RU170704U1 - DEVICE FOR INTUITIVE COPYING OF A SINGLE BUCKET EXCAVATOR - Google Patents

Abstract

The utility model relates to the field of mechanical engineering, can be used in manual hydraulic systems for controlling moving objects and is designed to form commands for single-bucket excavators, harvesters and manipulators using remote control blocks. The device for intuitively copying control of a single-bucket excavator includes a manipulating handle, actuators and mounted on console control unit remote control valves, complement It contains a lodgement with girths for fixing the forearm of the operator, connected to the console by means of a lever mechanism and equipped with an adjustable spring weight compensator, the manipulation handle mounted via a hinge on the lodgement and connected to the remote control unit of the control valves by a cable drive. Technical result - increased reliability and accuracy management of the executive body of single-bucket excavators, harvesters and manipulators, simplifying the management process tions and increase productivity. 2 ill.

Description

The utility model relates to the field of mechanical engineering, can be used in manual hydraulic control systems for moving land, aviation and marine objects and is intended to form commands through four control channels for single-bucket excavators with hydraulic drive and six teams for harvesters and manipulators via remote control units.

A device for manual control of a tripod manipulator is known (patent RU No. 2501648, IPC B25J 13/02, publ. 12/20/2013), which improves the convenience and accuracy of manual control of a tripod manipulator by producing several simultaneous effects on the control object.

The disadvantages of this technical solution are the low achievable control accuracy associated with the physiologically limited ability to move the manipulation handle while simultaneously holding the arm-arm handle in a suspended position, as well as the three degrees of freedom of the manual control device, which significantly limits the operator's managerial capabilities.

A device for intuitively copying the manipulator control KRAFT GRIPS (Grips [electronic resource] // Robotics. Science and technology. Access mode: http://www.krafttelerobotics.ru/produktsiya.html (accessed 02.25.2016)), with 7 degrees freedom, which can be installed on various vehicles, in which the design of the copy manipulator uses a four-link mechanism and an intuitive copy control of the manipulator with precise power feedback, including contact feed of successive elementary commands the operator on the links of the actuator by moving the manipulation handle fixed to the console.

The disadvantages of the manipulator control device are the low reliability of electronic sensors and electromechanical drives in the operating environment of earthmoving equipment, significant time spent on routine maintenance of the joystick electric drives. The manipulator's controls, made both in the form of a console and in the form of a joystick, assume that the operator’s arm has been hung out in space with insignificant resistance from the side of the control handle, which for a short time, under conditions of physical, vibrational and psychological stress, causes muscle fatigue, a decrease precision control and forced interruptions in work.

The closest is the HITACHI Zaxis excavator control device (Zaxis 240LC-3 330LC-3 Operator Manual. Mid-range excavators. ZX225USRLC-3 [electronic resource] // Hitachi Construction Machinery Eurusia⋅ Access mode: http://www.hitachicm.ru / Floating-pages / Zagruzka-broshyur / (group) / 144 (accessed 02.25.2016)) multi-lever system.

The disadvantage of this device is the need for the operator of the device to undergo special training related to the complexity of management and the need to remember the order of actions, each separately, of the operator’s hands for performing operations by the executive body of the excavator.

The objective of the utility model is to develop a device for intuitively copying control of a multi-link excavator, harvester or manipulator equipped with a hydraulic drive.

The technical result of the utility model is to increase the reliability and accuracy of control of the executive body of bucket excavators, harvesters and hydraulic manipulators, simplifying the control process and increasing labor productivity.

The technical result is achieved by the fact that the device for intuitively copying the control of a single-bucket excavator, including a manipulation handle, actuators and a remote control valve control unit mounted on the console, further comprises a lodgement with grips for fixing the forearm of the operator, connected to the console by means of a lever mechanism and equipped with an adjustable spring weight compensator, and the manipulation handle is mounted by means of a hinge on the bed element and is connected with the remote control unit of the control valves by means of a cable drive.

The intuitively copying control of a single-bucket excavator is characterized in that the handling handle is equipped with harvester head controls.

The location of the forearm of the operator’s hand on the lodgement, its reliable fixation with folding girths and the holding of the manipulation handle by the hand in combination with the height adjustment of the chair provide a free, relaxed state of the body and the operator’s hands on the lodgement on the armrest, while reducing fatigue and contributing to maintaining control accuracy.

The adjustable spring weight compensator allows you to set the remote control unit of the hydraulic distributor associated with the vertical compliance of the lodgement in a neutral position and, accordingly, ensure the stationary state of the excavator boom with a comfortable and relaxed state of the body and arm of the operator and, thanks to this support of the operator's forearm with an adjustable spring weight compensator, reduce fatigue muscles of the operator’s hand from its own weight, exclude the possibility of tremor from nap yazheniya and also improves steering precision.

