CN202706072U - Hydraulic excavator operation device with motion redundancy characteristics - Google Patents
Hydraulic excavator operation device with motion redundancy characteristics Download PDFInfo
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- CN202706072U CN202706072U CN 201220255214 CN201220255214U CN202706072U CN 202706072 U CN202706072 U CN 202706072U CN 201220255214 CN201220255214 CN 201220255214 CN 201220255214 U CN201220255214 U CN 201220255214U CN 202706072 U CN202706072 U CN 202706072U
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- hydraulic cylinder
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Abstract
The utility model relates to a hydraulic excavator operation device with motion redundancy characteristics. The lower end of a movable arm is hinged to a frame, the upper end of the movable arm is hinged to one end of a bucket rod, the other end of the bucket rod is hinged to one part of a bucket, the other part of the bucket is hinged to one end of a pair of bucket hydraulic cylinders, the other end of the pair of bucket hydraulic cylinders is hinged to the upper end of a pair of rockers, the lower end of the pair of rockers is hinged to the frame, the middle of the pair of rockers is hinged to one end of a pair of rocker hydraulic cylinders, and the other end of the pair of rocker hydraulic cylinders is hinged to the other part of the frame. One end of a pair of movable arm hydraulic cylinders is hinged to the middle of the movable arm, and the other end of the pair of movable arm hydraulic cylinders is hinged to the frame. One end of a pair of bucket rod hydraulic cylinder is hinged to the middle of the bucket rod, and the other end of the pair of bucket rod hydraulic cylinder is hinged to either the frame or the movable arm. The hydraulic excavator operation device with motion redundancy characteristics has the advantages of high bearing capacity, high rigidity, large driving force moment, capability of driving load with low driving force, reduction of energy consumption and motion redundancy.
Description
Technical field
The utility model relates to a kind of excavator, and is particularly a kind of for the Face-shovel Hydraulic Excavator device.
Background technology
Large-scale Face-shovel Hydraulic Excavator is the main tool of open coal mine digging, its excacation device is the main member of finishing the excavator various functions, domestic research to the hydraulic face shovel digger operating device is less, Chinese patent CN200520035287.8 relates to a kind of hydraulic digging machine face shovel working device horizontal thrust mechanism, characteristics are that scraper bowl hydraulic cylinder piston rod and swing arm front end are hinged, dipper rear portion and swing arm front end are hinged, scraper bowl and dipper front end are hinged, scraper bowl and scraper bowl Barrel of Hydraulic Cylinders end are hinged, and hinge has consisted of the four-bar mechanism of quadrilateral structure aloft.External main manufacturer has special rex (Terex), Caterpillar (CATERPILLR), Hitachi (HITACHI) and Liebherr (LIEBHERR) etc.What wherein influence power was larger is the hydraulic crawler excavator that contains " powerful triangle " member that special rex (Terex) company produces.Although the Face-shovel Hydraulic Excavator technology of external producer is comparatively ripe, their product structure is comparatively single, and it is little and cause the large problem of energy consumption not to be resolved all the time to drive the arm of force.
Summary of the invention
The purpose of this utility model is to provide the motion that a kind of supporting capacity is high, rigidity is large redundant forward shovel structure.The utility model is both sides full symmetric mechanisms, and it mainly includes frame, swing arm, dipper, scraper bowl, rocking bar and four pairs of driving hydraulic cylinders is swing arm hydraulic cylinder, scraper bowl hydraulic cylinder, dipper hydraulic cylinder and rocking bar hydraulic cylinder.
Wherein, frame and swing arm lower end are hinged, one end of the upper end of this swing arm and dipper is hinged, one position of the other end of this dipper and scraper bowl is hinged, another position of this scraper bowl and an end of a pair of scraper bowl hydraulic cylinder are hinged, and the other end of this a pair of scraper bowl hydraulic cylinder and the upper end of a pair of rocking bar are hinged, and lower end and the frame of this a pair of rocking bar are hinged, one end of the middle part of above-mentioned a pair of rocking bar and a pair of rocking bar hydraulic cylinder is hinged, and another position of the other end of this a pair of rocking bar hydraulic cylinder and frame is hinged; One end of a pair of swing arm hydraulic cylinder and swing arm middle part are hinged, and the other end and the frame of this a pair of swing arm hydraulic cylinder are hinged; One end of a pair of dipper hydraulic cylinder and the middle part of above-mentioned dipper are hinged, and the other end of this a pair of dipper hydraulic cylinder can be hinged with above-mentioned frame, also can be hinged with another position of above-mentioned swing arm.
