure in the excavating process can be reduced by adjusting different buffer forces of the adaptive configuration, so that the service life of the hydraulic structure is prolonged, and meanwhile, the soil layer can be excavated.
The following describes the embodiments of the present invention in further detail with reference to the accompanying drawings.
Drawings
FIG. 1 is a three-dimensional schematic front view of a special manipulator for earth excavation;
FIG. 2 is a three-dimensional schematic rear view of a special manipulator for earth excavation;
FIG. 3 is a schematic top view of a dedicated robot for earth excavation;
FIG. 4 is a schematic view of a drum of a dedicated robot for earth excavation;
FIG. 5 is a schematic diagram of a conveyor belt of a dedicated robot for earth excavation;
FIG. 6 is a schematic diagram of the power transmission of a conveyor belt of a dedicated robot for earth excavation;
fig. 7 is a schematic overall view of a hydraulic structure of a special manipulator for earth excavation;
fig. 8 is a schematic structural view of a support rod in the whole hydraulic structure of the special manipulator for earth excavation;
FIG. 9 is a schematic structural view of a hydraulic structure part of a special manipulator for earth excavation;
FIG. 10 is a schematic structural view of a hydraulic structure part of a special manipulator for earth excavation;
FIG. 11 is a schematic structural view of a hydraulic structure part of a special manipulator for earth excavation;
FIG. 12 is a schematic structural view of a hydraulic structure part of a special manipulator for earth excavation;
in the figure: 1. a mounting plate; 2. a hydraulic structure; 3. a support frame; 4. a limiting block; 5. a soil breaking shovel; 6. a soil outlet hole; 7. a roller; 8. a conveyor belt; 9. protruding round tables; 10. a shaft lever; 11. cylindrical latch teeth; 12. conveyor belt rollers; 13. an anti-slip strip; 14. a connecting plate; 201. support rod, 202, hydraulic cylinder, 203, sleeve, 204, cone head, 205, first spring clip, 206, second spring clip, 207, third spring clip, 208, fourth spring clip, 209, first ring spring, 210, second ring spring, 211, third ring spring, 212, fourth ring spring, 213, spring set, 214, internal threads, 215, external threads.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and the following embodiments are used to illustrate the present invention.
As shown in fig. 1 to 6, the special manipulator for earth excavation comprises a support frame 3, wherein a rotating mechanism is arranged on the support frame 3 and used for rotating earth breaking, the rotating mechanism comprises a roller 7, a plurality of earth breaking shovels 5 are fixedly connected to the periphery of the roller 7, and an earth outlet 6 is formed in the earth breaking shovels 5; the lower extreme of cylinder 7 is provided with conveying mechanism, and conveying mechanism is used for carrying earth, and conveying mechanism includes conveyer belt gyro wheel 12, and conveyer belt 8 is installed to conveyer belt gyro wheel 12 peripheral cup joint, and conveyer belt 8 surface fixedly connected with a plurality of antislip strips 13.
In the arrangement, the two rollers 7 with the soil breaking shovel 5 are adopted to rotate so as to excavate soil, meanwhile, the soil is prevented from accumulating in the soil breaking shovel 5 by arranging the soil outlet 6 in the soil breaking shovel 5, the soil breaking effect is affected, the conveyor belt 8 is driven to roll by the rotating rollers 7, and the scattered soil is conveyed to the peripheral soil conveying device; when using this equipment, pass through mounting panel 1 fixed mounting on engineering machinery arm earlier this equipment, then pass through the arm with the cylinder 7 one side orientation earthwork lateral wall of this equipment, then start hydraulic structure 2 and extend, with cylinder 7 and earthwork lateral wall contact, the inside biax motor rotation of cylinder 7 starts simultaneously, the shovel that breaks the soil 5 can shovel into earth inside this moment, and earth can extrude from apopore 6, and fall to conveyer belt 8, simultaneously, cylinder latch 11 fixed on the outstanding round platform 9 of cylinder 7 lower extreme is through meshing with antislip 13, and realize driving conveyer belt 8 and roll, and will fall the earth of its surface to the backward output, prevent to pile up.
As shown in fig. 1 to 6, in a specific embodiment, the upper end and the lower end of the roller 7 are fixedly connected with a protruding round table 9, the lower surface of the protruding round table 9 at the lower end of the roller 7 is fixedly connected with a plurality of cylindrical latches 11, and the cylindrical latches 11 correspond to and are engaged with gaps between the anti-slip strips 13 fixedly connected with the surface of the conveyor belt 8.