In the intuitively copying control device, the operator’s trajectory of the manipulation handle with the lodgement relative to the console containing the remote control valves, will be copied by the trajectory of the boom and excavator handle, and the rotation of the manipulation handle with the wrist joint relative to the lodgement will be copied by turning the bucket. Thus, the forearm is associated with the arrow and the handle of the executive body, and the wrist is associated with a bucket.

The reduction of all the controls of the links of the actuators to one common node, in the form of a spring-loaded lodgement and a manipulation handle with vertical and horizontal flexibility, connected with a console containing remote control units of hydraulic distributors by means of lever mechanisms, makes it possible to intuitively copy the control of a single-bucket excavator, allowing the operator natural hand movements, to control the movement of the bucket of the excavator as if it were her by birth. Moreover, the operator does not require special skills.

The intuitive copying control device eliminates the possibility of inconsistent and erroneous operator actions in case of emergency, helps to reduce psychological stress and fatigue, provides increased reliability, accuracy of excavator control and labor productivity.

The consequence of this is the expansion of the contingent professionally suitable for managing single-bucket excavators, harvesters and manipulators and the reduction of its training time.

In FIG. 1 shows a general view of an intuitively copying control device for a single bucket excavator; FIG. 2 shows the organs of intuitively copying the harvester control, a plan view.

The intuitively copying control device for a single-bucket excavator (according to figure 1) consists of a lodgement 1, equipped with girths 2 for fixing the forearm of the operator and rigidly connected to the lever 3 of the lever mechanism, converting the movement of the lodgement 1 and the articulated manipulation handle 4 into the tilts of the pressure plate 5 with a block remote control valve 6 installed in the console 7 and designed to control the actuator, lever 8, which is a handle on traditional excavators (joystick) of the remote control unit, connected by a spherical hinge 9 with the lever 3, tilts the pressure plate 5 in the vertical plane during longitudinal movement of the tool tray 1, the horizontal arm of the rocker arm 10 of the remote control unit 11, the connecting rod 12 with hinges 13 and 14 is connected to the lever 3, and the vertical arm of the rocker arm 10, through the adjusting screw 15, the spring 16 abuts against the console 7, ensuring that the tool tray 1, the manipulation handle 4 and the entire lever mechanism are held in a horizontal position, in which the plate 17 of the remote control unit 11 is in the neutral position, the manipulation handle 4 mounted on the rocker 18, is connected by a hinge 19 to the lever 3 and the lodgement 1 fixed on it, ensuring its rotation in the vertical plane, bowden cables 20 are attached to the other two ends of the rocker and 21 with flexible shells between the stops 22 on the tool tray and 23 on the console 7 with the possibility of rotation of the pressure plate 5 of the remote control unit 6 in a horizontal plane. The spherical hinge 9 eliminates the transmission of the impact from the rotation of the lever 3 and the horizontal arm of the rocker arm 10 in the horizontal plane to the pressure plate 5 and, on the other hand, the transmission of the effect from the manipulation handle 4 to the pressure plate 17.

In forestry operations, a single bucket excavator is often used with a harvester head mounted on it. The proposed intuitive copy control device is also suitable for controlling the harvester head. For this, the manipulation handle is equipped with additional controls of the harvester head, namely, the hinge 24 (Fig. 2), which ensures the rotation of the manipulation handle 4 relative to the longitudinal axis of the tool tray with the drive to the third remote control unit of the control valves, also installed in the console, and providing, respectively, roll capture of the harvester head relative to the handle, with the hand lever of a motorcycle type 25, connected by means of bowden cables in a flexible shell to the third block Remote control (conventionally not shown), carrying gripping actuation and release, as well as push-button switch 26 at the end of the manipulation handle 4, designed to enable the cutting tool, and a push button switch 27 and start pulling lopping mechanism.

The intuitive copying control of a single-bucket excavator works as follows.

The operator lands in a chair, puts the forearm of the right hand on the lodgement 1 and grabs the manipulation handle 4. With the help of the folding grips 2, fixes the forearm of the hand relative to the lodgement 1. Using the adjusting screw 15 of the spring weight compensator 16, sets the lever 3 and the horizontal arm of the lift arm 10 and turning the boom to the position corresponding to the neutral position of the remote control units of the control valves 6 and 11, aggregated by the console 7. At the same time, the driver’s landing in the chair should be comfortable and free, and the forearm of the hand should be placed without tension on the lodgement 1, grabbing the handle 4 without effort. After these preparatory operations, the engine with a hydraulic drive should be started.