Guaranteeing that the shape and size of each rod member can change according to actual conditions in the constant situation of interconnected relationship between rod member number and the rod member.
The degree of freedom of scraper bowl is 3 in the utility model, and the degree of freedom of equipment is 4, and driving number is 4, drives number greater than the scraper bowl degree of freedom, and such equipment has the motion redundancy properties.
The utility model compared with prior art has following advantage:
(1) supporting capacity is high, rigidity is large, it is large to drive the arm of force, and less driving force just can drive load, thereby can reduce energy consumption.
(2) have the motion redundancy properties, can avoid the robot interior Singularity, preferably flexibility, keep away barrier ability and dynamic characteristics.
Description of drawings
Fig. 1 is the three-dimensional simplified schematic diagram of the utility model embodiment 1.
Fig. 2 is the three-dimensional simplified schematic diagram of the utility model embodiment 2.
The specific embodiment
Embodiment 1
In the three-dimensional simplified schematic diagram of the hydraulic crawler excavator apparatus for work with motion redundancy properties shown in Figure 1, frame 1 is connected by hinge R1 with the lower end of swing arm 3, the upper end of this swing arm 3 is connected by hinge R3 with an end of dipper 4, the other end of this dipper 4 is connected by hinge R5 with a position of scraper bowl 5, another position of this scraper bowl 5 is connected by hinge R6 respectively with the cylinder sleeve end of a pair of scraper bowl hydraulic cylinder 6, the piston rod end of this a pair of scraper bowl hydraulic cylinder 6 is connected by hinge R7 respectively with the upper end of a pair of rocking bar 7, and the other end of this a pair of rocking bar 7 is connected by hinge R9 respectively with above-mentioned frame 1.The middle part of above-mentioned a pair of rocking bar 7 is connected by hinge R8 respectively with the piston rod end of a pair of rocking bar hydraulic cylinder 8, and the cylinder sleeve end of this a pair of rocking bar hydraulic cylinder 8 is connected by hinge R11 respectively with above-mentioned frame 1.The cylinder sleeve end of a pair of swing arm hydraulic cylinder 2 is connected by hinge R2 respectively with swing arm 3, and the piston rod end of this a pair of swing arm hydraulic cylinder 2 is connected by hinge R12 respectively with above-mentioned frame 1.The piston rod end of a pair of dipper hydraulic cylinder 9 is connected by hinge R4 respectively with the middle part of above-mentioned dipper 4, and the cylinder sleeve end of this a pair of dipper hydraulic cylinder 9 is connected by hinge R10 with above-mentioned frame 1.
Embodiment 2
In the three-dimensional simplified schematic diagram of the hydraulic crawler excavator apparatus for work with motion redundancy properties shown in Figure 2, the lower end of swing arm 3 is connected by hinge R1 with frame 1, the upper end of this swing arm 3 is connected by hinge R3 with an end of dipper 4, the other end of this dipper 4 is connected by hinge R5 with a position of scraper bowl 5, another position of this scraper bowl 5 is connected by hinge R6 respectively with the cylinder sleeve end of a pair of scraper bowl hydraulic cylinder 6, the piston rod end of this a pair of scraper bowl hydraulic cylinder 6 is connected by hinge R7 respectively with the upper end of a pair of rocking bar 7, and the other end of this a pair of rocking bar 7 is connected by hinge R9 respectively with above-mentioned frame 1.The middle part of above-mentioned a pair of rocking bar 7 is connected by hinge R8 respectively with the piston rod end of a pair of rocking bar hydraulic cylinder 8, the cylinder sleeve end of this a pair of rocking bar hydraulic cylinder 8 is connected by hinge R11 respectively with above-mentioned frame 1, the cylinder sleeve end of a pair of swing arm hydraulic cylinder 2 is connected by hinge R2 respectively with swing arm 3, the piston rod end of this a pair of swing arm hydraulic cylinder 2 is connected by hinge R12 respectively with above-mentioned frame 1, the piston rod end of a pair of dipper hydraulic cylinder 9 is connected by hinge R4 respectively with the middle part of above-mentioned dipper 4, and the cylinder sleeve end of this a pair of dipper hydraulic cylinder 9 is connected by hinge R10 respectively with a position of swing arm 3.
