CN209633024U - A kind of crawl lumbering Engineering Robot - Google Patents
A kind of crawl lumbering Engineering Robot Download PDFInfo
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- CN209633024U CN209633024U CN201920257898.9U CN201920257898U CN209633024U CN 209633024 U CN209633024 U CN 209633024U CN 201920257898 U CN201920257898 U CN 201920257898U CN 209633024 U CN209633024 U CN 209633024U
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Abstract
The utility model discloses a kind of crawl lumbering Engineering Robots, traveling chassis provides walking and support, the connection pedestal including rack, tensioning wheel, thrust wheel, driving wheel, carrier wheel, crawler belt, hydraulic leg, I-shaped crossbeam and driving system and top for Engineering Robot；Grabbing mechanical arm is the operating mechanism that log grabs robot, including slewing supporting device, column, upper arm oil cylinder, upper arm, basic arm oil cylinder, basic arm, telescopic arm, hydraulic grab；Drive control hydraulic system provides drive control, including upper arm hydraulic circuit, basic arm cylinder circuit, hydraulic cylinder in telescopic arm circuit, grab bucket cylinder circuit, hydraulic motor travel motor circuit, rotary fluid motor circuit, multiple directional control valve, shuttle valve, landing leg hydraulic cylinder circuit, load sensitive pump for each hydraulic cylinder of Engineering Robot.The utility model solves the problems, such as that artificial Felling Efficiency is low in actual life, improves the working efficiency of operation, improves the working environment of operator, reduce labour cost.
Description
Technical field
The utility model relates to technical field of mechanical design more particularly to a kind of crawl lumbering Engineering Robots.
Background technique
Operating condition is complicated severe in forest, and the most of forest zones in China also use manual work, strong to the body of worker
Health has certain harm, and working efficiency is low.
Currently, forestry crawl engineering machinery research is also less at home, it is mechanical in terms of forestry not paid attention to sufficiently.
Therefore, in order to improve forest land log handling operation efficiency and improve operator's working environment, design crawl lumbering is used
Construction machine robot mechanism becomes inexorable trend.
Utility model content
To solve problems of the prior art, the purpose of this utility model is to provide a kind of crawl lumbering engineerings
Robot improves work effect when log handling to solve the problems, such as that manual handling is lumbered during existing forest operation
Rate alleviates the labor intensity of work man-hour.
In order to achieve the above objectives, the utility model adopts the following technical solution:
A kind of crawl lumbering Engineering Robot, including traveling chassis, crawl mechanical arm and drive control hydraulic system；
Travelling chassis is that crawler type travels chassis, and traveling chassis is equipped with connection pedestal, and the one end for grabbing mechanical arm is equipped with revolving support
Device, slewing supporting device are able to carry out rotation by slewing supporting device with pedestal connection, crawl mechanical arm is connect；Gripper
The other end of tool arm is equipped with the hydraulic grab for grabbing log, slewing supporting device, hydraulic grab, traveling chassis and gripper
Tool arm passes through drive control hydraulic system and drives.
Crawler type traveling chassis includes the first rack and the second rack of symmetrically arranged side by side, the first rack and the second rack
Between be fixedly connected with I-shaped crossbeam, connection pedestal is fixedly connected on I-shaped crossbeam；
First rack and the second rack are separately installed with driving wheel and tensioning wheel in their rear and front end, and bottom is pacified
Equipped with several thrust wheels, top is mounted on moping pulley；It is mounted on crawler belt in first rack and the second rack, has crawler belt successively
It is enclosed along driving wheel, thrust wheel, tensioning wheel and moping pulley winding one；
Driving wheel is driven by drive control hydraulic system.
It is symmetrically installed with hydraulic leg in first rack and the second rack, hydraulic leg is driven by drive control hydraulic system
Dynamic, driving wheel is arranged in position relatively on the upper side.
Thrust wheel there are six being respectively mounted in first rack and the second rack, wherein between first three unilateral thrust wheel
Spacing between spacing and rear three thrust wheels is identical, and spacing is denoted as A, and the spacing between two intermediate thrust wheels is denoted as B, B
> A.
