KR970011595B1 - Improved extensible apparatus - Google Patents

Abstract

none

Description

Improved extension device

1 is a side view of an extended boom positioned on a conventional mounting portion.

FIG. 2 is an exploded side view showing a part of the conventional excavation stick and its bucket with the extended boom mounted in a dotted line; FIG.

3 is a partial side view showing a modified form of coupling an extended boom to a conventional excavator stick.

4 is a side view of a structure in which a conventional excavator stick is replaced by attaching an extended boom to a conventional excavator Steve boom.

5 is a partial side view showing a state in which the boom extending directly to the modified support structure of the conventional excavator directly mounted.

Fig. 6 is a partial side view showing a state in which an boom extending directly to an existing support structure of a conventional excavator is used by using an adapter.

7 is a side view illustrating the interference problem between the bucket and the extended boom in the retracted position.

8 is a side view of a proposal for solving the interference problem shown in FIG.

9 is a side view similar to FIG. 1, detailing the solution shown in FIG. 8. FIG.

10 shows a novel application of using an extended boom as a mounting portion for outrigger support feet.

* Explanation of symbols for main parts of the drawings

2, 4, 6: Rotating pins (hover point) 12, 14, 16, 18: Rotating pins (hover point)

23: rotating table 27: prop

29: lever 35: final lever

37: Final Shore 45: Work Tool Lever

103: crank crank 107: driving device

The present invention is an improvement of the unique extended boom device described in US Pat. No. 4,583,907, filed April 22, 1986, the contents of which are incorporated herein by reference. Rotatingly mounted, this extended boom can be extended to allow for wide movement of the work tool to an infinite azimuth or planar extension angle. In particular, the improvements allow the Applicant's unique boom to be easily coupled to a wide range of material handling facilities and robots, allowing for a variety of types of uses not previously described.

In particular, the improvement provides a unique means by which the boom can be attached to the following device.

1) At the proximal end, existing excavation equipment (backhoe arms, front and loaders, blazers, etc.), robotic arms (automatic assembly, welding, painting, etc.) for placing work or work tools, all types of construction and mining equipment Can be combined.

2) At the distal end, various work tools (excavation buckets, scraper blades, rock drills, dredgers, hoisting hooks, etc.) used to apply force to the external environment, outrigger supports for stabilizing and flattening all kinds of equipment, external Grippers and grabs of all types of equipment used to manipulate or extrude objects can be combined, as well as towing and lowering supports (fork lifters, worker platforms, etc.).

Extended booms are often provided to move or support the workpiece from one position to another. The base on which the boom extends can be rotated about the horizontal axis, and the extended boom can be vertically moved up and down. If the base can rotate about the vertical axis, the extended boom can rotate in all directions. Bases in the form of a combination of both rotations are commonly used.

Conventional extension boom structures require parts by weight, multiple extension drives, and other elements that cannot be easily stabilized on a moving machine. In the case of large machines such as material handling plants or logging plants, excessive hydraulic transmission ratios and excessive horsepower are required to obtain satisfactory linear extension and contraction rates. Prior art grapples, such as those used in the logging business, have a reach of 1.22-4.57 m (4-15 ft) and can handle weights of 1.75-6 tons. These facilities are too heavy to be used in inclined areas, and also do not provide a flexible, versatile and extendable device for use in automatic grapple logging or other work tools.

The U.S. Patent No. 4,583,987 proposed an ideal solution to solve many of the preceding problems by providing a strong but lightweight straight extension linkage structure. The extension is made by the pantographic principle contained in the interlock interconnects. Thus, a small extension of the drive produces a large extension as necessary to the tool or workpiece conveyance end. For example, by doubling the number of intermediate interlocks used, it is possible to double the tool or workpiece compared to the same extension of the drive. The same property of doubling the extension size has been proposed in the prior art collectively referred to as "scissor" or "lazy-tong". However, the applicant's patented boom is significantly different from past "scissors" linkages in that it does not require cross links or use slide joints at the distal ends, but these characteristics They have proven to be effective in ensuring good strength-to-weight ratio, good bidirectional transfer properties, and high mechanical efficiency.

US Patent Nos. 2,865,523, 3,252,542, 3,557,967, 3,703,903, 3,708,037, 3,828,939 and 4,053,075 are related to the applicant's prior patents and are referred to here only as background art. The structure described in the above patents is different from the applicant's prior patents. US Patent Nos. 2,865,523 and 3,470,981, Canada Patent 656,181 and Federal Republic of Germany No. 2902 279 relate to carrying out the applicant's prior patents. All of the above patents describe extensions using long structural arms and intersecting control links. These are all in the form of crossed "scissors" linkages which are different from the applicant's boom. U.S. Patent No. 3,877,544 is a prior patent that was noted when obtaining the applicant's boom patent in the United Kingdom. The preceding patent describes another variant of the "scissors" linkage that is different from the applicant's boom. In the structure of the prior patent, it is difficult to achieve light weight, efficient function and structural stability at the same time. Improvements of the present invention cannot be easily carried out by single or combination of prior patents.

It is an object of the present invention to make it possible to manufacture an extended boom suitable for mounting in its own built-in package or in addition to an existing machine with its control and actuating device. Existing machines need only be subjected to minor modifications, regardless of their weight and whether they are stationary or movable.