In this setting, the shovel 5 that breaks earth can shovel into earth inside, and earth can extrude from apopore 6 to fall to conveyer belt 8, simultaneously, the cylinder latch 11 that fixed on the outstanding round platform 9 of cylinder 7 lower extreme is through meshing with antislip strip 13, and realizes driving conveyer belt 8 roll, and will fall on the earth of its surface to the backward output, prevents to pile up.
As shown in fig. 1 to 6, in the specific embodiment, the drum 7 is a dual-shaft motor, the dual-shaft transmission rod is a shaft lever 10, the shaft lever 10 penetrates through the upper end and the lower end of the supporting frame 3 and is fixedly sleeved with the upper end and the lower end of the supporting frame, and the upper end and the lower end of the shaft lever 10 are fixedly connected with limiting blocks 4.
In this setting, when using this equipment, earlier pass through mounting panel 1 fixed mounting with this equipment on engineering mechanical arm, then pass through the mechanical arm with the cylinder 7 one side orientation earthwork lateral wall of this equipment, then start hydraulic structure 2 and extend, with cylinder 7 and earthwork lateral wall contact, the inside biax motor of cylinder 7 rotates simultaneously, the inside earth that can shovel into of this moment shovel 5, and earth can extrude from the apopore 6, and fall to conveyer belt 8, meanwhile, the cylinder latch 11 fixed on the outstanding round platform 9 of cylinder 7 lower extreme is through meshing with antislip 13, and realize driving conveyer belt 8 roll, and export backward with the earth that falls on its surface, prevent to pile up.
As shown in fig. 1 to 6, in a specific embodiment, the lower ends of the supporting frames 3 are fixedly connected with two supporting frames 3 through a connecting plate 14, the outer sides of the supporting frames 3 are fixedly connected with a hydraulic structure 2, the other ends of the hydraulic structure 2 are rotatably embedded in a mounting plate 1, a plurality of bolt holes are formed in the mounting plate 1, and fixing bolts are installed in the bolt holes.
In this setting, when using this equipment, pass through mounting panel 1 fixed mounting on engineering mechanical arm earlier this equipment, then pass through the mechanical arm with the cylinder 7 one side orientation earthwork lateral wall of this equipment, then start hydraulic structure 2 and extend, with cylinder 7 and earthwork lateral wall contact, start the inside biax motor rotation of cylinder 7 simultaneously, the soil breaking shovel 5 can shovel into earth inside this moment, and earth can extrude from apopore 6 to conveyer belt 8.
As shown in fig. 1 to 6, in the embodiment, the shafts at both ends of the conveyor belt roller 12 are movably connected to the inner side of the lower end of the support frame 3.
In this setting, cylinder latch 11 fixed on the outstanding round platform 9 of cylinder 7 lower extreme is through meshing with antislip strip 13, and realizes driving conveyer belt 8 and rolls to the earth that falls on its surface is to the back output, prevents to pile up.
In addition, the hydraulic cylinder composition structure in the prior art mainly comprises the following parts: the cylinder tube is the main body part of the hydraulic cylinder, usually made of steel tube. It is a hollow cylinder, which houses the piston and the sealing element inside; the piston is a moving part inside the hydraulic cylinder, usually made of metal. The device is tightly matched with the inner wall of the cylinder barrel and can do reciprocating motion in the cylinder barrel; the sealing element serves to prevent leakage of liquid and to ensure tightness of the hydraulic system. Common sealing elements include piston seals, rod seals, cylinder bottom seals, and the like; the telescopic rod is an exposed part on the hydraulic cylinder, is connected with the piston and the external load, is usually made of high-strength alloy steel, and needs to have enough rigidity and wear resistance; the front cover and the rear cover are respectively positioned at the front end and the rear end of the hydraulic cylinder and are used for fixing and sealing the internal components of the hydraulic cylinder; the cylinder bottom is the lower closure structure of the hydraulic cylinder, typically integrated with the rear cover. It provides the basis for the installation of the hydraulic cylinder and is usually provided with connecting holes, exhaust holes and the like; the port fittings are used to introduce and remove fluid from the cylinder, typically on the sides or bottom of the cylinder. They are connected to the lines in the hydraulic system and to the control valve assembly.
According to the invention, when the mechanical arm is used for excavating soil, the soil-breaking shovel 5 on the roller 7 applies force to the soil layer to realize soil excavation, the hydraulic structure 2 provides corresponding supporting force for the supporting frame 3, if a conventional hydraulic cylinder is used, the hydraulic structure 2 provides corresponding supporting force for the soil layer with different hardness, and the hydraulic structure 2 provides corresponding supporting force for the supporting frame 3 with smaller force for the soil layer with softer hardness, and the hydraulic structure 2 provides larger supporting force for the supporting frame 3 with larger force for the soil layer with harder hardness, so that the structure with different soil texture is needed to be improved on the basis of the conventional hydraulic cylinder, so that the impact on the hydraulic structure 2 in the excavating process is reduced, thereby prolonging the service life of the hydraulic structure 2.