It is respectively mounted in first rack and the second rack there are two moping pulley, two moping pulleys are arranged symmetrically between two parties.
Crawl mechanical arm includes column, upper arm oil cylinder, upper arm, basic arm oil cylinder, basic arm and telescopic arm, column and revolution
Support device is connected；Upper arm is connected with column, and the both ends of arm oil cylinder are connected with upper arm with column respectively, and upper arm passes through upper with column
Flexible realize of arm oil cylinder relatively rotates；Basic arm is connected with upper arm, the both ends of basic arm oil cylinder respectively with basic arm and upper arm phase
Even, basic arm and upper arm are relatively rotated by flexible realize of basic arm oil cylinder；Telescopic arm is connected with basic arm and by flexible oil
Cylinder realizes that the relatively basic arm of telescopic arm carries out stretching motion；Hydraulic grab connect with telescopic arm and pass through revolution pin shaft realize it is hydraulic
It grabs bucket in a vertical state always；
Upper arm oil cylinder, basic arm oil cylinder and telescopic oil cylinder pass through drive control hydraulic system and drive.
Column is connect with upper arm by pin shaft；Upper arm is connect with basic arm by pin shaft.
Hydraulic grab include mounting rack, left hand grab, connecting rod, left rotary shaft, right spindle, left rotation shaft, right rotation shafts, grab bucket liquid
Cylinder pressure and the right hand are grabbed；Revolution pin shaft is mounted on the top of mounting rack, and left hand, which is grabbed, to be connected by left rotary shaft with the left side of mounting rack；It is right
Hand, which is grabbed, to be connected by right spindle with the right side of mounting rack；Left rotation shaft and right rotation shafts, which are respectively arranged in left hand, grabs and grabs with the right hand
Upper end；The both ends of connecting rod pass through shaft respectively and otic placode is connected with left rotation shaft and right rotation shafts, and connecting rod is relatively rotatable to each other axis
It is rotated with right rotation shafts；The both ends of grab bucket hydraulic cylinder pass through shaft and otic placode and left rotation shaft and right rotation shafts phase respectively
Even, grab bucket hydraulic cylinder is relatively rotatable to each other axis and right rotation shafts are rotated.
The utility model has the following beneficial effects:
The crawl lumbering Engineering Robot of the utility model, travels chassis using crawler type, has below several excellent
Point is long service life first, and gauge is small, and verticity is good, will not be damaged due to creeper tread without operating；Followed by combine
The manufacturing cost of formula crawler belt is cheap, and maintenance cost is low and conveniently.It travels chassis and is equipped with connection pedestal, grab the one of mechanical arm
End is equipped with slewing supporting device, and slewing supporting device is connected with pedestal is connect, and crawl mechanical arm can by slewing supporting device
It is rotated, grabs the other end of mechanical arm equipped with the hydraulic grab for grabbing log, therefore pass through slewing supporting device energy
It is enough to realize the angular turn of crawl mechanical arm within the specified scope, so that hydraulic grab can be moved flexibly during crawl lumbering,
Convenient for operation.Therefore it can be realized the flexible movement of hydraulic grab by grabbing mechanical arm, guarantee the fluency of operation.To sum up,
The crawl lumbering of the utility model solves log crawl Engineering Robot in driving process and operation with Engineering Robot
The problem of journey encounters can make to grab lumbering Engineering Robot traveling and operation in complicated forest land environment, increase this
The job stability of kind robot and safety.The utility model can be improved working efficiency when log handling, alleviate
The labor intensity of work man-hour.The crawl lumbering of the utility model is more compact with Engineering Robot complete machine structure, and traveling is logical
It is more strong to cross performance.
Detailed description of the invention
Fig. 1 is that the crawl Engineering Robot of the utility model travels the side structure schematic view on chassis.
Fig. 2 is that the crawl Engineering Robot of the utility model travels the overlooking structure diagram on chassis.