Another object of the present invention can be extended to infinite azimuth or vertical angles to accommodate a variety of work tools for various end use purposes, and has an improved tool attachment device that provides excellent tool clearance so that large tools can be mounted. To provide an inexpensive, highly flexible boom device.

Another object of the present invention is to be able to pivotally mount to a vehicle capable of carrying out any final work, and to extend at any angle in the space, the improved tool attachment device being adapted to the working edge of the tool. It is to provide a flexible boom device having a large flexibility that provides a sufficiently large working force.

It is another object of the present invention to use a pivot support for various boom angles, and the improved tool attachment device provides self-leveling properties to the tool when the boom is extended and retracted for work. To provide a general-purpose extension boom device.

It is a further object of the present invention to provide an boom device which can carry out the above-mentioned objects, wherein the improved tool attachment device provides a straight tool movement path during extension and retraction.

It is a further object of the present invention to provide an extended boom device with an improved mechanical attachment which facilitates both electrical purposes and easily mounts the boom to all existing types of digging machines to improve their reach and availability. To provide.

A complete description of various embodiments of the boom itself is described in Applicant's prior US Pat. No. 4,583,907, which is also incorporated herein by reference. The above description is not repeated in the text. However, the following description is intended to clarify the advantages and features of the present invention and to support modified terms in the claims for the boom in combination with the improvements described herein.

In its broadest form, the extended boom of the present invention consists of a plurality of sequential link units connected in rotation. Each link unit consists of elongated struts and levers. The struts and levers of each link unit extend side by side in parallel with each other. The struts and levers of each link unit are pivotally connected to the struts and levers of the next link unit. On the side, the pivotal connections between all adjacent sequential link units are located on the alternating surfaces of the central boom extension shaft such that the overall structure of the boom is a zig-zag structure. Rotating interconnects between sequential link units are configured to not intersect sequentially interconnected struts and levers.

Each elongated strut has a pivot point at both ends. That is, each strut has a near pivot point and a remote pivot point for the boom operator. Each lever is longer than the strut paired therewith and has proximal and remote inner pivot points, in addition to proximal and remote pivot points located adjacent to its ends. In other words, each strut has two pivot points and each lever has four pivot points. The internal pivot points of the levers are spaced inward from the end pivot points by a distance separating the lever and the parallel strut of each link unit.

The first and second link units are combined at an angle capable of forming a V-shape. The connection between the two link units, each having a pair of struts and levers, means that the remote pivot point of the strut of the first unit consists of a pin coinciding with the proximity pivot point of the lever of the second unit, while The remote pivot point of the lever is fixed with a pin coincident with the near inner pivot point of the lever of the second unit, and the remote pivot point is fixed with the pin coincident with the proximity pivot point of the strut of the second unit. Therefore, the entire pinned structure is formed in the form of "V" and the three pivot pins are located at their vertices adjacent to each other. The "V" shaped structure formed by the pivotally interconnected first and second link units, each having its own strut and lever, extends as it expands V and contracts as it converges.

The boom is formed by pivotally connecting the third link unit to the remote end of the second link unit to form a zigzag structure, and between the second and third link units having their struts and pairs of levers, respectively. The connection is the same as the connection between the first and second units.

One skilled in the art can easily connect a number of such link units in series, making the length of the extension units almost infinite, limited only by the inevitable weight and power of gravity. However, in the "gravity-free" state of outer space, the present invention exhibits unique advantages over current robotic arms. Conventional working arms in space resemble those of a backhoe. Since these arms are rotated for operation, an inertial reaction force is generated that does not intersect the center of gravity of the entire arm system. Thus, a moment is generated that rotates the entire support platform structure when manipulating the working arm. However, in the novel boom of the present invention, when one link unit rotates in extension (expansion of V), the next link unit connected thereto rotates in the opposite direction by the same amount. This forced symmetry effectively suppresses any moment of inertia caused by boom extension and retraction. In other words, the inertial reaction force generated by the extension operation of the boom of the present invention will always coincide with the center boom extension shaft. The shaft, of course, always passes through the boom mount, making it easy to align the entire platform to the center of gravity, which in turn reduces the kickback of the entire system.

Except for the units at the distal end of the jig-zag boom, all link units are similar to each other. The link units at the boom ends may be similar to other units or may be configured differently when needed to perform other functions. For example, one of the key elements of the above improvements is the use of a link unit designed specifically for the remote or working end of the boom. The single link unit of the particular structure described hereinafter will perform at least four of the foregoing objects of the invention as a single variant.

1) Excellent tool gap.

2) Increase work power of the tool.

3) Self leveling characteristics of the tool.

4) Straightening tool movement path.

Another example of a modified end unit is to provide an inner or proximal end of the boom formed by an asymmetrical link unit. Proximate pivot points of both the strut and the lever of the first link unit are pivoted to the ballast section at different angles so that the first earth and the levers are not parallel. In order to modify the angle that the struts and levers of the first link unit make with the fixing part, the V-shaped structure composed of the first and second link units which are mutually coupled adjacent to the fixing part is converged or diffused. The term "stabilizer" does not mean only a fixed base, but refers to being able to change its orientation, height and position into a controlled state.

By initially converging and spreading the interconnected V-shaped links, they converge or spread along other similar link units that are continuously and similarly interconnected to form a zigzag-like boom, whereby a series of interconnected link units The boom constituted by is extended or retracted.

