CN202706076U - Motion redundant face shovel excavation mechanism capable of reducing hoisting energy consumption - Google Patents
Motion redundant face shovel excavation mechanism capable of reducing hoisting energy consumption Download PDFInfo
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- CN202706076U CN202706076U CN 201220255314 CN201220255314U CN202706076U CN 202706076 U CN202706076 U CN 202706076U CN 201220255314 CN201220255314 CN 201220255314 CN 201220255314 U CN201220255314 U CN 201220255314U CN 202706076 U CN202706076 U CN 202706076U
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Abstract
The utility model provides a motion redundant face shovel excavation mechanism capable of reducing hoisting energy consumption. The motion redundant face shovel excavation mechanism comprises a rack, a moving arm, a hopper rod, a scraper pan, swing rods, hopper rod hydraulic cylinders, scraper pan hydraulic cylinders, moving arm hydraulic cylinders and auxiliary hydraulic cylinders, wherein the rack is hinged with the lower end of the moving arm, and the upper end of the moving arm is hinged with one end of the hopper rod. The other end of the hopper rod is connected with a position of the scraper pan. The rack, the moving arm, the hopper rod, the scraper pan are connected with each other through the scraper pan hydraulic cylinders, the hopper rod hydraulic cylinders, the moving arm hydraulic cylinders, the auxiliary hydraulic cylinders and the swing rods in four connection ways. The motion redundant face shovel excavation mechanism has the advantages of motion redundancy, large driving force arm, good flexibility, and optimized input force, and the like.
Description
Technical field
The utility model relates to a kind of excavator, particularly a kind of operating mechanism for Face-shovel Hydraulic Excavator.
Background technology
Large-scale Face-shovel Hydraulic Excavator is the main tool of open coal mine digging, its excacation mechanism is the main member of finishing the excavator various functions, domestic research to hydraulic face shovel excavator operating mechanism is less, Chinese patent CN200520035287.8 relates to a kind of hydraulic crawler excavator crowd shovel Working mechanism horizontal pushing pressure 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, drives the arm of force little and cause the large problem of energy consumption not to be resolved all the time.Its main cause is that crowd shovel hydraulic mechanism is the linkage of a complexity, and innovation is difficulty comparatively.
Summary of the invention
The purpose of this utility model is to provide a kind of redundant forward shovel structure of motion that can reduce the lifting energy consumption.
The technical solution of the utility model is as follows: the utility model is full symmetric mechanism, and swing arm lower end and frame are hinged, and an end of the upper end of this swing arm and dipper is hinged, and a position of the other end of this dipper and scraper bowl is hinged; Respectively by dipper hydraulic cylinder, scraper bowl hydraulic cylinder, swing arm hydraulic cylinder, auxiliary hydraulic cylinder and rocking bar link to each other between them, and its concrete connected mode is as follows:
The first connected mode: piston rod end and the frame of a pair of auxiliary hydraulic cylinder are hinged, the cylinder sleeve end of this a pair of auxiliary hydraulic cylinder and a position of above-mentioned swing arm are hinged, the cylinder sleeve end of a pair of swing arm hydraulic cylinder and another position of above-mentioned swing arm are hinged, the piston rod end of this a pair of swing arm hydraulic cylinder and a pair of rocking bar middle part are hinged, one end and the frame of this a pair of rocking bar are hinged, the cylinder sleeve end of the other end of this a pair of rocking bar and a pair of dipper hydraulic cylinder is hinged, and the piston rod end of this a pair of dipper hydraulic cylinder and above-mentioned dipper are hinged; The piston rod end of a pair of scraper bowl hydraulic cylinder and above-mentioned swing arm are hinged, and the cylinder sleeve end of this a pair of scraper bowl hydraulic cylinder and another position of above-mentioned scraper bowl are hinged.