Fig. 3 is that the crawl Engineering Robot of the utility model grabs the side structure schematic view of mechanical arm.
Fig. 4 is the crawl of the utility model overlooking structure diagram of Engineering Robot hydraulic grab.
Fig. 5 is the crawl of the utility model first axle side schematic diagram of Engineering Robot hydraulic grab.
Fig. 6 is the crawl of the utility model the second axis side schematic diagram of Engineering Robot hydraulic grab.
Fig. 7 is the robotically-driven control hydraulic system overall diagram of crawl engineering of the utility model.
In figure: 1 is tensioning wheel；2 be rack；3 be crawler belt；4 be moping pulley；5 be hydraulic leg；6 driving wheels；7 be Zhi Chong
Wheel；8 be I-shaped crossbeam；9 be connection pedestal；10 be slewing supporting device；11 be column；12 be upper arm oil cylinder；13 be upper arm；
14 be basic arm oil cylinder；15 be basic arm；16 be telescopic arm；17 be hydraulic grab；17-1 grabs for left hand；17-2 is left otic placode；
17-3 is connecting rod；17-4 is left rotary shaft；17-5 is right spindle；17-6 is auris dextra plate；17-7 is grab bucket hydraulic cylinder；17-8 is the right hand
It grabs, 17-9 is mounting rack, and 17-10 is left rotation shaft, and 17-11 is right rotation shafts；18 be upper arm hydraulic circuit；19 be basic arm liquid
Cylinder pressure circuit；20 be hydraulic cylinder in telescopic arm circuit；21 be grab bucket cylinder circuit；22 be hydraulic motor travel motor circuit；23 are back
Rotating hydraulic motor circuit；24 be multiple directional control valve；25 be shuttle valve；26 be landing leg hydraulic cylinder circuit；27 be load sensitive pump, and 28 are
Turn round pin shaft.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawings and examples:
The driving system of the Engineering Robot of the utility model, solve log crawl Engineering Robot driving process with
And operation process the problem of encountering.The operating mechanism of the crawl Engineering Robot of the utility model, main includes grab bucket, working machine
The rod piece and slewing equipment of structure solve log crawl Engineering Robot in the problems in operation process.The utility model can
Working efficiency when log handling is improved, the labor intensity of work man-hour is alleviated.
The utility model adopts the following technical solution:
As shown in Figure 1-Figure 3, the utility model crawl lumbering with Engineering Robot include traveling chassis, crawl mechanical arm with
And drive control hydraulic system, traveling chassis include tensioning wheel 1, rack 2, crawler belt 3, moping pulley 4, hydraulic leg 5, driving wheel 6,
Thrust wheel 7, I-shaped crossbeam 8 and connection pedestal 9；The connection of the I-shaped crossbeam 8 of rack 2, tensioning wheel 1, thrust wheel 7, driving wheel 6
It is connect by crawler belt 3 with rack 2 with carrier wheel 4, hydraulic leg 5 is connect with rack 2, and connection pedestal 9 and I-shaped crossbeam 8 connect
It connects；Arrange that, there are four hydraulic leg 5, driving wheel 6 is arranged in position relatively on the upper side using cterpillar drive, around chassis
It sets.The driving wheel 6 of side crawler belt 3 is individually controlled by 1 hydraulic motor travel motor, and hydraulic motor travel motor is by hydraulic motor travel motor circuit
22 drive controls, hydraulic motor travel motor are connected by speed reducer with driving wheel 6.In 2 surrounding of rack arrangement, there are four hydraulic legs
5, the process of log crawl operation is carried out in Engineering Robot, hydraulic leg 5 stretches out, and contacts ground, provides support force, increase this
One is disposed with conducive to the stability and safety of log crawl Engineering Robot operation process, prevents log from grabbing construction machine
The raw rollover of human hair.And each hydraulic leg 5 individually has a hydraulic cylinder control, and the extension elongation of hydraulic cylinder can be according to need
It controls, so that Engineering Robot can satisfy the demand of Various Complex landform.4 hydraulic legs 5 it is flexible by supporting leg liquid
26 drive control of cylinder pressure circuit.For unilateral crawler belt 3 there are six thrust wheel 7, first three spacing between rear three thrust wheels 7 is fixed
Same distance, and the distance between two intermediate thrust wheels 7 interval is larger, is conducive to pass through gully.Log grabs engineering