As shown in fig. 7 to fig. 12, the hydraulic structure 2 provided by the present invention includes a hydraulic cylinder 202 and a supporting rod 201, where the hydraulic cylinder 202 is rotatably embedded in the mounting plate 1, and the specific structure may be commonly used in the prior art, and the rotation of the hydraulic cylinder 202 is implemented by installing a bearing adapted to the hydraulic cylinder 202 in the mounting plate 1, and controlling the rotation of the connected bearing of the hydraulic cylinder 202 electrically or manually. The telescopic rod of the hydraulic cylinder 202 is provided with a sleeve 203 outside one end, the specific structure can be commonly used in the prior art, a clamping groove is formed in the position of the hydraulic cylinder 202 corresponding to the sleeve 203, one end of the sleeve 203 is clamped into the clamping groove by a bolt, and one end of the sleeve 203 can move up and down in the clamping groove. One end of the supporting rod 201 stretches into the sleeve 203 and is limited by threads, a conical head 204 is arranged at the end part of one end of the supporting rod 201, which is positioned in the sleeve 203, a plurality of spring clamps are arranged on the conical head 204 from inside to outside, the end part of the supporting rod 201 is in propping connection with a telescopic rod of the hydraulic cylinder 202, a spring group 213 is fixedly sleeved outside the telescopic rod of the hydraulic cylinder 202, the spring group 213 comprises a plurality of springs from inside to outside, the plurality of springs in the spring group 213 are in one-to-one correspondence with the plurality of spring clamps of the conical head 204 from inside to outside, and each spring clamp corresponds to one spring.
In the embodiment, the spring set 213 includes a first ring spring 209, a second ring spring 210, a third ring spring 211, and a fourth ring spring 212 from inside to outside, the stiffness coefficients of the first ring spring 209, the second ring spring 210, the third ring spring 211, and the fourth ring spring 212 sequentially increase, the taper head 204 is provided with a first spring card 205, a second spring card 206, a third spring card 207, and a fourth spring card 208 from inside to outside, one ends of the first ring spring 209, the second ring spring 210, the third ring spring 211, and the fourth ring spring 212 are fixed on the hydraulic cylinder 202, and the calibers of the other ends of the first ring spring 209, the second ring spring 210, the third ring spring 211, and the fourth ring spring 212 are respectively configured to be capable of leaning against the first spring card 205, the second spring card 206, the third spring card 207, and the fourth spring card 208.
An external thread 215 is provided on the inner wall of the sleeve 203 corresponding to the end of the supporting rod 201, an internal thread 214 is provided on the outer wall of the supporting rod 201 correspondingly, and the supporting rod 201 is in threaded connection with the sleeve 203 through the internal thread 214 and the external thread 215.
According to the hydraulic structure 2, different buffering effectiveness can be adjusted to adapt to different soil properties, so that impact on the hydraulic structure 2 in the excavating process is reduced, the service life of the hydraulic structure 2 is prolonged, and meanwhile, the soil layer can be excavated.
The working principle of the special manipulator for earth excavation of the embodiment is as follows: according to the invention, two rollers 7 with the soil breaking shovel 5 are adopted to rotate so as to excavate soil, meanwhile, the soil is prevented from accumulating in the soil breaking shovel 5 by arranging the soil outlet 6 in the soil breaking shovel 5, the soil breaking effect is affected, and the conveyor belt 8 is driven to roll by the rotating rollers 7 so as to convey scattered soil to an external soil conveying device, so that compared with a traditional bucket type earthwork excavation manipulator, the operation steps are simpler and the efficiency is higher; when using this equipment, pass through mounting panel 1 fixed mounting on engineering machinery arm earlier this equipment, then pass through the arm with the cylinder 7 one side orientation earthwork lateral wall of this equipment, then start hydraulic structure 2 and extend, with cylinder 7 and earthwork lateral wall contact, the inside biax motor rotation of cylinder 7 starts simultaneously, the shovel that breaks the soil 5 can shovel into earth inside this moment, and earth can extrude from apopore 6, and fall to conveyer belt 8, simultaneously, cylinder latch 11 fixed on the outstanding round platform 9 of cylinder 7 lower extreme is through meshing with antislip 13, and realize driving conveyer belt 8 and roll, and will fall the earth of its surface to the backward output, prevent to pile up.