If the stabilizer portion can rotate about a vertical axis, the boom extending therefrom can adjust its orientation, and if the base is able to rotate about the horizontal axis, the boom extended therefrom can adjust the vertical height. do.

A boom having a stabilizer portion which can be adjusted to one or more of the states described above can be mounted, for example, with its own inlet actuating device and control device, for example at the end of the working arm of an existing installation or plant.

An important improvement provided by the present invention is the use of special adapters that allow for easy attachment of the extended boom to the bucket end of existing backhoe excavator arms. This process will be described later, but in summary, the following steps are taken.

1) Separating the existing bucket.

2) connecting the adapter to the backhoe arm at the point where the bucket is separated.

3) Attaching the extended boom to the adapter.

4) reconnecting the separated bucket or other work tool to the remote end of the elongated boom.

There are not many universal adapters capable of fully connecting the extended boom of the present invention to existing excavators of all sizes and shapes.

The adapter may interconnect two or more of the elongated zigzag booms. Each boom assembled in this way can control its angle and extension range, respectively. Thus, obstacles can be avoided, and dynamic loads through curved passages can be avoided. For example, a narrow aisle warehouse lift truck, which may be vertically raised and has horizontally displaced forks, uses the two extension materials of the present invention using an adapter plate perpendicular to the center boom extension shafts. One boom can also be interconnected. Such a structure can literally reach all of the corners. This advantage is invaluable when harvesting in dense forests.

The struts and levers that make up the various link units can be elongated bars, rods, tubes, channels, or any other cross-sectional shape suitable for a particular use. It should be noted that the strut members of each link unit are two piece members. From a mechanical point of view, this means that only any tension or compression forces are received during any operation of the boom. Indeed, detailed analysis shows that when the other struts are under pure tension, the struts between them are subjected to the same pure compressive stress. This knowledge can be used effectively to select the cross-sectional shape to use for a given application. For example, solid cross section shapes are efficient at supporting extension stresses and hollow cross section shapes are more efficient at supporting compressive stresses. Similar design conditions can be applied to the levers of each link unit, but the presence of additional bending moments makes it more difficult to select an appropriate cross-sectional shape.

The lever and strut elements of each link unit are subjected to similar loads that can be expected as described above. Appropriate selection of the material used for the lever and strut elements makes it possible to take advantage of the novel features of the extended boom of the present invention. For example, a predominantly tensile post is made of a material such as aluminum, certain resins, or piano wires that are particularly suitable for supporting tensile forces. On the other hand, lever units that are severely subjected to bending and shear stresses are made of high strength titanium steel and less widely used materials. The embodiment of the present invention will now be described with reference to only single elements having a uniform cross section, but those skilled in the art will be able to vary the material and cross sectional shape over the entire length of any single element. It will be appreciated that the compromises included in the structure of the present invention are in accordance with the principles of support of statics, dynamics and material mechanics.

It will be readily appreciated that the structure selection of the present invention is in accordance with the ultimate needs of the user. For example, when a user wishes to perform a towing operation using a reference forklift, it is advantageous to configure the upper strut in the best state capable of supporting tensile stress and the lower strut in the best state capable of supporting compressive stress. Do. On the other hand, when the user performs the operation of pulling the load mainly toward the user, such as in the case of using a backhoe, it is good to design the upper and lower holdings in reverse.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

Referring to FIG. 1, the supporting structure of the extended boom shown in the drawing is composed of a rotary table 23, and the mounting yoke 25 is fixed to a rotational portion of the rotary table 23. As shown in FIG. The fixing part of the rotary table is shown mounted on the fixing part. The fixed base may be any ballast, and may be a vehicle, a ship, a spacecraft, a robot arm, or the like. The base need not be fixed in a non-operating state, but only if the boom and its load can be stabilized.

The bell crank 103 is pivoted with respect to the yoke 25 at the pin 16 and provides angular displacement support for the extended boom strut and lever elements attached thereto. The pin 16 is shown to be displaced from the vertical axis of the turntable. The pin 16 may be crossed with the vertical axis of the turntable. Such a structure can greatly simplify the computer calculation of the open loop control equation by the intersection of both axes.

The bell crank 103 is rotated at one end with respect to the rotation flange 109 attached to the rotary table 23 and the other end is located between the main pivot pin 16 and the remote pivot pin 12. It is rotated about the pin 16 by the bell crank rotation drive 107 which rotates with respect to the pin 14 located on the crank 103. As shown in FIG. 1, the extension of the drive device 107 rotates the bell crank 103 and the boom supported thereto in the counterclockwise direction. Although shown as a hydraulic ram in the figure, the drive device 107 can be configured in any linear type, such as a ball screw, rack and pinion.

The proximal end of the first elongated strut 27 is pivoted with respect to the upper end of the bell crank 103 at the pin 18. By "proximity" is meant the end of the strut 27 closest to the operating side or machine mounting side (left side in FIG. 1). Likewise "remote end" refers herein to points that are located opposite or away from the machine-mounted end. The proximal end of the first lever 29 is pivoted against both the bell crank 103 and the yoke 25 at the pin 16. The angle of the first lever 29 is adjusted by the boom extension drive 31 connected between the lower end of the bell crank 103 at the pin 18 and the middle portion of the second lever 29 at the pin 20. . The extension and retraction of the boom extension drive 31 then extends and retracts the entire boom as described later.