The driving wheel 6 of robot driving system is retrodeviating upper arrangement, and drive section is short, and friction loss is small, and wheel efficiency is high, and center of gravity
Height is convenient for integrally-built arrangement so that machine is more smooth in operation process, while can be such that transmission system arranges rearward.In
2 upper design of rack is mounted with that two moping pulleys 4 are arranged symmetrically between two parties, avoids 3 pendulous tank of crawler belt is too long from leading to sag of chain mistake
Greatly, mitigating crawler belt 3 reduces the loss of energy in the vibration of operation process, and prevents crawler belt 3 from falling off.Log grabs engineering machine
It is combined type crawler belt 3 used by the driving system of device people, there are several advantages below, be long service life, gauge first
Small, verticity is good, will not be damaged due to creeper tread without operating.The manufacturing cost of followed by combined type crawler belt 3 is cheap, dimension
It repairs at low cost and conveniently.The driving system of the log crawl Engineering Robot of the utility model is using high flange forms
The accuracy of tensioning wheel 1, winding crawler belt 3 is more increased, and guidance crawler belt 3 that can be safer is wound.Before and after rack 2
Two sides have installed two I-shaped crossbeams 8 additional, enhance the structural strength on log crawl Engineering Robot chassis.
As shown in Fig. 3~Fig. 6, the crawl mechanical arm of the utility model is a kind of working machine of crawl lumbering Engineering Robot
Structure, including slewing supporting device 10, column 11, upper arm oil cylinder 12, upper arm 13, basic arm oil cylinder 14, basic arm 15, telescopic arm 16
With hydraulic grab 17, wherein hydraulic grab 17 includes that left hand grabs 17-1, left otic placode 17-2, connecting rod 17-3, left rotary shaft 17-4, the right side
Shaft 17-5, auris dextra plate 17-6, left rotation shaft 17-10, right rotation shafts 17-11, grab bucket hydraulic cylinder 17-7 and the right hand grab 17-8；It returns
Turn support device 10 and be connected with the connection pedestal 9 for travelling chassis, realize crawl mechanical arm and travels the relative rotation on chassis, column
11 are bolted to connection on slewing supporting device 10, and column 11 is connected with upper arm 13 by pin shaft, and upper arm oil cylinder 12 is pacified
On column 11 and upper arm 13, upper arm 13 is connected with column 11 and realizes rotation by the way that upper arm oil cylinder 12 is flexible, when upper arm oil
When cylinder 12 extends, upper arm oil cylinder 12 pushes upper arm 13 to be rotated up, and when upper arm oil cylinder 12 is shunk, upper arm oil cylinder 12 pulls upper arm
13 rotate down；Upper arm 13 is connected with basic arm 15 by pin shaft, and basic arm oil cylinder 14 is mounted on upper arm 13 and basic arm 15,
Basic arm 15 is connected with upper arm 13 and realizes rotation by the way that basic arm oil cylinder 14 is flexible, when basic arm oil cylinder 14 extends, substantially
Arm oil cylinder 14 push basic arm 15 rotate down, when basic arm oil cylinder 14 shrink when, basic arm oil cylinder 14 pull basic arm 15 to
Under rotated；Telescopic arm 16 is connected with basic arm 15 and realizes that stretching motion, telescopic arm 16 pass through by a telescopic oil cylinder
Telescopic oil cylinder is extended and retracted to be controlled；Hydraulic grab 17 connect with telescopic arm 16 and passes through fulcrum post axis connection, with
Realize that hydraulic grab 17 is in a vertical state always.The upper end of hydraulic grab 17 17-1 phase is grabbed by left rotary shaft 17-4 and left hand
Even, 17-8 is grabbed with the right hand by right spindle 17-5 and is connected, left rotation shaft 17-10 and right rotation shafts 17-11 are respectively arranged in left hand
It grabs 17-1 and the right hand grabs the upper end of 17-8；The both ends of connecting rod 17-3 by shaft and otic placode respectively with left rotation shaft 17-10 and the right side
Rotation axis 17-11 axis connection, in hydraulic grab 17 when closing up with opening, connecting rod 17-3 is rotated around otic placode, hydraulic cylinder of grabbing bucket
The both ends of 17-7 by shaft and otic placode respectively with left rotation shaft 17-10 and right rotation shafts 17-11 axis connection, hydraulic cylinder of grabbing bucket
17-7 is flexible to drive left otic placode 17-2 and auris dextra plate 17-6 rotation to realize closing up and opening for hydraulic grab 17.
