SU1247470A1 - Apparatus for joining change working member with manipulator arm - Google Patents

Description

The invention relates to manipulators, and more specifically to single-bucket excavators with interchangeable tools.

The purpose of the invention is to enhance operational capabilities and increase reliability.

FIG. 1 shows an excavator-manipulator, side view; pas figs. 2 shows a device for connecting a working member with a manipulator arm and a control system diagram; in fig. 3 is a diagram of the interaction of the elements of the device when the stem is retracted; in fig. 4 - the same, when disconnecting the working body from the device.

The excavator-manipulator (Fig. 1) contains the base machine 1, the boom 2, the fork-type arm 3, inside which the telescopic arm 4 with a rotation mechanism around the longitudinal axis 5, an attachment device b for fixed connection with interchangeable tools is mounted on the trunnions For example, grab 7, bucket 8, or other organs.

On the chassis frame of the machine 1 there are cassettes 9 for snoring replaceable working bodies, which can be clamps for round or flat products, scissors for trimming fittings, tamping and other organs.

The device 6 for docking (connection) of the replaceable working member is part of the telescopic handle 4 (Fig. 2), the fixed tube 10 of which is fixed in the handle 3, and the movable tube 11 (for example, of square section) has the ability to be extended on slides 12 using a power cylinder fixed by the housing 13 on the fixed pipe 10, the rod 14 of which is connected to the eye 15 of the movable pipe 11. The piston 16 of the power hydraulic cylinder is equipped with a spring-loaded shut-off valve 17, which in the retracted position of the rod 14 blocks the drain mag Strahl piston chamber, and a parallel branch having mounted thereon a relief valve 18. At the end the working bodies 7, 8 and others, there is a landing 19 taper shank zahod- hydrochloric part for connection with the movable tube 11.

Clarity and reliability of fixation is provided by locking lugs 20, which are installed at the outer end of the movable pipe 11, and inserted by springs 21 into slots 22, made on the surface of the landing shank 19 and movable pipe P. Nrofil, the hooks 20 and coordinates of the axes of their attachment are provided tensing forces self-locking of the latches in the slots 22. The stops 23 (shoulder) on the end surface of the fixed pipe 10 are used to open the latches.

For the translational movement of the working body, the power cylinder 13 of the telescopic handle 4 is connected to the pump 24 through a three-way valve 25, for example, with remote hydraulic control. To restrict ve. the amount of force acting PA rod 14

 during operation, safety valves 26 and 27 are turned on in the supply line, and valve 27 is configured with a control .JJ (from reducing valve 28) setting. Nris this map and ist includes

valve 28 by foot control lever. The valve 29 is used to connect the distributor 25 to the control unit or to the reducing valve 28. The valve with a controllable setting 27 has the initial setting, lower or lower.

 equal to the setting of the valve 18, and the maximum setting when the reducing control valve is turned on 28 - (U - 1.2) K,; FJ, where K (r is the ratio; singing of the portions) of the power and rod cavities

0 hydrocylipid; Pi - valve setting pressure 18.

The device works as follows. Moving the elements of the working equipment (boom 2, arm 3, telescopic arm 4) the machinist has

5 movable tube 11 of the telescopic mechanism above the shank 19 of a replaceable working body located in the cassette 9 or on the ground.

With the help of the hydraulic cylinder 13, the fluid is supplied to the piston line; 1, the rod 14 and the movable pipe 11, which centers the longitudinal axis of the butt of the working body by means of bevels of the shank 19, are pulled out. As the pipe 11 is extended, the locking lugs are consumed and at the time of the coincidence of the slots 22 of the shank and the movable pipe with the protrusions of the latches 20 of the spring 21 move the latches to the inside of the slots. There is a fixation of the working org-up on the handle 4 of the manipulator. The position of porosity is arbitrary.

In the process of working operations during the movement of the 14 hydraulic cylinder, the working body is moved forward progressively within the stroke of the piston) pIPL 16. The piston on one side is determined by the abutment into the front cover of the hydrocyclipry, and on the other, the momept () m overlap valve valves 17 (Fig. 3) of the supply line (drain) of the piston cavity, sub. and ucheynoy to zad.chey

a cover of a 1-cylinder 0

In the hydraulic cylinder cavity located between the rear cover and nopnjHCM 16, during working movements, after the valve 17 closes the drain hole, when the valve head 5 is connected to the pump, it is determined by the initial setting of the valve 27, The conditions of work are less davlepi settings

valve 18, the piston 16 has a clear limit stop.

The magnitude fo (Fig. 3) of the non-working area of the stroke of the piston 16 is determined by the amount of stirring of the movable pipe 11 relative to the fixed 10, necessary to push the locking latches 20 out of the grooves 22.

To disconnect the telescopic arm 4 with a replaceable driver body using a reducing valve {Fig. 4) increases the control pressure of the valve 27 with a controllable setting. This automatically increases the pressure in the supply line of the rod end of the hydraulic cylinder and in the piston one.

The valve 18 opens the passage of fluid from the piston cavity of the hydraulic cylinder to the drain through the open (due to the simultaneous supply of control pressure through the valve 29) to the hydraulic distributor 25, and the piston is moved all the way to the back cover. During the movement of the piston and the movable tube connected with it, the telescope 11 locks the latch 20 touch the stops 23, slide along their guides away from the center of the pipe, exit the groove 22 and release the working body 7.

The application of the invention improves the operational capabilities of the excavator, increases its reliability when working with interchangeable tools.

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Figg

FIG.

Claims (3)

1. DEVICE FOR CONNECTING A REPLACEABLE WORKING BODY WITH A MANIPULATOR HANDLE, including two mating units, one of which is connected to the handle of the manipulator, a landing shank and fixing latches, characterized in that, in order to expand operational capabilities and increase reliability, the node connected to the handle made telescopic from hollow elements interconnected by means of a power hydraulic cylinder, one of which is mounted movably, and from a hydraulic cylinder control system, while the landing tail the wick is connected to the working body, and the locking latches are located on the movable hollow element, which is placed with the possibility of interaction of the locking latches with the landing shank. 2. The device according to π. 1, characterized in that the movable hollow element and the landing shank have grooves for the location of the locking latches. 3. The device according to π. 1, characterized in that the control system of the power hydraulic cylinder is made up of power lines for the piston and rod cavities of the power cylinder from a parallel installed power line of the piston cavity of the power cylinder of the safety valve, of two additional safety valves, one of which is installed in the power line of the piston cavity, and the other - in the power line of the rod cavity of the power hydraulic cylinder and has an adjustable setting by means of a controlled reduction to Apaana, wherein the piston of the power cylinder has a spring-loaded shut-off valve disposed to overlap the power line power cylinder piston cavity when the rod retracted position. Ou g. 1 SU „„ 1247470