The remote end of the first strut 27 is pinned at (2) to the proximal end of the first lever of several identical levers L. The remote end of the first lever 29 is pinned to the middle proximal end of the first lever of several identical levers L. The first struts of several identical struts S are connected to the first lever 29 at the pins 6 between the pins 20 and 4. The alignment between the first strut 27 and the first lever L of the same lever is generally V-shaped. Further, the structure between the first lever 29 and the first strut S of the same strut is inverted V-shaped. One pair of levers and one strut adjacent to the side (which form one leg of the V-shaped) is hereinafter collectively referred to as a link unit.

The remainder of the extended boom constitutes a plurality of sequential link units interconnected in the same manner. Each link unit is composed of a stretching strut S and a lever L. FIG. The strut S and the lever L of each link unit extend in parallel with each other in a parallel state. The strut S and the lever L of each link unit are pivotally connected to the strut S and the lever L of the next link unit. From the side view, the pivotal connection between all sequential adjacent links is alternately located on both sides of the central extension axis E of the boom to zigzag the entire shape of the boom. Rotating connections between sequential link units can be configured without intersecting levers and struts that are sequentially interconnected. The struts and levers of the final link unit are denoted by (37) and (35), respectively, for the following explanation.

Each elongated strut has a pivot point at both ends. That is, each strut has a proximity pivot pin 6 and a remote pivot pin 2. Each lever is longer than the strut paired therewith, and in addition to the proximity pivot pin 2 and the remote pivot pin 4, a proximity pivot pin 4 spaced inward from the ends adjacent to the ends thereof. And a remote pivot pin 6. In other words, each strut has two pivot points and each lever has four pivot points. The intermediate or inner pivot points of the lever are spaced inward from the end pivot points at intervals equal to the gap between the parallel strut and the lever of each link unit when the sequential link units are at right angles to each other.

Sequential link units are combined at a V-shaped angle as shown in FIG. The connection between the two link units with each strut and pair of levers has a remote end of the pinned strut coinciding with the proximity pivot point of the lever of the second unit, the lever of the first unit having its remote pivot point The inner pivot point on the near side of the lever of the two units is pinned and the inner pivot point on the remote side is pinned in accordance with the proximity pivot of the strut of the second unit. Thus, the overall pinned structure is "V" shaped and all three pivot points are proximate their vertices. The V-shaped structure of the interconnected first and second link units having respective struts and levers is extended by expanding the V-shaped and retracted by contracting the V-shaped structure.

As can be seen in the figure, when the third link unit is pivotally connected to the remote end of the second link unit so that the boom has a jig-zag structure, the boom is constructed and the second with each pair of struts and levers. And the connection between the third link units is the same as the connection state between the first and second units. The number of interconnected link units depends on the extension length required for the particular purpose of use. Eventually the work tool or load support is mounted on the final lever. This is illustrated by the work tool lever 45 in FIG. 1.

Except for the distal ends of the jig-zag boom, all link units should be similar to each other. The link units at the ends of the boom may be similar or different as they perform the modified function as required. 1 shows an example of modified end units. The proximal end or inner end of the boom consists of different link units. The proximity pivots 18 and 16 of the first support 27 and the lever 29 constituting the first link unit are pivoted relative to the ballast portion (belcrank 103). Unlike the levers and struts of the following link units, the first and second levers are rotated at non-parallel angles. By converting the angles that the struts and levers of the first link unit make with the ballast portion, the V-shaped structure composed of the first and second link units interconnected adjacent to the ballast portion diffuses or converges.

2-6 show several novel devices that allow the unique extension boom of the present invention to be mounted on an existing excavation facility. As is known, conventional backhoe type excavators have a first or stub boom whose one end is pivoted relative to the machine conveying portion so that it can rotate in a vertical plane. At the other end of the stub boom, one end of the second or stick boom is rotated relative to the stub boom to rotate in a vertical plane. The other end of the stick boom is equipped with a work tool, usually a bucket, which can be rotated or curled in a vertical plane. The mounting portion described herein is not limited to this, but is particularly suitable for the above-described excavator.

The embodiment shown in FIG. 2 shows a state where an extended boom is located between the stick and bucket interlock of an existing excavator and the bucket. Of course, different buckets or different types of tools can also be mounted to the remote end of the extended boom. The conventional backhoe stick 1 is shown with a bucket actuator associated with it. The bucket actuator itself is known and a bucket 135, which is shown attached to the remote end of the boom extending at points 22 'and 24', is attached to the excavator stick at points 22 and 24. Except for the fact that it was originally attached, the detailed description is omitted. The extended boom shown is identical to the aforementioned boom shown in FIG. 1 except that the work tool lever 45 is deformed. The device for attaching the excavator stick to the bell crank 103 of the elongated boom comprises a special adapter having pivotal shafts 22 and 24 shaped to coincide with the corresponding shafts 22 and 24 on existing excavators. It consists of a plate 19. The outer side of the adapter plate 19 has three axes 12, 14 and 16, which are attached to three corresponding axes on the bell crank 103. The axes 12, 14 and 16 can be understood to represent the pins on the plate 19 and the holes in the bell crank 103, or vice versa. Again, it can be understood that the axes represent holes or bushings in both corresponding elements which are pinned or bolted to each other during assembly. In practice, the adapter plate consists of left and right plates which are actually bolted to the outside of the bell crank and provide pin mounts or bushings at (22) and (24). Existing excavator bucket curl rams 3, when actuated as such construction, change the angle of the boom in the vertical direction similar to the operation of the bell crank drive 107 of FIG.