The second connected mode: piston rod end and the frame of a pair of auxiliary hydraulic cylinder are hinged, the cylinder sleeve end of this a pair of auxiliary hydraulic cylinder and a position of swing arm are hinged, the cylinder sleeve end of a pair of swing arm hydraulic cylinder and another position of above-mentioned swing arm are hinged, the piston rod end of this a pair of swing arm hydraulic cylinder and a pair of rocking bar middle part are hinged, one end and the frame of this a pair of rocking bar are hinged, the piston rod end of the other end of this a pair of rocking bar and a pair of scraper bowl hydraulic cylinder is hinged, and the cylinder sleeve end of this a pair of scraper bowl hydraulic cylinder and another position of above-mentioned scraper bowl are hinged; One position of the piston rod end of a pair of dipper hydraulic cylinder and swing arm is hinged, and the cylinder sleeve end of this a pair of dipper hydraulic cylinder and above-mentioned dipper middle part are hinged;
The third connected mode: piston rod end and the frame of a pair of auxiliary hydraulic cylinder are hinged, the cylinder sleeve end of this a pair of auxiliary hydraulic cylinder and a position of swing arm are hinged, the cylinder sleeve end of a pair of swing arm hydraulic cylinder and another position of above-mentioned swing arm are hinged, one position of the piston rod end of this a pair of swing arm hydraulic cylinder and a pair of rocking bar is hinged, one end and the frame of this a pair of rocking bar are hinged, the piston rod end of the other end of this a pair of rocking bar and a pair of scraper bowl hydraulic cylinder is hinged, and the cylinder sleeve end of this a pair of scraper bowl hydraulic cylinder and another position of above-mentioned scraper bowl are hinged; The piston rod end of a pair of dipper hydraulic cylinder and above-mentioned dipper middle part are hinged, and the cylinder sleeve end of this a pair of dipper hydraulic cylinder and another position of above-mentioned rocking bar are hinged.
The 4th kind of connected mode: piston rod end and the frame of a pair of auxiliary hydraulic cylinder are hinged, cylinder sleeve end and a pair of rocking bar of this a pair of auxiliary hydraulic cylinder are hinged, one end and the frame of this a pair of rocking bar are hinged, the piston rod end of the other end of this a pair of rocking bar and a pair of scraper bowl hydraulic cylinder is hinged, the cylinder sleeve end of this a pair of scraper bowl hydraulic cylinder and another position of above-mentioned scraper bowl are hinged, one position of the piston rod end of a pair of swing arm hydraulic cylinder and above-mentioned rocking bar is hinged, and cylinder sleeve end and the swing arm of this a pair of swing arm hydraulic cylinder are hinged; Cylinder sleeve end and another position of above-mentioned rocking bar of a pair of dipper hydraulic cylinder are hinged, and the piston rod end of this a pair of dipper hydraulic cylinder and above-mentioned dipper are hinged.
In the situation that guarantee that interconnected relationship is constant between rod member number and the rod member, the shape and size of each rod member can change according to actual conditions.The degree of freedom of scraper bowl is 3 in the utility model, and the degree of freedom of operating mechanism is 4, and driving number is 4, drives number greater than the scraper bowl degree of freedom, and such operating mechanism has the motion redundancy properties.The driving arm of force of swing arm hydraulic cylinder is larger, when load is identical, only needs less lifting force, thereby has reduced the lifting energy consumption.
The utility model compared with prior art has following advantage:
(1) the driving arm of force is large, 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.
(3) can provide larger lifting to drive the arm of force.
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.
Fig. 3 is the three-dimensional simplified schematic diagram of the utility model embodiment 3.
Fig. 4 is the three-dimensional simplified schematic diagram of the utility model embodiment 4.
The specific embodiment
Embodiment 1
In the three-dimensional simplified schematic diagram of the redundant forward shovel structure of the motion that can reduce the lifting energy consumption shown in Figure 1, one end of frame 1 is connected with the lower end of swing arm 2 by hinge R1, the upper end of this swing arm 2 is connected with an end of dipper 3 by hinge R4, the other end of this dipper 3 is connected with a position of scraper bowl 4 by hinge R7, another position of this scraper bowl 4 is connected with the cylinder sleeve end of a pair of scraper bowl hydraulic cylinder 7 respectively by hinge R8, the piston rod end of this a pair of scraper bowl hydraulic cylinder 7 is connected with above-mentioned swing arm 2 middle parts respectively by hinge R9, these swing arm 2 both sides are connected with the cylinder sleeve end of a pair of auxiliary hydraulic cylinder 9 respectively by hinge R2, and the piston rod end of this a pair of auxiliary hydraulic cylinder 9 is connected with above-mentioned frame 1 middle part by hinge R12 respectively; The other end of this frame 1 is connected with the lower end of a pair of rocking bar 5 respectively by hinge R11, the upper end of this a pair of rocking bar 5 is connected with the cylinder sleeve end of a pair of dipper hydraulic cylinder 6 respectively by hinge R5, and the piston rod end of this a pair of dipper hydraulic cylinder 6 is connected with the middle part of above-mentioned dipper 3 both sides by hinge R6 respectively; The middle part of above-mentioned a pair of rocking bar 5 is connected with the piston rod end of a pair of swing arm hydraulic cylinder 8 respectively by hinge R10, and the cylinder sleeve end of this a pair of swing arm hydraulic cylinder 8 is connected with another position of above-mentioned swing arm 2 both sides respectively by hinge R3.
