CN211006835U - Automatic operating device for operating handle of excavator - Google Patents
Automatic operating device for operating handle of excavator Download PDFInfo
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- CN211006835U CN211006835U CN201921694708.6U CN201921694708U CN211006835U CN 211006835 U CN211006835 U CN 211006835U CN 201921694708 U CN201921694708 U CN 201921694708U CN 211006835 U CN211006835 U CN 211006835U
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Abstract
An automatic operating device for an excavator operating handle comprises a base, a first motor, a second motor, a first transmission shaft, a second transmission shaft, a first connecting shaft, a second connecting shaft, a first swing rod, a second swing rod, a translation seat and a connecting seat connected with the operating handle. The translation seat is placed horizontally, and this translation seat sets up rotatable first connecting axle and second connecting axle respectively, but the other end of translation seat and connecting seat carry out the swing joint that two-dimensional direction rotated and removed. The first transmission shaft and the second transmission shaft are arranged on the base in equal height, are respectively positioned below the first connecting shaft and the second connecting shaft in parallel, are respectively driven by the first motor and the second motor to rotate by no more than 180 degrees, are respectively hinged with the first connecting shaft and the second connecting shaft at the upper ends, and are respectively hinged with the first transmission shaft and the second transmission shaft at the lower ends, and the device can realize the automatic operation of the operating handle of the excavator.
Description
The technical field is as follows:
the utility model relates to an operation handle automatic operation device specifically is an excavator operation handle automatic operation device.
Background art:
some situations with unusually harsh and dangerous working environment, such as: the engineering guarantee, the emergency rescue and the relief work and the high-temperature slag removal under the environment of battlefields, nuclear biochemical pollution and toxic gas, waste gas and dust can involve excavation operation, obviously, the occasions are not suitable for human field operation and need automatic operation, and the practical problem to be solved is how to simply improve the existing excavator to enable the excavator to enter the above-mentioned abnormal and severe dangerous occasions to realize unmanned walking and automatic operation.
The invention content is as follows:
in order to solve the problems existing in the prior art, the utility model provides an automatic operating device for an excavator operating handle, which comprises a base, a first motor, a second motor, a first transmission shaft, a second transmission shaft, a first connecting shaft, a second connecting shaft, a first swing rod, a second swing rod, a translation seat and a connecting seat connected with the operating handle; the horizontal moving seat is horizontally arranged, a first connecting shaft and a second connecting shaft which can rotate are respectively arranged at equal heights of one end of the horizontal moving seat in the length direction and the width direction, the other end of the horizontal moving seat is movably connected with the connecting seat in a two-dimensional direction rotating and moving manner, the two-dimensional direction rotating is the rotating around two mutually vertical rotating shafts on the horizontal plane, and the moving is the moving on the vertical plane; the first transmission shaft and the second transmission shaft are arranged on the base in equal height, are respectively positioned below the first connecting shaft and the second connecting shaft in parallel, and are respectively driven by the first motor and the second motor to rotate by no more than 180 degrees; the upper ends of the first swing rod and the second swing rod are respectively hinged with the first connecting shaft and the second connecting shaft, and the lower ends of the first swing rod and the second swing rod are respectively hinged with the first transmission shaft and the second transmission shaft.
Further, the translation seat comprises a translation bracket and a connecting rod which are arranged and connected along the length direction, and one end of the connecting rod is movably connected with the connecting seat through a movable connecting unit.
Further, the swing joint unit includes rotation piece, sliding block, connects in the rotation seat of the translation seat other end and connects in the direction connecting piece of connecting seat, the rotation piece rotates to be set up on rotating the seat and articulated with the sliding block, and the axis of articulated axis perpendicular to rotation piece, the sliding block slides and sets up on the direction connecting piece.
Furthermore, the rotating seat is a rectangular frame with one end part provided with an end wall and the other end part provided with a connecting port, the rotating seat is connected with the corresponding end of the connecting rod through the connecting port, the end wall is provided with a rotating hole, and the rotating part is rotatably arranged in the rotating hole.
Further, the rotation piece includes U-shaped seat, axis of rotation and spacer, U-shaped seat bottom is equipped with the screw, the open end both sides are equipped with the pinhole of coaxial line respectively, be equipped with in the axis of rotation with rotate the rotation axle journal of the looks adaptation of rotation on the seat, it is equipped with the location shaft shoulder to rotate axle journal one side, the opposite side is equipped with draw-in groove and external screw thread in proper order, the axis of rotation connects the screw soon by the external screw thread and connects in U-shaped seat to wear to overlap to rotate the hole rotation and connect through rotating the axle journal and rotate the seat, the spacer joint is in the draw-in groove, the axis of rotation passes.