Referring again to FIG. 2, a variation on the lever 45 for conveying and actuating the existing bucket 135 is described. Basically, the bucket actuation linkage on the existing excavator stick 1 is used as it is on the work tool lever of the extended boom. The same numbers with prime marks indicate the same parts for clarity. The pivot flange 15 'is welded or otherwise attached to the work tool lever 45 to pivot one end of the bucket curl 3'. The other end of the bucket column is rotated relative to the lever 7 'at one point between the point at which the lever 7' is rotated relative to the tool lever 45 and one end of the link 5 '. The other end of the link 5 'is pivoted with respect to the bucket 135 at 22' and the distal end of the work tool lever is pivoted with respect to the bucket at 24 '. Those skilled in the art will appreciate the similarity between the present bucket mount and the corresponding bucket mount linkage of existing excavators. A slight difference between the two appears at the position on the lever 7 at which the rod end of the curl cylinder is rotated. This difference indicates that the bucket on the work tool lever and the mounting of its operating machine are not fixed and altered but rather can be variously modified within the field of the invention.

3 shows another device for mounting an extended boom on the bucket end of an existing excavator stick. The gist of this variant is based on the recognition that the embodiment of FIG. 2 rigidly connects the adapter plate 19 to the bell crank 103 of the extended boom. By strongly connecting the two parts, it is possible to design to perform both functions as a single part. The embodiment of FIG. 3 can achieve this purpose, as well as significantly reduce the volume without compromising strength or versatility. Device parts that are identical to the above modifications are indicated by the same numbers. The end of the existing excavator stick 1 shown in FIG. 3 and its bucket actuating linkage are the same as shown in FIG. The original bucket pivot points 22 and 24 are aligned with the corresponding points on the bell crank adapter device 105. The proximal end of the first support 27 of the extended boom is rotated on the shaft 22. The third pivot 16 'on the bell crank adapter device 105 is used to pivot the proximal end of the first lever 29' of the extended boom. The first post 27 is the same as described above. The first lever 29 ′ is the first lever 29 described above, except that the pivot flange 21 is welded or otherwise attached to provide a pivot point for the repositioned boom extension drive 31. Is the same as The drive 31 is pivoted at one end about the shaft 22 of the bell crank adapter device 105 and the other end is pivoted at a pivot flange 21 fixed near the remote end of the first lever 29 '. . Since only the pure mechanical function of the boom extension drive 31 changes the angle of the first lever 29 '(29 above) of the boom relative to the support bell crank 105 (103 above), The arranged drive device 31 becomes efficient.

4 shows an extension boom using the above-described bell crank 103 as a replacement for the conventional excavator boom stick 1. The entire track, turntable, undercarriage, engine, cab and the like of a conventional 50,000 lb excavator are schematically illustrated and indicated by (11). The stub boom 13 has a proximal end that is pivoted with respect to the excavator 11 at the pin 38. Conventional stub boom traction cylinders 23 are pivoted at each end between the pin 36 of the undercarriage and the remote end pin 16 of the stub boom. The pin 16 is normally located at a position where one end of the stick boom is also rotated in a conventional excavator. However, in this embodiment, the conventional stick boom has been removed. In the position of the conventional stick boom, the bell crank 103 is mounted with its center pivot shaft positioned on the pin 16 on the outer end of the stub boom. The pivot flange 9 is attached to the stub boom 13 so as to rotate one end of the bell crank pivot drive device 107. On the other hand, when the shape of the stub boom flange from which the stick boom cylinder has been removed is appropriate, the rotation flange 9 is not necessary. The other end of the drive device 107 is rotated relative to the bell crank 103 at 18. When the driving device 107 is extended, the bell crank 103 is rotated about the pivot pin 16 in the same manner as in FIG. The first lever 29 'and the first strut 27 are rotated at the pins 16 and 12 of the bell crank 103, respectively. The boom extension drive 31 is pivotally connected at its respective ends between a pivot crank having a bell crank 103 attached near the shaft 14 and the remote end of the first lever 29 '. do. The action of the drive 31 to extend and retract the boom is approximately the same as in FIG. The same bell crank as the bell crank of FIG. 1 is also shown, but in reverse or upside down. The preceding upper pivot 18 is now the lower pivot. This reverse positioning provides the intermediate pivot 14 near the upper portion of the bell crank 103 that requires the connection of the boom extension drive 31. Of course, because the bell crank is reversed, the intermediate pivot point on the bottom part of the bell crank is no longer used, but since the lower bell crank pivot point (here 18) is provided for use in the bell crank drive 107, It is not necessary.

Thus, the above-described bell crank shown in FIG. 1 can be used in the present invention by simply reversing its position and rearranging the pivot points of the various elements. Of course, when the shape is not suitable for a particular purpose, it may be appropriately modified within the range known in the art. The remainder of the extended boom (bucket actuation interlock including link units consisting of supports and levers, work tool lever and drive) can be the same as in the embodiment of FIG. However, the removed excavator stick, including the associated bucket actuation linkage, including the drive and the bucket, may be reattached to the outer end of the extended boom in place of the work tool lever 45.