Embodiment 2
In the three-dimensional simplified schematic diagram of the redundant forward shovel structure of the motion that can reduce the lifting energy consumption shown in Figure 2, one end of frame 1 is connected with the lower end of swing arm 2 by hinge R1, the upper end of this swing arm 2 is connected with an end of dipper 3 by hinge R4, the other end of this dipper 3 is hinged by a position of hinge R7 and scraper bowl 4, another position of this scraper bowl 4 is connected with the cylinder sleeve end of a pair of scraper bowl hydraulic cylinder 7 by hinge R8, the piston rod end of this a pair of scraper bowl hydraulic cylinder 7 is connected with an end of a pair of rocking bar 5 by hinge R9 respectively, and the other end of this a pair of rocking bar 5 is connected with the other end of frame by hinge R11 respectively; The cylinder sleeve end of a pair of auxiliary hydraulic cylinder 9 is connected with the both sides at above-mentioned swing arm 2 one positions respectively by hinge R2, and the piston rod end of this a pair of auxiliary hydraulic cylinder 9 is connected with central rack by hinge R12; The cylinder sleeve end of a pair of swing arm hydraulic cylinder 8 is connected with the both sides at above-mentioned swing arm 2 another positions by hinge R3 respectively, and the piston rod end of this a pair of swing arm hydraulic cylinder 8 is connected with the middle part of above-mentioned a pair of rocking bar 5 by hinge R10 respectively; The piston rod end of a pair of dipper hydraulic cylinder 6 is connected with swing arm 2 by hinge R5 respectively, and the cylinder sleeve end of this a pair of dipper hydraulic cylinder 6 is connected with dipper 3 middle parts by hinge R6 respectively.
In the three-dimensional simplified schematic diagram of the redundant forward shovel structure of the motion that can reduce the lifting energy consumption shown in Figure 3, one end of frame 1 is connected with the lower end of swing arm 2 by hinge R1, the upper end of this swing arm 2 is connected with an end of dipper 3 by hinge R4, the other end of this dipper 3 is connected with a position of scraper bowl 4 by hinge R7, another position of this scraper bowl 4 is connected with the cylinder sleeve end of a pair of scraper bowl hydraulic cylinder 7 by hinge R8, the piston rod end of this a pair of scraper bowl hydraulic cylinder 7 is connected with an end of a pair of rocking bar 5 by hinge R9 respectively, and the other end of this a pair of rocking bar 5 is connected with the other end of frame by hinge R11 respectively; The cylinder sleeve end of a pair of auxiliary hydraulic cylinder 9 is connected with the both sides at above-mentioned swing arm 2 one positions respectively by hinge R2, and the piston rod end of this a pair of auxiliary hydraulic cylinder 9 is connected with central rack by hinge R12; The cylinder sleeve end of a pair of swing arm hydraulic cylinder 8 is connected with the both sides at above-mentioned swing arm 2 another positions by hinge R3 respectively, and the piston rod end of this a pair of swing arm hydraulic cylinder 8 is connected with a position of above-mentioned a pair of rocking bar 5 by hinge R10 respectively; The piston rod end of a pair of dipper hydraulic cylinder 6 is connected with the both sides at above-mentioned dipper 3 middle parts by hinge R6 respectively, and the cylinder sleeve end of this a pair of dipper hydraulic cylinder 6 is connected with another position of above-mentioned rocking bar 5 by hinge R5 respectively.