Furthermore, the sliding block comprises a sliding part connected with the guide connecting piece in a sliding mode and a hinged part arranged on one side of the sliding part, the thickness of the hinged part is matched with the width of the opening end of the U-shaped seat, the hinged part is inserted into the opening end of the U-shaped seat, the pin shaft is sleeved on the hinged part, and two ends of the pin shaft are connected with the pin holes on two sides of the opening end of the U-shaped seat.
Furthermore, one side of the guide connecting piece is provided with a sliding chute matched with the sliding part on the sliding block, the other side of the guide connecting piece is provided with a connecting groove, and the symmetrical positions of the two side walls of the connecting groove are respectively provided with at least two through holes.
Further, the swing joint unit includes rotation piece, sliding connection piece, connects in the sliding seat of the translation seat other end and connects in the articulated connecting piece of connecting seat, sliding connection piece slidable connects on the sliding seat, it sets up on sliding connection piece and articulated with articulated connecting piece to rotate the rotation piece, and articulated axis perpendicular to rotates the axis of piece.
Furthermore, the rotating seat is a rectangular frame with one end part provided with an end wall and the other end part provided with a connecting port, the rotating seat is connected with the corresponding end of the connecting rod through the connecting port, the end wall is provided with a sliding groove arranged along the height direction, and the sliding connecting block is slidably arranged in the sliding groove.
Furthermore, a rotating hole is formed in the sliding connecting block, and the rotating piece is rotatably arranged in the rotating hole.
Further, the rotating part comprises a U-shaped seat, a shaft rotating shaft and a positioning piece, a screw hole is formed in the bottom end of the U-shaped seat, coaxial pin holes are formed in two sides of the opening end of the U-shaped seat respectively, a rotating shaft neck matched with the rotating hole in the sliding connection block is arranged on the rotating shaft, a positioning shaft shoulder is arranged on one side of the rotating shaft neck, a clamping groove and an external thread are sequentially arranged on the other side of the rotating shaft neck, the rotating shaft is connected with the U-shaped seat through the external thread in a screwing mode and is rotatably connected with the sliding connection block through the rotating shaft neck penetrating and sleeving rotating hole, the positioning piece is clamped in the clamping.
Furthermore, the hinged connecting piece comprises a connecting part and a hinged part arranged on one side of the connecting part, the connecting part is provided with a connecting groove, and at least two through holes are arranged at symmetrical positions of two side walls of the connecting groove; the hinge part is inserted into the opening end of the U-shaped seat on the rotating part and is provided with a pin hole, and a pin shaft penetrates through the pin hole on the hinge part and is connected with the pin holes on two sides of the opening end of the U-shaped seat at two ends so that the hinge connecting piece is rotatably connected with the rotating part.
Furthermore, the connecting seat comprises a first clamp and a second clamp, inner arc surfaces matched with the operation handle and installation planes connected to two ends of the inner arc surfaces are arranged on the inner sides of the first clamp and the second clamp, and the two clamps are connected to the operation handle through the installation connection corresponding to the installation surfaces and clamped on the operation handle through the arc surfaces; the first clamp outside is equipped with the arch with connecting groove looks adaptation, and this arch be equipped with connecting groove on the position of through-hole and the mounting hole of quantity looks adaptation, the arch is inserted in connecting groove to connect the nut soon through bolt cross-under mounting hole and through-hole, make the corresponding connecting piece that is equipped with connecting groove connect in the connecting seat.
Furthermore, the first swing rod and the second swing rod respectively comprise a vertical rod, an upper U-shaped support and a lower U-shaped support, the upper U-shaped support and the lower U-shaped support are connected to the upper end and the lower end of the vertical rod, and the first transmission shaft and the second transmission shaft are respectively hinged to the lower U-shaped supports at the lower ends of the first swing rod and the second swing rod through pin shafts; the first connecting shaft and the second connecting shaft are respectively hinged on the upper U-shaped supports at the upper ends of the first swing rod and the second swing rod through pin shafts.
Furthermore, the second connecting shafts, the second transmission shafts and the second swing rods are all two, the two second connecting shafts are equal in height and are symmetrically arranged on two sides of the translation support along the length direction of the translation seat, each second transmission shaft is arranged below one second connecting shaft in parallel, the upper end and the lower end of each second swing rod are respectively hinged with the second connecting shafts and the second transmission shafts, one first connecting shaft is arranged on a symmetrical center line of the translation support along the end side of the translation seat in the width direction, and one first transmission shaft is arranged below the first connecting shaft in parallel and is located between the two second transmission shafts.
Further, the two second transmission shafts are connected by a connecting plate spanning the first connecting shaft.