Thus, this variant does not require any additional parts (e.g. adapters, etc.), and also does not need to modify existing parts, and at the same time uses all existing excavator parts to conventionally extend the basic extension boom of FIG. It can be attached to the excavator. It may be necessary to provide a pivoting flange to deform the absolute maximum and minimum of the stub boom, or the maximum and minimum deformation of the stick boom by matching the pivot axis of the final link unit. In view of the great advantages of the reach and versatility of an inexpensive extension boom, it is believed that the modification is a significant investment for the owner of a conventional excavator.

5 illustrates an embodiment in which the bell crank of an extended boom is mounted directly on a modified support structure of an existing excavator. The excavator 11 is deformed by the addition of welding or attachment of the structure 17, the main purpose of which is to provide a yoke located forward to support the pivot point 16 of the bell crank 103 of the extended boom. to be. It is inconvenient to design the attachment structure 17 to position the pivot point 16 as forward as possible in the embodiment of FIG. 4. In the embodiment of FIG. 4 the pivot point 16 is located at the remote end of the existing stub boom. In this way, there is a problem in attaching the conventional bell crank rotation drive device 107 to the remaining portion between the bell crank rotation point 18 and the excavator frame. This is solved by using a modified Bellcrank Rotational Drive 107 ', which repositions the pivot 18 of the ram on the sides of the ram. Of course, the bushing and connecting structure at the pivot point 18 of the bell crank may be modified as appropriate. The deformed crank pivot drive 107 ′ is thus able to pivot centrally with respect to the bell crank 103 at the pivot point 18 and now pivot at the end with respect to the jaw stub boom pivot point 38. It becomes possible. If the existing stub boom pivot 38 is not very convenient, a similar pivot may be placed into the attachment structure 17. The remaining portion of the extended boom is the same as the inverted bell crank type shown in FIG. 4 and will not be described in detail.

The embodiment shown in FIG. 6 shows an extended boom attached to an existing excavator using an adapter device 19 'directly connected to an existing excavator frame structure. The conventional excavator 11 has an existing stub boom pivot point 38 and a stub boom traction cylinder pivot point 36. The conventional excavator shown in FIG. 4 shows an aspect of commonly using both of the pivot points. Adapter device 19 'is designed to be strongly attached to existing pivot points 38 and 36 at its proximal end. Since the attachment state is strong, expensive rotating bushings and the like can be omitted. The remote end of the adapter device 19 'is provided with a mounting portion for the pivoting point 16 of the extended boom bell crank 103. The pivot flange is also provided midway between the proximal end and the remote end of the adapter device 19 '. The bell crank rotation drive 107 is connected between the rotation flange 25 and the lower bell crank rotation point 18. An important feature of this embodiment is that the adapter device 19 'is configured to be sufficiently spaced apart from the edges of the excavator drive tracks. This is important because the attached extension boom can move the bucket attached to it on an absolute vertical line past the edges of the excavator tracks. Conventional excavators have been unable to do this absolute vertical mining. Since the rest of the extended boom structure is the same as the inverted bell crank type shown in FIG. 4, the description thereof will be omitted.

7 illustrates a state in which the large bucket 135 interferes with the boom when the extended boom is in a contracted state. For later explanation, the final strut of the boom is marked with (37) and the lever is marked with (35). As can be seen from FIG. 7, the large bucket 135 can interfere with the end strut 37 and the lever 35 of the existing boom, especially in the fully curled position, especially when the boom is fully retracted.

8 shows a simple solution to the interference between the tip of the final link unit and the bucket. In this solution only the pivot point 4 between the final lever 35 and the work tool lever 45 is repositioned to the position 4 'and the work tool lever ( Just lower 45). The work tool lever with the pivot point repositioned is shown at 45 'in FIG.

7 and 8 are only schematic drawings and do not represent actual dimensions. These figures are only intended to illustrate the problem (FIG. 7) and its solution (FIG. 8). As can be seen in FIG. 7, when the large bucket 135 is completely curled (rotated clockwise) on the work tool lever 45 and the extended boom is retracted, between the bucket tooth and the final lever 35. Interference may occur. In one solution shown in FIG. 8, the pivot point 4 is repositioned between the final lever 35 and the work tool lever 45 '. The pivot flange 33 is added to the final lever 35 (deformed as 35 '). The conventional pivot point 4 is changed to a point 4 'on the work lever 45 (modified one is indicated as 45'). The conventional pivot point 4 shown in FIG. 8 is for reference only and is not used herein. As can be seen in the figure, repositioning the pivot point on the work tool lever widens the final V-shape and thus provides greater tool clearance.

9 shows the modified final lever 35 'and the work tool lever 45' of FIG. 8 used for the extended boom of FIG. The base, rotary table, yoke, bell crank, boom extension drive, and link units are all the same as described above. Certain shape structures have been added to assist in the unexpected and significant advantages obtained in this variant. Briefly with reference to FIG. 8, the deformation is made by adding a pivoting flange 33 to the final lever 35 ′ to change the pivoting point 4 ′ on the work tool lever. The pivot point 4 is also shown, but this is not used in this embodiment. The final lever 35 'is pinned to the work tool lever 45' at pin 4 '.