In the three-dimensional simplified schematic diagram of the redundant forward shovel structure of the motion that can reduce the lifting energy consumption shown in Figure 4, one end of frame 1 is connected with the lower end of swing arm 2 by hinge R1, the upper end of this swing arm 2 is connected with an end of dipper 3 by hinge R4, the other end of this dipper 3 is hinged by a position of hinge R7 and scraper bowl 4, another position of this scraper bowl 4 is connected with the cylinder sleeve end of a pair of scraper bowl hydraulic cylinder 7 by hinge R8, the piston rod end of this a pair of scraper bowl hydraulic cylinder 7 is connected with an end of a pair of rocking bar 5 by hinge R9 respectively, and the other end of this a pair of rocking bar 5 is connected with the other end of frame by hinge R11 respectively; The cylinder sleeve end of a pair of auxiliary hydraulic cylinder 9 is connected with above-mentioned rocking bar one position respectively by hinge R2, and the piston rod end of this a pair of auxiliary hydraulic cylinder 9 is connected with central rack by hinge R12; The cylinder sleeve end of a pair of swing arm hydraulic cylinder 8 is connected with the both sides at above-mentioned swing arm one position by hinge R3 respectively, and the piston rod end of this a pair of swing arm hydraulic cylinder 8 is connected with the middle part of above-mentioned a pair of rocking bar by hinge R10 respectively; The cylinder sleeve end of a pair of dipper hydraulic cylinder 6 is connected with another position of above-mentioned rocking bar 5 by hinge R5 respectively, and the piston rod end of this a pair of dipper hydraulic cylinder is connected with the both sides at dipper middle part by hinge R6 respectively.
Claims (2)
1. redundant forward shovel structure of the motion that can reduce the lifting energy consumption, it includes frame, swing arm, dipper, scraper bowl, rocking bar, dipper hydraulic cylinder, scraper bowl hydraulic cylinder, swing arm hydraulic cylinder, auxiliary 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, the other end of this dipper is connected with a position of scraper bowl, it is characterized in that: linked to each other by scraper bowl hydraulic cylinder, dipper hydraulic cylinder, swing arm hydraulic cylinder, auxiliary hydraulic cylinder and rocking bar respectively between them, and connected mode is as follows:
The first connected mode: piston rod end and the frame of a pair of auxiliary hydraulic cylinder are hinged, the cylinder sleeve end of this a pair of auxiliary hydraulic cylinder and a position of above-mentioned swing arm are hinged, the cylinder sleeve end of a pair of swing arm hydraulic cylinder and another position of above-mentioned swing arm are hinged, the piston rod end of this a pair of swing arm hydraulic cylinder and a pair of rocking bar middle part are hinged, one end and the frame of this a pair of rocking bar are hinged, the cylinder sleeve end of the other end of this a pair of rocking bar and a pair of dipper hydraulic cylinder is hinged, and the piston rod end of this a pair of dipper hydraulic cylinder and above-mentioned dipper are hinged; The piston rod end of a pair of scraper bowl hydraulic cylinder and above-mentioned swing arm are hinged, the cylinder sleeve end of this a pair of scraper bowl hydraulic cylinder and another position of above-mentioned scraper bowl are hinged, the second connected mode: piston rod end and the frame of a pair of auxiliary hydraulic cylinder are hinged, the cylinder sleeve end of this a pair of auxiliary hydraulic cylinder and a position of swing arm are hinged, the cylinder sleeve end of a pair of swing arm hydraulic cylinder and another position of above-mentioned swing arm are hinged, the piston rod end of this a pair of swing arm hydraulic cylinder and a pair of rocking bar middle part are hinged, one end and the frame of this a pair of rocking bar are hinged, the piston rod end of the other end of this a pair of rocking bar and a pair of scraper bowl hydraulic cylinder is hinged, and the cylinder sleeve end of this a pair of scraper bowl hydraulic cylinder and another position of above-mentioned scraper bowl are hinged; One position of the piston rod end of a pair of dipper hydraulic cylinder and swing arm is hinged, the cylinder sleeve end of this a pair of dipper hydraulic cylinder and above-mentioned dipper middle part are hinged, the third connected mode: piston rod end and