Pass through slewing supporting device 10, upper arm oil cylinder 12, basic arm oil cylinder 14, the telescopic oil cylinder of telescopic arm 16 and grab bucket
Hydraulic cylinder 17-7 cooperates, and crawl robotic arm can reach in defined working range, and can be in the work that can achieve
Make to realize crawl operation in range.
As shown in fig. 7, the drive control hydraulic system of the utility model includes upper arm hydraulic circuit 18, basic arm hydraulic cylinder
Circuit 19, hydraulic cylinder in telescopic arm circuit 20, grab bucket cylinder circuit 21, hydraulic motor travel motor circuit 22, rotary fluid motor return
Road 23, multiple directional control valve 24, shuttle valve 25, landing leg hydraulic cylinder circuit 26, load sensitive pump 27；Load sensitive pump 27 is whole system
The pressure to match and hydraulic fluid flow rate are provided.Slewing supporting device 10 is driven by rotary fluid motor, rotary fluid motor by
23 drive control of rotary fluid motor circuit, rotary fluid motor are connected by speed reducer with slewing supporting device 10.4 hydraulic
Supporting leg 5 stretches by 26 drive control of landing leg hydraulic cylinder circuit.Upper arm oil cylinder 12 is connect with upper arm hydraulic circuit 18, and upper arm is hydraulic
Circuit 18 drives upper arm oil cylinder 12 to act.Basic arm oil cylinder 14 is connect with basic arm cylinder circuit 19, and basic arm hydraulic cylinder returns
Road 19 drives basic arm oil cylinder 14 to act.Stretching for telescopic arm 16 is real by 20 drive control telescopic oil cylinder of hydraulic cylinder in telescopic arm circuit
It is existing.The opening and closing of hydraulic grab 17 are realized by 21 drive control of grab bucket cylinder circuit grab bucket hydraulic cylinder 17-7.Each executing agency
Hydraulic circuit is controlled by multiple directional control valve 24.Load sensitive pump 27 can make the flow of hydraulic system match with pressure.Shuttle valve
25 maximum pressures for filtering out executing agency pass to the flow and pressure match that load sensitive pump 27 realizes hydraulic system.
The utility model grab lumbering with Engineering Robot at work:
Hydraulic motor travel motor drives driving wheel 6 to operate, and under the action of driving wheel 6, crawler belt 3 is started turning, and moping pulley 4
The bearing of upside crawler belt 3 is got up, and thrust wheel 7 supports entire traveling chassis.
Crawl lumbering is mainly sequentially included the following steps: at work with Engineering Robot
(1) crawl lumbering is moved to suitable log loading position with Engineering Robot complete machine.
(2) work of slewing supporting device 10 turns to equipment above log, by controlling upper arm oil cylinder 12, substantially
Arm oil cylinder 14 and telescopic boom cylinder, adjust upper arm 13, basic arm 15, and the position of telescopic arm 16 makes grab bucket reach the crawl of log
In job area.