The device further comprises a first supporting seat, a second supporting seat, a first motor base and a second motor base, wherein the first motor base and the second motor base are respectively connected with the first motor and the second motor; the second supporting seat and the second motor seat are respectively arranged at positions corresponding to one second transmission shaft, one end of one second transmission shaft is supported on the first supporting seat, and one end of the other second transmission shaft is connected with a second motor shaft.
The utility model discloses a two equidirectional wobbling pendulum rods drive and correspond translation seat translation to by translation seat drive operation handle, thereby simulate operation handle operation action, both can accurately realize the operation effect of operation handle, the structure is succinct simultaneously, and is with low costs. Therefore the utility model discloses can low-cost carry out automatic operation's improvement to current excavator, can anytime and anywhere implementation when meeting danger and abominable place.
Description of the drawings:
fig. 1 is a schematic structural view of an excavator operation handle automatic operation device according to an embodiment of the present invention.
Fig. 2 is a top view of the device of fig. 1.
Fig. 3 is a schematic structural view of an articulating unit in the device of fig. 1.
Figure 4 is a top view of the articulating unit of figure 3.
Fig. 5 is a schematic structural view of a rotating member and its connection with a sliding connection block in the movable connection unit shown in fig. 3.
FIG. 6 is a schematic illustration of the central position of the work handle of the excavator operated by the apparatus of FIG. 1.
FIG. 7 is a schematic view of the center position of the excavator work handle manipulated by the apparatus of FIG. 1 moving to the right B position.
Fig. 8 is a schematic structural view of an excavator work handle automatic operation device according to the second embodiment of the present invention.
Fig. 9 is a schematic structural view of an articulating unit in the device of fig. 1.
Figure 10 is a top view of the articulating unit of figure 9.
Fig. 11 is a schematic structural view of the rotating member and its connection with the rotating base in the movable connection unit shown in fig. 9.
Fig. 12 is a schematic view of the central position of the excavator work handle manipulated by the apparatus of fig. 8.
Fig. 13 is a schematic view of the excavator work handle manipulated by the apparatus of fig. 8 moving to the right D position due to the center position.
In the figure: 11-a first motor, 12-a first motor base, 13-a first coupler, 14-a first transmission shaft, 15-a first supporting seat; 21-a second motor, 22-a second motor base, 23-a second coupler, 24-a second transmission shaft, 241-a connecting plate and 25-a second supporting seat; 3-a first swing rod, 4-a second swing rod, G1-a vertical rod, G2-an upper U-shaped bracket, G3-a lower U-shaped bracket, G4 and G5-pin shafts; 5-a translation seat, 51-a translation bracket, 51-a connecting rod, 52-a first connecting shaft and 53-a second connecting shaft; 6-connecting seat, 61-second clamp, 611-bulge, 62-first clamp and 63-bolt; 7-a base; 8-a movable transmission unit, 80-a rotating seat, 801-a connecting port, 802-an end wall, 84-a sliding seat, 841-a sliding chute, 842-a connecting port, 843-an end wall, 85-a sliding connecting block, 86-a rotating piece, 861-a rotating shaft, 8611-a rotating shaft neck, 8612-a positioning shaft shoulder, 8613-an external thread, 862-a U-shaped seat and 863-a positioning sheet; 87-hinged connecting piece, 871-connecting part, 8711-through hole, 872-hinged part and 873-pin shaft; 88-sliding block, 89-guiding connecting piece; 9-operation handle.
The specific implementation mode is as follows:
example one
Referring to fig. 1 and 2, the automatic operating device for the excavator operating handle of the present embodiment includes a base 7, a first motor 11, a second motor 21, a first transmission shaft 14, a second transmission shaft 24, a first connecting shaft 52, a second connecting shaft 53, a first swing link 3, a second swing link 4, a translation seat 5, and a connecting seat 6 for connecting the operating handle 9.
The rotatable first connecting shaft 52 and the rotatable second connecting shaft 53 are respectively arranged at the same height position of the translation seat 5 along the length direction and the width direction of the translation seat 5 at one end D1 of the translation seat 5, the two connecting shafts are respectively used for hinging and pushing the upper ends of the first swing rod 3 and the second swing rod 4 which do translation motion on the translation seat 5, the lower ends of the two swing rods are respectively hinged on the first transmission shaft 14 and the second transmission shaft 24, the first transmission shaft 14 and the second transmission shaft 24 are arranged on the base 7 at the same height and are respectively positioned below the first connecting shaft 52 and the second connecting shaft 53 in parallel, and are respectively connected with the first motor and the second motor through the corresponding couplers 13 and 23 and are driven by the corresponding motors to rotate for not more than 180 degrees, so that the first swing rod 3 and the second swing rod 4 are driven to swing for not more than 180 degrees.