As is known in the art, the interconnected series of rank units of the extended boom of the present invention is actually a series of four-bar linkages, most of which are equilibrium quadrilaterals. When the V-shaped spreads and the boom extends, the points spaced from the boom extension shaft (E in FIG. 1) converge to the extension shaft. In other words, when the boom extends or extends, the points above the extension axis E are lowered and the points below the axis are raised. For example, the tool mounting point P shown at the remote end of the work tool lever 45 in FIG. 1 is raised when the boom is extended and lowered when the boom is retracted. However, the structure of FIG. 9 has a tendency of reaction as described later. The four pivot points of the final four-bar linkage are indicated by A, B, C and D in FIG. The lower points A and B are both located on lever L, which is a member of the final parallelogram linkage. They are all located below the boom extension central axis, so that the portion AB of the lever L rises when the boom is extended. Part AB may be considered the base of the final four-bar linkage ABCD. Now, in accordance with the principles known in kinetics, the absolute velocity at any point P becomes the value toward the absolute velocity of the base AB and the "relative" velocity of the point P relative to the base AB. In the final four-bar linkage ABCD, the absolute speed of base AB is mostly an upward component since both points A and B rise as the boom extends as described above. The sum of these ascent speeds and the "relative" speed is the absolute speed of the tool attachment point P. Thus, the contribution contribution of base AB is eliminated when the "relative" velocity is mostly downward component. This appears when the pivot point 4 moves (4 ') as described below.

Use the instantaneous center theory to find the "relative" speed of the tool mounting point P for the base AB. From the relative velocity principle, only the relative velocity of point P with respect to the base AB can be obtained and combined with the absolute velocity of the base AB (which was previously determined to have an upward component), the absolute velocity of point P can be obtained. The donation AB is considered fixed upon obtaining any "relative" rate for it. First, the landlord 37 (AC) is assumed to be rigid and rotated at point A with respect to the base AB. Thus, the velocity of point C relative to base AB (at the other end of column 37) rotates about point A but is perpendicular to the post. This speed is shown as V1 in FIG. Next, the same observation was made with respect to the lever 35'to find that the relative speed of the point D should be perpendicular to the line BD, which is shown as V2 in FIG. Now, since points C and D are both located on the same rigid lever (work lever 45 ') and the relative speeds of both points have been determined (V1 and V2), the speed at all other points on the lever can be simply determined. The point is based on the fact that if V1 should be perpendicular to the line AC and V2 should be perpendicular to the line BD, the possible movement of the whole rigid lever is that the entire rigid lever rotates around the intersection of the lines AC and BD. The intersection is called the instantaneous center of rotation in kinematics and is indicated by IC in FIG. In this case, the work tool lever 45 'is fixed to the IC and rotated about the base AB around it. Based on this fact, it is possible to finally determine the "relative" speed of point P on the work tool lever for the base AB. The above relative speed is the rotational speed around the IC and is indicated by V3 in FIG. Since the "relative" velocity is mostly a downward component, the upward component of the base that must be summed with the "relative" velocity in order to find the absolute velocity of the work tool attachment point P is obtained.

The process of finding the absolute speed of the point P of the work tool lever, which is more or less theoretical, has substantial practical significance, as will be described later. First, the typical arc movement of a work tool attachment point, such as point P in FIG. 9, becomes fairly flat during boom extension and retraction. This planarization movement results in a shear force greater than 15% on the hard material being excavated due to improved access angles and increased leverage. In addition, when the work tool is a towing structure such as the forklift shown in FIG. 7 of the applicant's U.S. Patent No. 4,583,907, the extension length can be extended without using the leveling device 127 shown in the patent. It becomes possible. This is essentially because the plane movement does not change the respective position of the work tool lever 45 'much upon extension and retraction of the boom. In other words, the forklift attached to the work tool lever 45 'is self-leveling when the boom is stretched. The last advantage, which may be the most important advantage obtained by changing the pivot point 4 to (4 ') in this embodiment, is that the high relationship between the work tool and the surrounding environment at the time of construction is more constant. In particular, this means that the most suitable angle of the bucket tooth, scraper blade, or other work tool is automatically maintained when the boom is stretched.

Accordingly, it can be seen that the advantages of specially designing the structure of the final link unit of the extended boom of the present invention to reposition the pivot points of the final four-bar linkage are numerous and significant. These advantages are obtained by expanding the final support and lever as the final support and lever approach the work tool lever towards the remote end of the extension boom. Of course, depending on the particular state, it may also provide similar advantages by convergence. The particular apparatus described to perform the diffusion or convergence can vary widely. For example, the rotational flange added to the final lever may be attached to the work tool lever, used with a different angle shape to the final prop or lever, or other devices may be used to reposition the pivot points. For example, one or more pivot points may be mounted eccentrically so that the final link characteristics can be easily adjusted.

Figure 10 illustrates the use of the extended boom of the present invention as an outrigger support foot extended. The deformed bell crank 103 'rotates with respect to the support structure 11', which may be any excavator, crane, or other machine that must be stabilized in use. This mounting allows the angular extension of the boom to be varied by the drive 107. The remainder of the boom is the same as described above. An outrigger support foot or pad is mounted at the remote end of the work tool lever. Of course, several outrigger support feet are needed to stabilize the entire machine. The boom of the present invention can be advantageously used because it is lightweight, high strength and easy to extend.