the frame of a pair of auxiliary hydraulic cylinder are hinged, the cylinder sleeve end of this a pair of auxiliary hydraulic cylinder and a position of swing arm are hinged, the cylinder sleeve end of a pair of swing arm hydraulic cylinder and another position of above-mentioned swing arm are hinged, one position of the piston rod end of this a pair of swing arm hydraulic cylinder and a pair of rocking bar is hinged, one end and the frame of this a pair of rocking bar are hinged, the piston rod end of the other end of this a pair of rocking bar and a pair of scraper bowl hydraulic cylinder is hinged, and the cylinder sleeve end of this a pair of scraper bowl hydraulic cylinder and another position of above-mentioned scraper bowl are hinged; The piston rod end of a pair of dipper hydraulic cylinder and above-mentioned dipper middle part are hinged, the cylinder sleeve end of this a pair of dipper hydraulic cylinder and another position of above-mentioned rocking bar are hinged, the 4th kind of connected mode: piston rod end and the frame of a pair of auxiliary hydraulic cylinder are hinged, cylinder sleeve end and a pair of rocking bar of this a pair of auxiliary hydraulic cylinder are hinged, one end and the frame of this a pair of rocking bar are hinged, the piston rod end of the other end of this a pair of rocking bar and a pair of scraper bowl hydraulic cylinder is hinged, the cylinder sleeve end of this a pair of scraper bowl hydraulic cylinder and another position of above-mentioned scraper bowl are hinged, one position of the piston rod end of a pair of swing arm hydraulic cylinder and above-mentioned rocking bar is hinged, and cylinder sleeve end and the swing arm of this a pair of swing arm hydraulic cylinder are hinged; Cylinder sleeve end and another position of above-mentioned rocking bar of a pair of dipper hydraulic cylinder are hinged, and the piston rod end of this a pair of dipper hydraulic cylinder and above-mentioned dipper are hinged.
2. the redundant forward shovel structure of a kind of motion that can reduce the lifting energy consumption according to claim 1, it is characterized in that: the cylinder sleeve of above-mentioned each hydraulic cylinder and the position of piston rod can exchange.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220255314 CN202706076U (en) | 2012-06-01 | 2012-06-01 | Motion redundant face shovel excavation mechanism capable of reducing hoisting energy consumption |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220255314 CN202706076U (en) | 2012-06-01 | 2012-06-01 | Motion redundant face shovel excavation mechanism capable of reducing hoisting energy consumption |
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| CN202706076U true CN202706076U (en) | 2013-01-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201220255314 Withdrawn - After Issue CN202706076U (en) | 2012-06-01 | 2012-06-01 | Motion redundant face shovel excavation mechanism capable of reducing hoisting energy consumption |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102720230A (en) * | 2012-06-01 | 2012-10-10 | 燕山大学 | Motion redundancy face shovel excavating mechanism capable of reducing lifting energy consumption |
| CN111042236A (en) * | 2019-12-19 | 2020-04-21 | 中国地质大学（武汉） | Face shovel excavating and loading device capable of improving bucket stroke and bearing capacity |
| CN111042242A (en) * | 2019-12-19 | 2020-04-21 | 中国地质大学（武汉） | Front shovel excavating and loading device capable of improving excavating force and bearing capacity of bucket |
-
2012
- 2012-06-01 CN CN 201220255314 patent/CN202706076U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102720230A (en) * | 2012-06-01 | 2012-10-10 | 燕山大学 | Motion redundancy face shovel excavating mechanism capable of reducing lifting energy consumption |
| CN102720230B (en) * | 2012-06-01 | 2014-07-23 | 燕山大学 | Motion redundancy face shovel excavating mechanism capable of reducing lifting energy consumption |
| CN111042236A (en) * | 2019-12-19 | 2020-04-21 | 中国地质大学（武汉） | Face shovel excavating and loading device capable of improving bucket stroke and bearing capacity |
| CN111042242A (en) * | 2019-12-19 | 2020-04-21 | 中国地质大学（武汉） | Front shovel excavating and loading device capable of improving excavating force and bearing capacity of bucket |
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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: 20140723 |
|
| RGAV | Abandon patent right to avoid regrant |