The force required by the hydraulic structure 2 for the softer soil is smaller, the supporting force provided by the supporting frame 3 is correspondingly smaller, the force required by the hydraulic structure 2 for the harder soil is larger, namely the hydraulic structure 2 is required to provide larger supporting force for the supporting frame 3, and therefore buffer efficacy of different magnitudes corresponding to different soil properties is required to be configured. In the process that the conical head 204 is gradually far away from the hydraulic cylinder 202, the fourth ring spring 212 is separated from the fourth spring clamp 208 firstly, then the third ring spring 211 is separated from the third spring clamp 207, then the second ring spring 210 is separated from the second spring clamp 206, the support of the multi-stage spring buffering effect is realized, when soft soil needs to be excavated, the hydraulic cylinder 202 is rotated to enable the supporting rod 201 to extend outwards, namely the fourth ring spring 212 is separated from the fourth spring clamp 208, the third ring spring 211 is separated from the third spring clamp 207, the second ring spring 210 is separated from the second spring clamp 206, only the first spring clamp 205 is needed to be contacted with the first ring spring 209, the buffering effect is larger at the moment, the conical head 204 is relatively far away from the hydraulic cylinder 202, the hydraulic cylinder 202 is not worn, meanwhile, the hydraulic structure 2 can provide enough supporting force for the supporting frame 3 to enable the soil breaking shovel 5 on the roller 7 to excavate soil, when harder soil needs to be excavated, the supporting rods 201 are compressed inwards by rotating the hydraulic cylinders 202, namely the second ring springs 210 are in contact with the second spring clamps 206, meanwhile, the first spring clamps 205 are in contact with the first ring springs 209, the buffering effectiveness is reduced, the supporting force provided by the hydraulic structure 2 on the supporting frame 3 can be increased adaptively, so that the soil breaking shovel 5 on the roller 7 can excavate a soil layer, and when harder soil layers need to be excavated, the soil breaking shovel can be adjusted according to the method.
According to the hydraulic structure 2, different buffering forces can be configured through adjustment, so that impact on the hydraulic structure 2 in the excavating process is reduced, the service life of the hydraulic structure 2 is prolonged, and meanwhile, the soil layer can be excavated.
It will be appreciated by those skilled in the art that the present invention can be carried out in other embodiments without departing from the spirit or essential characteristics thereof. The above disclosed embodiments are illustrative in all respects only and not all changes that come within the scope of the invention or are equivalent to the invention are intended to be embraced therein.
Claims (9)
1. The special manipulator for earth excavation comprises a support frame (3), and is characterized in that a rotating mechanism is arranged on the support frame (3) and used for rotating earth breaking, the rotating mechanism comprises a roller (7), a plurality of earth breaking shovels (5) are fixedly connected to the periphery of the roller (7), and an earth outlet (6) is formed in the earth breaking shovels (5);
the soil conveying device is characterized in that a conveying mechanism is arranged at the lower end of the roller (7) and used for conveying soil, the conveying mechanism comprises a conveying belt roller (12), a conveying belt (8) is sleeved on the periphery of the conveying belt roller (12), and a plurality of anti-slip strips (13) are fixedly connected to the outer surface of the conveying belt (8).
2. The special manipulator for earth excavation according to claim 1, wherein the upper end and the lower end of the roller (7) are fixedly connected with protruding round platforms (9), the lower surface of the protruding round platforms (9) at the lower end of the roller (7) is fixedly connected with a plurality of cylindrical latches (11), and the cylindrical latches (11) correspond to gaps between the anti-slip strips (13) fixedly connected with the surface of the conveyor belt (8) and are meshed with each other.
3. The special manipulator for earth excavation according to claim 2, wherein the roller (7) is a double-shaft motor, the double-shaft transmission rod is a shaft lever (10), the shaft lever (10) penetrates through the upper end and the lower end of the support frame (3) and is fixedly sleeved with the support frame, and the upper end and the lower end of the shaft lever (10) are fixedly connected with limiting blocks (4).
4. A special manipulator for earth excavation according to claim 3, characterized in that the lower ends of the supporting frames (3) are fixedly connected with the two supporting frames (3) through a connecting plate (14), and the outer sides of the supporting frames (3) are fixedly connected with a hydraulic structure (2).
5. The special manipulator for earth excavation according to claim 1, wherein the shafts at the two ends of the conveyor belt roller (12) are movably connected with the inner side of the lower end of the supporting frame (3).
6. The special manipulator for earth excavation according to claim 4, wherein the other end of the hydraulic structure (2) is rotatably embedded in the mounting plate (1), and the mounting plate (1) is provided with a plurality of bolt holes and is internally provided with fixing bolts.