The other end D2 of the translation base 5 on the side opposite to the connecting rod 51 is movably connected with the connecting base 6 through a movable connecting unit 8 in a two-dimensional direction. The movable connection unit 8 of the present embodiment includes a sliding seat 84, a sliding connection block 85, a rotation member 86, and a hinge connection member 87, the sliding seat 84 is connected to the other end D2 of the translation seat 5 on the side opposite to the connection rod 51, the sliding connection block 85 is slidably connected to the sliding seat, the rotation member 86 is rotatably disposed on the sliding connection block 85 and is hinged to the hinge connection member 87, the hinge axis is perpendicular to the axis of the rotation member, and the hinge connection member 87 is connected to the connection seat 6. Therefore, the rotating piece 86 is rotatably arranged on the sliding connection block 85, so that the connecting seat 6 can rotate around the X axis relative to the translation seat 5, and the rotating piece 86 is hinged with the hinged connection piece 87, so that the connecting seat 6 can rotate around the Y axis relative to the translation seat 5, and the rotation in the two-dimensional direction is realized; and the connecting seat 6 can move up and down relative to the translation seat 5 by the up-and-down sliding of the sliding connecting block 85 relative to the sliding seat 84.
As shown in fig. 3 and 4, the slide holder 84 of the movable connection unit 8 is a rectangular frame having an end wall 843 at one end and a connection port 842 at the other end, and the slide holder 84 is connected to the corresponding end of the connection rod 51 through the connection port 842. The end wall 843 is provided with a sliding groove 841 arranged in the height direction, the sliding connection block 85 is composed of a sliding block 851 and a connection plate 852, the sliding block 851 is inserted from one side of the sliding groove 841 and is connected with the connection plate 852 arranged on the other side of the sliding groove 841 through a screw, so that the sliding connection block 85 is slidably arranged in the sliding groove. The slider 851 is provided with a rotation hole through which the rotation member 86 is rotatably provided on the sliding connection block 85 and slides along the sliding groove along with the sliding connection block 85.
As shown in fig. 5, the rotating member 86 includes a U-shaped seat 862, a rotating shaft 861 and a positioning piece 863, a screw hole is disposed at the bottom end of the U-shaped seat 862, coaxial pin holes are disposed at two sides of the opening end respectively, a rotating shaft neck 8611 adapted to the rotating hole of the sliding connection block is disposed on the rotating shaft, a positioning shoulder 8612 is disposed at one side of the rotating shaft neck, a clamping groove and an external thread 8613 are sequentially disposed at the other side of the rotating shaft neck, the rotating shaft is connected to the U-shaped seat by the external thread 8613 through a screw hole, and is rotatably connected to the sliding connection block 85 by inserting the rotating shaft neck 8611 through the rotating hole, the positioning piece 863 is clamped in the clamping groove, and the.
The hinge connector 87 includes a connecting portion 871 and a hinge portion 872 disposed at one side of the connecting portion, the hinge portion is inserted into the opening end of the U-shaped seat of the rotating member 86 and has a pin hole, and a pin 873 is inserted through the pin hole of the hinge portion and has two ends connected to the pin holes at two sides of the opening end of the U-shaped seat, so that the hinge connector is rotatably connected to the rotating member. The connecting part is provided with a connecting groove, and two through holes 8711 are arranged at the symmetrical positions of the two side walls of the connecting groove and are used for being connected with the connecting seat 6.
The connecting seat 6 includes first clamp 61 and second clamp 62, and the inboard of these two clamps all is equipped with the interior arc surface 6a with operation handle 9 looks adaptation and connects in the mounting plane 6b at this interior arc surface both ends, see fig. 2, and two clamps are connected on operation handle 6 by two arc surface clamps through the installation that corresponds the installation face. The outer side of the first clamp 62 is provided with a protrusion 611 matched with the connecting groove, the protrusion is provided with two mounting holes, the protrusion 611 is inserted into the connecting groove, and the mounting holes and the through holes are connected through bolts 63 in a penetrating manner to be screwed with nuts, so that the hinged connecting piece provided with the connecting groove is connected to the connecting seat.
In order to make the transmission shafts 14 and 24 and the connecting shafts 52 and 53 swing along the axial direction and vertical and axial directions, referring to fig. 1 and 2, the first swing link 3 and the two second swing links 4 connecting the two shafts are designed as follows: the two swing rods respectively comprise a vertical rod G1, an upper U-shaped support G2 and a lower U-shaped support G3, the upper end and the lower end of the vertical rod are connected with the upper U-shaped support G2 and the lower U-shaped support G3, therefore, the first transmission shaft 14 and the second transmission shaft 24 are respectively hinged to the lower U-shaped supports G3 at the lower ends of the first swing rod 3 and the second swing rod 4 through pin shafts G5, the first connecting shaft 52 and the second connecting shaft 53 are respectively hinged to the U-shaped supports G2 at the upper ends of the first swing rod 3 and the second swing rod 4 through pin shafts G4.