Claims (20)

An extension boom having a longitudinal center extension shaft having a proximal end and a remote end, the extension boom comprising a plurality of sequential link units connected to each other and an adapter device for mounting the boom to an existing machine, each The link unit of the link unit consists of elongated struts and levers extending in parallel with each other, and the struts and levers of one of the link units are pivotally connected to the struts and levers of the next link unit, and are viewed sequentially. Rotating connections between adjacent link units are alternately located on the sides of the shaft such that the overall shape of the boom is zig-zag shaped and extends when the pivoting connections approach the shaft and the pivotal connections from the shaft. Shrinkage takes place and the pivotal connections between all sequential link units An extended boom with arcing struts and levers intersected or staggered at any position on the extended boom. The boom extension apparatus according to claim 1, wherein a boom extension drive is provided to expand and contract the boom, and a bell crank device is provided to support the proximal end of the boom and to independently adjust each orientation of the extension shaft. 3. The machine of claim 2 wherein the machine is an excavator having a stick, a bucket, and a bucket curling pivot points, wherein the adapter device is connected at one proximal end of the elongated boom to the bell crank device and to the other side. By providing an attachment device connected to the bucket curling pivot points and providing a work tool lever with its own bucket curling device suitable for mounting the bucket at the remote end of the elongated boom. An extended boom configured to be able to insert the extended boom between the stick and the bucket without deforming the existing excavator parts. 2. The machine of claim 1 wherein the machine is an excavator having a stick boom and a bucket, the adapter device being capable of inserting the elongated boom between the stick boom and the bucket without deforming any existing excavator parts. Extension boom composed. 5. The machine of claim 4, wherein the machine also includes bucket curling pivot points, and the adapter device is mounted to existing bucket curling pivot points and is adapted to support the proximal end of the extended boom and the boom extension drive. Extension boom composed of bell crank system. 6. The extended boom of claim 5, wherein the modified bell crank device requires only three separate pivot shafts. 3. The machine of claim 2 wherein the machine is an excavator having a stub boom and a stick boom mounted to the bucket and curling linkage, wherein the adapter device inserts the extended boom between the extended boom and the stick boom. And the bell crank device pivoted relative to the stub boom in a state capable of maintaining its respective adjustment function. 8. The boom as recited in claim 7, wherein said stick boom having a bucket and curling linkage attached thereto is attached to a final link unit for use at said remote end of said boom that is opposite said bell crank device. 8. An extension tool according to claim 7, wherein said stick boom and its curling linkage are replaced with a work tool lever similarly mounted to said remote end of said elongated boom, said bucket being remounted on said work tool lever. Boom. 3. The machine according to claim 2, wherein the machine has a chassis and the adapter device is configured to provide a pivot mount that mounts the bell crank device directly on a properly deformed portion of the chassis. An extended boom which is facilitated by using a biaxial mounting portion for a drive cylinder of the bell crank device. 3. The machine according to claim 2, wherein the machine has a pivot mount for a rigid boom and a boom traction cylinder, and the adapter device is connected at one end to the pivot mount and maintains the respective adjustment function of the bell crank at its other end. An extension boom consisting of an attachment device suitable for connection to a bell crank device. 12. The rotary machine according to claim 11, wherein the machine also has a support structure and a rotary table, and the attachment device is of sufficient length from the one end to the other end, so that the extension shaft of the rotary table is driven by the bell crank device. An extension boom that allows the angle to be adjusted in an absolute vertical line at any position without interfering with the support structure. 13. The extended boom of claim 12, wherein the machine is an excavator and a bucket is mounted at the remote end of the extended boom to provide an absolute vertical excavation environment adjacent to the support structure. 2. The remote end of the elongated boom of claim 1, wherein the machine is comprised of a tool mounted to the remote end of the elongated boom, and wherein the adapter device is specifically configured to apply a specific work function to the tool. Extension boom consisting of the final link unit in the unit. 15. The tool of claim 14, wherein the tool is a large bucket capable of being mounted and curled on a work tool lever, the specially configured final link unit comprising: the bucket and the bucket when the bucket is fully curled and the elongated boom is fully retracted. An extended boom that applies a very large gap between the final link units. 16. The extended boom according to claim 15, wherein the specially configured final link unit applies a flat bucket moving path during expansion and contraction of the extended boom. 16. The extended boom of claim 15, wherein the specially configured final link unit applies a significantly greater shear force to the tip of the bucket during expansion of the extended boom. 15. The extended boom of claim 14, wherein the tool is a set of fork branches that support the load, and wherein the specially configured link unit applies self-leveling characteristics to the fork branches during expansion of the extended boom. 15. The extended boom according to claim 14, wherein the specially configured final link unit is configured to extend between the strut and the lever of the final link unit in a direction from the proximal side to the remote side of the extended boom. 3. The boom extension drive according to claim 2, wherein the machine is movable construction equipment, to which the bell crank device is mounted to provide angular adjustment, and wherein the remote end of the extended boom is equipped with a stabilizing outrigger support foot. An extended boom positioned by and pressed against the ground to provide stability to the movable construction equipment.

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