Claims (2)
1. hydraulic crawler excavator apparatus for work with motion redundancy properties, it is characterized in that: frame and swing arm lower end are hinged, one end of the upper end of this swing arm and dipper is hinged, one position of the other end of this dipper and scraper bowl is hinged, another position of this scraper bowl and an end of a pair of scraper bowl hydraulic cylinder are hinged, the other end of this a pair of scraper bowl hydraulic cylinder and the upper end of a pair of rocking bar are hinged, lower end and the frame of this a pair of rocking bar are hinged, one end of the middle part of above-mentioned a pair of rocking bar and a pair of rocking bar hydraulic cylinder is hinged, and another position of the other end of this a pair of rocking bar hydraulic cylinder and above-mentioned frame is hinged; One end of a pair of swing arm hydraulic cylinder and swing arm middle part are hinged, and the other end of this a pair of swing arm hydraulic cylinder and above-mentioned frame are hinged; One end of a pair of dipper hydraulic cylinder and above-mentioned dipper middle part are hinged, and the other end of this a pair of dipper hydraulic cylinder and above-mentioned frame are hinged.
2. hydraulic crawler excavator apparatus for work with motion redundancy properties, it is characterized in that: frame and swing arm lower end are hinged, one end of the upper end of this swing arm and dipper is hinged, one position of the other end of this dipper and scraper bowl is hinged, another position of this scraper bowl and an end of a pair of scraper bowl hydraulic cylinder are hinged, the other end of this a pair of scraper bowl hydraulic cylinder and the upper end of a pair of rocking bar are hinged, the lower end of this a pair of rocking bar and above-mentioned frame are hinged, one end of the middle part of above-mentioned a pair of rocking bar and a pair of rocking bar hydraulic cylinder is hinged, and another position of the other end of this a pair of rocking bar hydraulic cylinder and above-mentioned frame is hinged; One end of a pair of swing arm hydraulic cylinder and above-mentioned swing arm middle part are hinged, and the other end of this a pair of swing arm hydraulic cylinder and above-mentioned frame are hinged; One end of a pair of dipper hydraulic cylinder and dipper middle part are hinged, and another position of the other end of this a pair of dipper hydraulic cylinder and above-mentioned swing arm is hinged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220255214 CN202706072U (en) | 2012-06-01 | 2012-06-01 | Hydraulic excavator operation device with motion redundancy characteristics |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220255214 CN202706072U (en) | 2012-06-01 | 2012-06-01 | Hydraulic excavator operation device with motion redundancy characteristics |
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| Publication Number | Publication Date |
|---|---|
| CN202706072U true CN202706072U (en) | 2013-01-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201220255214 Withdrawn - After Issue CN202706072U (en) | 2012-06-01 | 2012-06-01 | Hydraulic excavator operation device with motion redundancy characteristics |
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| CN (1) | CN202706072U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102720224A (en) * | 2012-06-01 | 2012-10-10 | 燕山大学 | Hydraulic excavator operating device with movement redundancy characteristics |
| CN103498490A (en) * | 2013-10-16 | 2014-01-08 | 广西柳工机械股份有限公司 | Bucket-loading working device with bucket adhesive material scraping device |
| CN111021680A (en) * | 2019-12-25 | 2020-04-17 | 山东大学 | Mortar shoveling and wall plastering machine and using method |
-
2012
- 2012-06-01 CN CN 201220255214 patent/CN202706072U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102720224A (en) * | 2012-06-01 | 2012-10-10 | 燕山大学 | Hydraulic excavator operating device with movement redundancy characteristics |
| CN102720224B (en) * | 2012-06-01 | 2014-09-10 | 燕山大学 | Hydraulic excavator operating device with movement redundancy characteristics |
| CN103498490A (en) * | 2013-10-16 | 2014-01-08 | 广西柳工机械股份有限公司 | Bucket-loading working device with bucket adhesive material scraping device |
| CN111021680A (en) * | 2019-12-25 | 2020-04-17 | 山东大学 | Mortar shoveling and wall plastering machine and using method |
| CN111021680B (en) * | 2019-12-25 | 2021-11-19 | 山东大学 | Mortar shoveling and wall plastering machine and using method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20130130 Effective date of abandoning: 20140910 |
|
| RGAV | Abandon patent right to avoid regrant |