Use foretell the utility model discloses the device controls the operation handle of current excavator, and this excavator is equipped with left operation handle and right hand operation handle, and the revolving stage gyration of left side operation handle control excavator and the flexible of dipper, the lift with the swing arm is dug to right side operation handle control scraper bowl, and every operation handle has four control gears all around, will the utility model discloses connecting seat in the device is connected with the operation handle in this excavator, through foretell the utility model discloses the device comes to control the operation handle of this excavator.
When the relevant operation is carried out, the motor in the device of the utility model works according to the operation instruction, for example, as shown in fig. 6, when the operation handle 9 is moved from the initial central position to the right side B position, the second motor 21 is operated, the second transmission shaft 24 rotates to drive the second swing link 4 to swing, the second swing link 4 swings to drive the translation base 5 to translate leftwards through the connection between the upper end of the second swing link 4 and the second connection shaft 53, as shown in fig. 7, the translation of the translation seat 5 makes the lower end of the first swing link 3 swing around the hinge joint with the first transmission shaft, when the translation seat 5 translates leftwards, the sliding seat 84 moves leftwards, the operation handle 9 swings towards the right side B position, the connecting seat 6 connected with the operation handle 9 generates the change of the horizontal position, the height position of the slide connecting block is changed by sliding the slide connecting block 85 relative to the slide base 84 and rotating relative to the hinge connecting member 87. According to the same principle, the work handle 9 runs from the center position to the left C position.
When the operation handle 9 runs to the right position C or B from the center position, the first motor 11 works, the first transmission shaft 14 rotates to drive the first swing rod 3 to swing, the first swing rod 3 drives the translation seat 5 to translate forward or backward through the connection between the upper end and the first connection shaft 52 when swinging, the translation of the translation seat 5 enables the lower end of the second swing rod 4 to swing around the hinge joint with the second transmission shaft, the translation seat 5 enables the sliding seat 84 to translate forward or backward when translating forward or backward, the operation handle 9 is enabled to swing forward or backward, the connection seat 6 connected with the operation handle 9 changes the height position of the connection seat 6 except the horizontal position, and the change of the height position is realized through the sliding of the sliding connection block 85 relative to the sliding seat 84, the rotation of the hinge connection block 87 and the rotation of the rotation piece relative to the sliding seat 84.
Example two
This embodiment is substantially the same as embodiment 1 above, as shown in fig. 8-11, except that:
first, two second transmission shafts 53 and two second swing rods 4 are provided, the two second transmission shafts are equal in height and symmetrically arranged on two sides of the translation support 51 in the length direction relative to the translation seat 5, each second transmission shaft is arranged below the corresponding second connection shaft in parallel, and the upper end and the lower end of each second swing rod are respectively hinged with the corresponding second connection shaft and the corresponding second transmission shaft. Because the first transmission shaft and the second transmission shaft are arranged at the same height and are positioned between the two second transmission shafts, the two second transmission shafts 24 are connected together through a connecting plate 241 spanning the first transmission shaft, and the connecting plate 241 cannot form motion interference with the first transmission shaft when the second transmission shaft rotates by not more than 18 degrees.
Secondly, the swing joint unit is different, and the swing joint unit 8 of this embodiment is including rotating seat 80, rotating 86, sliding block 88 and direction connecting piece 89, rotates seat 80 and connects in translation seat 5 for the other end of connecting first connecting axle one end, and the rotation rotates the setting and is articulated on rotating the seat and with the sliding block, and the axis of articulated axis perpendicular to rotation piece, the sliding block slides and sets up on the direction connecting piece, and the direction connecting piece is connected in the connecting seat.
For better connection with the translation and rotation seats 5, 80 are designed as rectangular frames with an end wall 802 at one end and a connection port 801 at the other end. The rotating base 80 is connected to the corresponding end of the connecting rod 51 through a connection port, and a rotating hole is provided in an end wall 802 of the rotating base of the present embodiment, and the rotating member 86 is rotatably provided in the rotating hole.
Referring to fig. 11, the rotating member 86 of the present embodiment has the same structure as that of the rotating member of the above embodiment. The rotary shaft 861 is screwed in a screw hole of the U-shaped seat 862 by an external screw and the rotating shaft 8613 on the rotary shaft 861, is rotatably connected with the rotary seat 80 by penetrating a rotary shaft neck 8611 through a rotary hole, and is axially positioned on the rotary seat 80 by a positioning shaft shoulder 8612 on the rotary shaft and a positioning sheet 863 clamped with a clamping groove on the rotary shaft shoulder 8613.