(3) by control timber grab hydraulic cylinder 17-7, timber grab left hand grabs 17-1 and the right hand grabs 17-8 opening, inserts
The crawl of log is carried out into rollway, then hand grabs closure and clamps log.
(4) stroke for passing through each oil cylinder of hydraulic system drive control, adjusts upper arm 13, basic arm 15, telescopic arm 16
Position, the timber grab for grabbing log reaches specified place of removing stage makeup and costume.
In conclusion the log crawl Engineering Robot complete machine structure size of the utility model is more compact, drive through
Performance is more strong.Compared with prior art, the utility model has a beneficial technical effect below: the timber grab right hand grab and
It is to be connected on telescopic arm by shaft, and can be rotated around the shaft simultaneously that left hand, which is grabbed, and one end and the left hand of oil cylinder are grabbed
Otic placode fix, the other end is connected with the otic placode that the right hand is grabbed.Connecting rod one end is connect with the upper ear plate that left hand is grabbed, the other end and the right side
The otic placode that hand is grabbed is fixed, when grab bucket start reach timber placement location after, the high pressure oil of Engineering Robot hydraulic system just into
Enter cylinder rod chamber, piston rod retracts later, and the driving right hand is grabbed to be rotated counterclockwise around rotation axis, and the right hand grabs opening, grabs with the right hand
Connected connecting rod also rotates simultaneously, and the connecting rod of rotation drives left hand to grab and rotates clockwise, and left hand grabs opening, and hand grabs reeve rollway
In.When the high pressure oil of hydraulic system enters oil cylinder rodless cavity, piston rod stretches out, and the driving right hand is grabbed to be rotated clockwise around the shaft,
Connecting rod drives the right hand to grab and rotates counterclockwise around the shaft, stress on both hands closure simultaneously.Right-hand man, which grabs, to be started to clamp log, then controls work
The lifting rotary transport for starting progress timber as device, after reaching specified emptying point, hand grabs opening, carries out unloading for timber
It carries, so ceaselessly repeated work, this grab bucket ensure that the folding of left and right handgrip is consistent, have good Grabbing properties, subtracting
While light dead-weight, there is good intensity, rigidity and wearability, improve crawl amount, reduce the consumption of power.
Claims (8)
1. a kind of crawl lumbering Engineering Robot, which is characterized in that including traveling chassis, crawl mechanical arm and drive control
Hydraulic system；Travelling chassis is that crawler type travels chassis, and traveling chassis is equipped with connection pedestal (9), grabs one end of mechanical arm
Equipped with slewing supporting device (10), slewing supporting device (10) passes through revolving support with pedestal (9) connection, crawl mechanical arm is connect
Device (10) is able to carry out rotation；The other end of mechanical arm is grabbed equipped with the hydraulic grab (17) for grabbing log, revolution branch
Support arrangement (10), hydraulic grab (17), traveling chassis and crawl mechanical arm pass through drive control hydraulic system and drive.
2. a kind of crawl lumbering Engineering Robot according to claim 1, which is characterized in that crawler type travels chassis packet
The first rack and the second rack for including symmetrically arranged side by side, are fixedly connected with I-shaped crossbeam between the first rack and the second rack
(8), connection pedestal (9) is fixedly connected on I-shaped crossbeam (8)；
First rack and the second rack are separately installed with driving wheel (6) and tensioning wheel (1) in their rear and front end, and bottom is equal
It is equipped with several thrust wheels (7), top is mounted on moping pulley (4)；Crawler belt is mounted in first rack and the second rack
(3), crawler belt (3) successively encloses along driving wheel (6), thrust wheel (7), tensioning wheel (1) and moping pulley (4) winding one；
Driving wheel (6) is driven by drive control hydraulic system.
3. a kind of crawl lumbering Engineering Robot according to claim 2, which is characterized in that the first rack and the second machine
It is symmetrically installed on frame hydraulic leg (5), hydraulic leg (5) is driven by drive control hydraulic system, and driving wheel (6) is arranged in
Position relatively on the upper side.