7. The special manipulator for earth excavation according to claim 6, wherein the hydraulic structure (2) comprises a hydraulic cylinder (202) and a supporting rod (201), the hydraulic cylinder (202) is rotatably embedded in the mounting plate (1), a sleeve (203) is embedded outside one end of a telescopic rod of the hydraulic cylinder (202), one end of the supporting rod (201) stretches into the sleeve (203) and is limited by threads, a conical head (204) is arranged at one end of the supporting rod (201) located in the sleeve (203), a plurality of spring clamps are arranged on the conical head (204) from inside to outside, the end of the supporting rod (201) is connected with the telescopic rod of the hydraulic cylinder (202) in an abutting mode, a spring group (213) is fixedly sleeved outside the telescopic rod of the hydraulic cylinder (202), the spring group (213) comprises a plurality of springs from inside to outside, the plurality of springs in the spring group (213) correspond to the plurality of spring clamps from inside to outside, and each spring clamp corresponds to one spring clamp.
8. The special manipulator for earth excavation according to claim 7, wherein the spring group (213) comprises a first ring spring (209), a second ring spring (210), a third ring spring (211) and a fourth ring spring (212) from inside to outside, the stiffness coefficients of the first ring spring (209), the second ring spring (210), the third ring spring (211) and the fourth ring spring (212) are sequentially increased, the conical head (204) is provided with a first spring clamp (205), a second spring clamp (206), a third spring clamp (207) and a fourth spring clamp (208) from inside to outside, one end of the first ring spring (209), the second ring spring (210), the third ring spring (211) and one end of the fourth ring spring (212) are fixed on the hydraulic cylinder (202), and the caliber sizes of the other ends of the first ring spring (209), the second ring spring (210), the third ring spring (211) and the fourth ring spring (212) are correspondingly configured to be abutted against the first spring clamp (205), the second spring clamp (206) and the fourth spring clamp (208).
9. The special manipulator for earth excavation according to claim 7, wherein the inner wall of the sleeve (203) corresponding to the end of the support rod (201) is provided with external threads (215), the outer wall of the support rod (201) is correspondingly provided with internal threads (214), and the support rod (201) is in threaded connection with the sleeve (203) through the internal threads (214) and the external threads (215).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311548354.5A CN117738262B (en) | 2023-11-20 | 2023-11-20 | Dedicated manipulator of earth excavation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311548354.5A CN117738262B (en) | 2023-11-20 | 2023-11-20 | Dedicated manipulator of earth excavation |
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| CN117738262A true CN117738262A (en) | 2024-03-22 |
| CN117738262B CN117738262B (en) | 2024-06-04 |
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| CN202311548354.5A Active CN117738262B (en) | 2023-11-20 | 2023-11-20 | Dedicated manipulator of earth excavation |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5864970A (en) * | 1996-01-22 | 1999-02-02 | Maddock; David C. | Earth excavating apparatus |
| US20070204489A1 (en) * | 2006-03-03 | 2007-09-06 | Corrado Frank L | Earthmoving device with materials handling improvements |
| CN108406796A (en) * | 2018-03-08 | 2018-08-17 | 江雪萍 | A kind of electric power facility Intelligent Machining robot |
| CN110036722A (en) * | 2019-04-01 | 2019-07-23 | 合肥市大邵生态农业有限公司 | A kind of ditching device |
| CN113502862A (en) * | 2021-06-30 | 2021-10-15 | 长江大学 | Digging device for pit yard |
| CN219508687U (en) * | 2022-12-29 | 2023-08-11 | 大同泰瑞集团建设有限公司 | Construction is with small-size basis excavation device |
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- 2023-11-20 CN CN202311548354.5A patent/CN117738262B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5864970A (en) * | 1996-01-22 | 1999-02-02 | Maddock; David C. | Earth excavating apparatus |
| US20070204489A1 (en) * | 2006-03-03 | 2007-09-06 | Corrado Frank L | Earthmoving device with materials handling improvements |
| CN108406796A (en) * | 2018-03-08 | 2018-08-17 | 江雪萍 | A kind of electric power facility Intelligent Machining robot |
| CN110036722A (en) * | 2019-04-01 | 2019-07-23 | 合肥市大邵生态农业有限公司 | A kind of ditching device |
| CN113502862A (en) * | 2021-06-30 | 2021-10-15 | 长江大学 | Digging device for pit yard |
| CN219508687U (en) * | 2022-12-29 | 2023-08-11 | 大同泰瑞集团建设有限公司 | Construction is with small-size basis excavation device |
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| CN117738262B (en) | 2024-06-04 |
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