The sliding block 88 includes the slider 882 and locates articulated portion 881 on one side of the slider, the slider 882 is used for with guide link 89 sliding connection, the thickness of articulated portion 881 and the open end width looks adaptation of U-shaped seat 86, and be equipped with the pinhole, articulated portion pegs graft in the open end of U-shaped seat to wear the pinhole that overlaps on articulated portion and both ends connect the pinhole of U-shaped seat open end both sides through a round pin axle 883, make sliding block 88 and U-shaped seat 86 mutual rotation be connected.
The spout 891 of the sliding part looks adaptation with the sliding block 88 is equipped with on one side of guide connector 89, and the opposite side is equipped with connecting groove 892, is equipped with two through-holes respectively on the symmetric position of this connecting groove both sides wall, and these two through-holes and the protruding mounting hole looks adaptation in first clamp 62 outside are through two bolts 893 cross-under mounting hole and through-hole screwed nut, make guide connector 89 be connected with connecting seat 6.
Other structures of this embodiment are the same as those of the above embodiment, and are not repeated one by one.
Control the operation handle 9 of a current excavator with above-mentioned this embodiment device, this excavator is equipped with left operation handle and right hand operation handle, and the revolving stage gyration of left side operation handle control excavator and the flexible of dipper, the lift with the swing arm is dug to right side operation handle control scraper bowl, and every operation handle has four control gears all around, will the utility model discloses the connecting seat in the device is connected with the operation handle in this excavator, through foretell the utility model discloses the device comes to control the operation handle of this excavator.
The utility model discloses motor in the device is worked according to the instruction of relevant operation, for example, as fig. 12, operation handle 9 will be from initial central point puts the operation to right side B position, second motor 21 work this moment, the second transmission shaft 24 of rear side rotates and drives the second transmission shaft 24 rotation of front side through connecting plate 241, two second transmission shafts drive corresponding second pendulum rod 4 swing respectively, through being connected of upper end and second connecting axle 53 and drive translation seat 5 translation left during the swing of second pendulum rod 4, as fig. 13, the translation of translation seat 5 makes first pendulum rod 3 lower extreme around the articulated department swing with first transmission shaft, make rotation seat 84 remove to the right side when translation seat 5 translates right, thereby make operation handle 9 swing to right side B position, connecting seat 6 of connecting operation handle 9 produces the change except the horizontal position, its high position also produces the change, and the change of high position is the slip and relative through the spout on sliding block 88 relative direction connecting piece 89 The rotation of the rotating part and the rotation of the rotating part relative to the rotating seat. I.e. a relative two-dimensional rotation and movement between the translatory mount 5 and the coupling mount 6, and a two-dimensional rotation is a rotation about two mutually perpendicular axes of rotation on a horizontal plane, and a movement is a movement on a vertical plane. By the same principle, the working handle 9 is moved from the center position to the left C position by the present embodiment device.
When the operation handle 9 runs to the right position C or B from the center position, the first motor 11 works, the first transmission shaft 14 rotates to drive the first swing rod 3 to swing, the first swing rod 3 drives the translation seat 5 to translate forward or backward through the connection between the upper end and the first connection shaft 52 when swinging, the translation of the translation seat 5 enables the lower end of the second swing rod 4 to swing around the hinge joint with the second transmission shaft, the translation seat 5 enables the sliding seat 84 to translate forward or backward when translating forward or backward, the operation handle 9 is enabled to swing forward or backward, the connection seat 6 connected with the operation handle 9 changes the height position of the connection seat 6 except the horizontal position, and the change of the height position is realized through the sliding of the sliding connection block 85 relative to the sliding seat 84, the rotation of the hinge connection block 87 and the rotation of the rotation piece relative to the sliding seat 84.
The excavator operating handle automatic operation device is not limited to the four-direction operation of the operating handle 6, the operation in other directions only needs the first motor 11 and the second motor 21 to work in a matched mode, any angle rotation of the operating handle can be achieved through the matching of different rotating speeds and rotating directions of the two motors, and therefore the operation in any direction of the operating handle is achieved. And the device can change the distance from the device to the operation handle 6 by changing the length of the connecting rod 51, and is convenient to install.