4. a kind of crawl lumbering Engineering Robot according to claim 2, which is characterized in that the first rack and the second machine
There are six being respectively mounted on frame thrust wheel (7), wherein spacing and rear three thrust wheels between first three unilateral thrust wheel (7)
(7) spacing between is identical, and spacing is denoted as A, and the spacing between two intermediate thrust wheels (7) is denoted as B, B > A.
5. a kind of crawl lumbering Engineering Robot according to claim 2, which is characterized in that the first rack and the second machine
It is respectively mounted on frame there are two moping pulley (4), two moping pulleys (4) are arranged symmetrically between two parties.
6. a kind of crawl lumbering Engineering Robot according to claim 1, which is characterized in that crawl mechanical arm includes vertical
Column (11), upper arm oil cylinder (12), upper arm (13), basic arm oil cylinder (14), basic arm (15) and telescopic arm (16), column (11) with
Slewing supporting device (10) is connected；Upper arm (13) is connected with column (11), the both ends of arm oil cylinder (12) respectively with upper arm (13) with
Column (11) is connected, and upper arm (13) and column (11) are relatively rotated by upper arm oil cylinder (12) flexible realize；Basic arm (15) with
Upper arm (13) be connected, the both ends of basic arm oil cylinder (14) are connected with basic arm (15) with upper arm (13) respectively, basic arm (15) and
Upper arm (13) is relatively rotated by basic arm oil cylinder (14) flexible realize；Telescopic arm (16) is connected with basic arm (15) and by stretching
Contracting oil cylinder realizes that telescopic arm (16) relatively basic arm (15) carry out stretching motion；Hydraulic grab (17) is connect simultaneously with telescopic arm (16)
Realize that hydraulic grab (17) are in a vertical state always by revolution pin shaft (28)；
Upper arm oil cylinder (12), basic arm oil cylinder (14) and telescopic oil cylinder pass through drive control hydraulic system and drive.
7. a kind of crawl lumbering Engineering Robot according to claim 6, which is characterized in that column (11) and upper arm
(13) it is connected by pin shaft；Upper arm (13) is connect with basic arm (15) by pin shaft.
8. a kind of crawl lumbering Engineering Robot according to claim 1, which is characterized in that hydraulic grab (17) includes
Mounting rack (17-9), left hand grab (17-1), connecting rod (17-3), left rotary shaft (17-4), right spindle (17-5), left rotation shaft (17-
10), right rotation shafts (17-11), grab bucket hydraulic cylinder (17-7) and the right hand grab (17-8)；Revolution pin shaft (28) is mounted on mounting rack
The top of (17-9), left hand grab (17-1) and are connected by left rotary shaft (17-4) with the left side of mounting rack (17-9)；The right hand grabs (17-
8) it is connected by right spindle (17-5) with the right side of mounting rack (17-9)；Left rotation shaft (17-10) and right rotation shafts (17-11) point
It is not installed on the upper end that left hand grabs (17-1) and the right hand grabs (17-8)；The both ends of connecting rod (17-3) pass through respectively shaft and otic placode with
Left rotation shaft (17-10) is connected with right rotation shafts (17-11), and connecting rod (17-3) is relatively rotatable to each other axis (17-10) and turns right dynamic
Axis (17-11) is rotated；The both ends of grab bucket hydraulic cylinder (17-7) pass through respectively shaft and otic placode and left rotation shaft (17-10) and
Right rotation shafts (17-11) be connected, grab bucket hydraulic cylinder (17-7) be relatively rotatable to each other axis (17-10) and right rotation shafts (17-11) into
Row rotation.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920257898.9U CN209633024U (en) | 2019-02-28 | 2019-02-28 | A kind of crawl lumbering Engineering Robot |
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| Application Number | Priority Date | Filing Date | Title |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109732557A (en) * | 2019-02-28 | 2019-05-10 | 长安大学 | A kind of crawl lumbering Engineering Robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109732557A (en) * | 2019-02-28 | 2019-05-10 | 长安大学 | A kind of crawl lumbering Engineering Robot |
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