When the operator lifts the wrists of the right hand upward relative to the elbow, the part of the lodgement 1 facing the manipulation handle 4 also rises, causing the pressure plate 17 to rotate in the vertical plane by means of the linkage mechanism and pressing it on the upper plunger of the remote control unit 11 by means of the control valve and hydraulic actuator lifting the boom excavator. When lowering the wrist relative to the elbow, the pressure plate 17 is pressed on the lower plunger and, accordingly, the arrow is lowered.

At the same time, each remote control unit of the throttle-type spools provides a proportional control in nature, in which the movement speed of the corresponding actuator is determined by the deviation of the block lever from the neutral position.

When the manipulation handle 4 with the lodgement 1 is rotated in the horizontal plane to the right, the pressure plate 17, turning to the right, presses the plunger of the remote control unit 11 in the right direction, turning the excavator platform with the boom relative to the chassis clockwise. Turning the manipulation handle with the tool tray to the other side will result in a corresponding rotation of the excavator platform.

The movement of the manipulation handle 4 with the lodgement 1 along its longitudinal axis forward by means of the connecting rod 12 and the lever 8, forming a four-link lever mechanism, rotates the pressure plate 5 in a vertical plane, which presses on the upper plunger of the remote control unit 6 and, using the valve and the hydraulic actuator moving the handle of the excavator forward. The movement of the lodgement 1 in the opposite direction causes the corresponding movement of the handle.

Rotation of the handle 4 by a wrist in a vertical plane relative to the lodgement 1 in the direction away from you will turn the pressure plate 5 of the remote control unit 6 in the horizontal plane and cause a corresponding bucket rotation, and turning it in the opposite direction to the corresponding bucket reverse rotation.

The kinematics of the linkage mechanism and the proportional nature of the control of the control valves by means of remote control units provide the possibility of a smooth combined execution of any working movements by the executive body of the excavator

It is essential that the device of intuitive copying control be implemented as a separate console unit with the possibility of modernizing existing excavators (with controls in the form of two, for each of the hands, remote control units with two-stage handles), as for example, this is done when cars are converted to manual control for disabled drivers.

When managing a harvester, preparatory operations, including starting the engine, are similar to preparing an excavator.

Further, by manipulating the tool tray 1 with the manipulation handle 4, the operator brings the capture of the harvester head to contact with the tree trunk, pressing the lever 25 with the fingers to the manipulation handle 4, the operator captures and holds the trunk. Holding the lever 25, pressing the thumb of the button switch 26 starts the cutting tool to perform a cut. In this case, the operator must ensure a slight tightness of the barrel up to avoid jamming of the cutting tool at the end of the cut. The release of the push button switch 26 causes the cutting tool to turn off.

Rotation of the manipulation handle 4 by the operator’s wrist in a vertical plane relative to the lodgement 1 in the direction away from oneself will cause a roll of the cut tree from the excavator, and when turning to itself, it will roll to the excavator.

Turning the manipulator handle 4 by the operator’s wrist relative to the longitudinal axis of the tool tray 1 clockwise or counterclockwise will lead to a roll in the corresponding direction of the cut tree.

Upon completion of the tree felling, the operator using button 27 includes a delimber with a mechanism for pulling the tree and sawing it into pieces.

Manipulating the forearm and hand, the operator moves the cut trunk to the storage area and, releasing the lever 25, unclenches the capture of the harvester head, freeing the cut trunk.

Thus, the device for intuitively copying the control of a single-bucket excavator, in which the links of the actuators are controlled by hydraulic distributors by the movements of the operator’s hand by acting on a spring-loaded tool tray and manipulation handle connected by lever mechanisms and cable drives with a console containing remote control valves of hydraulic distributors, provides improved control accuracy actuators, and labor productivity at lonely shovyh shovels, harvesters and manipulators, eliminates long practice based on mnemonics, the preparation operators.

Claims (2)

1. An intuitively copying control device for a single-bucket excavator, including a manipulation handle, actuators and a remote control valve control unit mounted on the console, characterized in that the device further comprises a lodgement with girths for fixing the forearm of the operator, connected to the console by means of a lever mechanism and equipped with an adjustable spring weight compensator, and the manipulation handle is mounted by means of a hinge on the tool tray and is connected a remote control unit through the cable Hydrodistributor actuator. 2. The device according to p. 1, characterized in that the manipulation handle is equipped with controls for the harvester head.

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