Claims (17)
1. The utility model provides an excavator operation handle automatic operation device which characterized in that: the device comprises a base, a first motor, a second motor, a first transmission shaft, a second transmission shaft, a first connecting shaft, a second connecting shaft, a first swing rod, a second swing rod, a translation seat and a connecting seat connected with an operation handle; the horizontal moving seat is horizontally arranged, a first connecting shaft and a second connecting shaft which can rotate are respectively arranged at equal heights of one end of the horizontal moving seat in the length direction and the width direction, the other end of the horizontal moving seat is movably connected with the connecting seat in a two-dimensional direction rotating and moving manner, the two-dimensional direction rotating is the rotating around two mutually vertical rotating shafts on the horizontal plane, and the moving is the moving on the vertical plane; the first transmission shaft and the second transmission shaft are arranged on the base in equal height, are respectively positioned below the first connecting shaft and the second connecting shaft in parallel, and are respectively driven by the first motor and the second motor to rotate by no more than 180 degrees; the upper ends of the first swing rod and the second swing rod are respectively hinged with the first connecting shaft and the second connecting shaft, and the lower ends of the first swing rod and the second swing rod are respectively hinged with the first transmission shaft and the second transmission shaft.
2. The automatic operating device for the operating handle of the excavator according to claim 1, wherein: the translation seat comprises a translation support and a connecting rod which are arranged and connected along the length direction, and one end of the connecting rod is movably connected with the connecting seat through a movable connecting unit.
3. The automatic operating device for the operating handle of the excavator according to claim 2, wherein: the swing joint unit includes rotation piece, sliding block, connects in the rotation seat of the translation seat other end and connects in the direction connecting piece of connecting seat, the rotation piece rotates to be set up on rotating the seat and articulated with the sliding block, and the axis of articulated axis perpendicular to rotation piece, the sliding block slides and sets up on the direction connecting piece.
4. The automatic operating device of an excavator working handle according to claim 3, wherein: the rotating seat is a rectangular frame with one end part provided with an end wall and the other end part provided with a connecting port, the rotating seat is connected with the corresponding end of the connecting rod through the connecting port, the end wall is provided with a rotating hole, and the rotating part is rotatably arranged in the rotating hole.
5. The automatic operating device of an excavator working handle according to claim 4, wherein: the rotation piece includes U-shaped seat, axis of rotation and spacer, U-shaped seat bottom is equipped with the screw, and the open end both sides are equipped with the pinhole of coaxial line respectively, be equipped with in the axis of rotation with rotate the rotation axle journal of the looks adaptation on the seat, rotate axle journal one side and be equipped with the location shaft shoulder, the opposite side is equipped with draw-in groove and external screw thread in proper order, the axis of rotation connects the screw in U-shaped seat soon by the external screw thread to wear to overlap to rotate the hole rotation and connect and rotate the seat through rotating the axle journal, the spacer joint is in the draw-in groove, the axis of rotation passes through location.
6. The automatic operating device of an excavator working handle according to claim 5, wherein: the sliding block comprises a sliding part connected with the guide connecting piece in a sliding mode and a hinged part arranged on one side of the sliding part, the thickness of the hinged part is matched with the width of the opening end of the U-shaped seat, the hinged part is inserted into the opening end of the U-shaped seat in a sleeved mode, the hinge part is sleeved with the pin hole in the hinged part in a penetrating mode through a pin shaft, and two ends of the pin shaft are connected with the pin holes on two sides of the.
7. The automatic operating device for the operating handle of the excavator according to claim 6, wherein: one side of the guide connecting piece is provided with a sliding chute matched with the sliding part on the sliding block, the other side of the guide connecting piece is provided with a connecting groove, and at least two through holes are respectively arranged at the symmetrical positions of the two side walls of the connecting groove.
8. The automatic operating device for the operating handle of the excavator according to claim 2, wherein: the swing joint unit includes and rotates piece, sliding connection piece, connects in the sliding seat of the translation seat other end and connects in the articulated connecting piece of connecting seat, sliding connection piece slidable ground connects on the sliding seat, rotate the piece and rotate and set up on sliding connection piece and articulated with articulated connecting piece, the axis that the rotation of articulated axis perpendicular to rotated the piece.
9. The automatic operating device for the operating handle of the excavator according to claim 8, wherein: the sliding seat is a rectangular frame with one end part provided with an end wall and the other end part provided with a connecting port, the rotating seat is connected with the corresponding end of the connecting rod through the connecting port, the end wall is provided with a sliding groove arranged along the height direction, and the sliding connecting block is arranged in the sliding groove in a sliding mode.
10. The automatic operating device for the operating handle of the excavator according to claim 9, wherein: the sliding connection block is provided with a rotating hole, and the rotating piece is rotatably arranged in the rotating hole.
11. The automatic operating device for the work handle of the excavator according to claim 10, wherein: the rotating piece comprises a U-shaped seat, a shaft rotating shaft and a positioning piece, a screw hole is formed in the bottom end of the U-shaped seat, pin holes of the same axis are formed in two sides of the opening end of the U-shaped seat respectively, a rotating shaft neck matched with the rotating hole in the sliding connection block is arranged on the rotating shaft, a positioning shaft shoulder is arranged on one side of the rotating shaft neck, a clamping groove and an external thread are sequentially arranged on the other side of the rotating shaft neck, the rotating shaft is connected with the U-shaped seat through the external thread screwed screw hole and is rotatably connected with the sliding connection block through the rotating shaft neck penetrating and sleeving the rotating hole, the positioning piece.
12. The automatic operating device for the operating handle of the excavator according to claim 11, wherein: the hinged connecting piece comprises a connecting part and a hinged part arranged on one side of the connecting part, the connecting part is provided with a connecting groove, and at least two through holes are arranged at symmetrical positions of two side walls of the connecting groove; the hinge part is inserted into the opening end of the U-shaped seat on the rotating part and is provided with a pin hole, and a pin shaft penetrates through the pin hole on the hinge part and is connected with the pin holes on two sides of the opening end of the U-shaped seat at two ends so as to enable the hinge connecting piece to be rotatably connected with the rotating part.
13. The automatic operating device of an excavator working handle according to any one of claims 3 to 12, wherein: the connecting seat comprises a first clamp and a second clamp, inner arc surfaces matched with the operation handle and installation planes connected to two ends of the inner arc surfaces are arranged on the inner sides of the first clamp and the second clamp, and the two clamps are connected to the operation handle through installation corresponding to the installation surfaces and clamped on the operation handle through the arc surfaces; the first clamp outside is equipped with the arch with connecting groove looks adaptation, and this arch be equipped with connecting groove on the position of through-hole and the mounting hole of quantity looks adaptation, the arch is inserted in connecting groove to connect the nut soon through bolt cross-under mounting hole and through-hole, make the corresponding connecting piece that is equipped with connecting groove connect in the connecting seat.
14. The automatic operating device for the operating handle of the excavator according to claim 13, wherein: the first swing rod and the second swing rod respectively comprise a vertical rod, an upper U-shaped support and a lower U-shaped support, the upper U-shaped support and the lower U-shaped support are connected to the upper end and the lower end of the vertical rod, and the first transmission shaft and the second transmission shaft are respectively hinged to the lower U-shaped supports at the lower ends of the first swing rod and the second swing rod through pin shafts; the first connecting shaft and the second connecting shaft are respectively hinged on the upper U-shaped supports at the upper ends of the first swing rod and the second swing rod through pin shafts.
15. The automatic operating device for the work handle of the excavator according to claim 14, wherein: the two second connecting shafts are equal in height and symmetrically arranged on two sides of the translation support in the length direction of the translation seat, each second transmission shaft is arranged below one second connecting shaft in parallel, the upper end and the lower end of each second swing rod are respectively hinged with the second connecting shafts and the second transmission shafts, one first connecting shaft is arranged on a symmetrical center line of the translation support on one end side in the width direction of the translation seat, and one first transmission shaft is arranged below the first connecting shaft in parallel and located between the two second transmission shafts.
16. The automatic operating device for the work handle of the excavator according to claim 14, wherein: the two second transmission shafts are connected by a connecting plate spanning the first connecting shaft.
17. The automatic operating device for the work handle of the excavator according to claim 14, wherein: the device also comprises a first supporting seat, a second supporting seat, a first motor seat and a second motor seat, wherein the first motor seat and the second motor seat are respectively connected with a first motor and a second motor; the second supporting seat and the second motor seat are respectively arranged at positions corresponding to one second transmission shaft, one end of one second transmission shaft is supported on the first supporting seat, and one end of the other second transmission shaft is connected with a second motor shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921694708.6U CN211006835U (en) | 2019-10-11 | 2019-10-11 | Automatic operating device for operating handle of excavator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921694708.6U CN211006835U (en) | 2019-10-11 | 2019-10-11 | Automatic operating device for operating handle of excavator |
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| Publication Number | Publication Date |
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| CN211006835U true CN211006835U (en) | 2020-07-14 |
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| CN201921694708.6U Active CN211006835U (en) | 2019-10-11 | 2019-10-11 | Automatic operating device for operating handle of excavator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110593348A (en) * | 2019-10-11 | 2019-12-20 | 中国人民解放军陆军工程大学 | Automatic operating device for operating handle of excavator |
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2019
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110593348A (en) * | 2019-10-11 | 2019-12-20 | 中国人民解放军陆军工程大学 | Automatic operating device for operating handle of excavator |
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