SU1253869A1 - Swivel mechanism of self-propelled manipulator - Google Patents

Description

The invention relates to vehicles, in particular, to the mechanism of their gates, and can be used to increase the maneuverability of specialized vehicles that are used in cramped conditions and, for example, self-propelled steering gear.

The value of the invention is an improvement in the maneuvering of the manipulator.

FIG. 1 shows a hydraulically mounted diagram of the mechanism for turning the self-propelled manipulator; ka fig. 2 is an electrical circuit controlling the rotation mechanism; in fig. 3 and 4 are diagrams for connecting the rotary shafts with sprockets using clutches; in fig. 5 is a kinematic diagram of the connection of the rotary shafts with HOMOHiH of two ash trays, in perspective view; pas figs. 6--8 - ariant maneuvering the self-propelled mapi .. 1 torus in cramped conditions.

And the expander -1 of the rotation of the self-propelled manipulator of the coder / ct - three rotatable vertical shafts 1, 2 and 3, oniriyupgies on the running gear / / :: h -.; -; 4, 5, and 6. On top of shafts 1 and 2, there are sprockets (or pulleys) 7 and 8 mounted, interconnected by an unrecognizable 1-pokSi sy zyo. iap) with a chain or cog-1st pevit e i 9, as well as asterisks (| pcpvy |

10i it,:; flatulence: compatible with the lia iui.iiy installation 3 asterisk (pulley) 12 oxBa -iciHj HtMibio (belt) .3 (the gear is open). Shaft i is equipped with a controllable coupling 14, a naiip Uviep cam. In the upper and lower positions, the clutch with its cams can interact with the cams of sprockets 7 and 0. Similarly mu1 {) and 5 are mounted on shaft 2 between sprockets 8 and

11 (Fig. 3). A clutch 16 is mounted on the shaft 3 (FIG. 4), which in the upper position engages the lever 17 fixed relative to the frame 18 of the self-propelled handler, and in the lower position - with an asterisk 12. The clutches are connected by two shoulders 19, to the hydrocyclists 20, 21 and 22, the working fluid to which is supplied through a three-position directional control valve 23 controlled by two electromagnets 24 and 25 (Fig. 1). The shaft has a drive in the form of a low-speed hydraulic motor (high-speed) hydraulic motor 26 e by reverse flow, connected by lines through three-position and hydraulic control valve 27 of steering gear with pump 28 and hydraulic tank 29. Hydro distribution, 1, e, 1, 1, 27 is connected with the steering wheel 30, mouth; 1H01blind on the remote control 3 controls in a CAMERATION of the self-drive mani tor. Shaft i: H dCi / Kcn sensor of the neutral position of the wheel 4 - with the limit switch 32, which is located in the winding circuit) barely 33 with two interlock contacts; But they are 34 and 35. Egi contacts) a:; Megtses in the power supply for electromagnets 24 and 25. On the clutches, there are limit switches with с) azmykayu1imchch contacts 36 and 37, which; s are set to

chains of magnets 24 and 25. A toggle switch 38 of the type of motion of a self-propelled manipulator, located on the control panel 31, is introduced into the circuit.

The turning mechanism works next

in a way.

For the usual way of moving a self-propelled manipulator, i.e. along its longitudinal axis and with turns, the toggle switch 38 is set to the “Normal

(for example, the left position but fig. 2). When the wheels are in neutral, the limit switch 32 energizes the winding of the relay 33, which closes its contacts 34 and 35. The contact 34 energizes the electromagnet 24, which switches the control valve 23 to a position that provides oil supply to the hydraulic cylinders 20, 21 and 22. The last transfer of the coupling 14 15 p 16 to the upper position (as shown in Figs. 3, 4 and 5), at which the limit switch 36 is activated and opens the power supply circuit of the electromagnet 24. The control valve 23 returns to its original (neutral) position. e, locked by locking the clutch hydraulic cylinder in the upper position. As a result

the shafts 1 and 2 are cross-linked and the shaft 3 is fixed relative to the frame. Rotating the wheel 30, act on the valve 27, which supplies the working fluid to the hydraulic motor 26, causing it and the shaft 1 to rotate in the corresponding direction. Chain 9 provides for simultaneous rotation of the wheels 4 and 5 pa at alternate angles, but in opposite nanometers. At the same time, the angles of rotation of the caps are not limited and the manipulator can maneuver with any radius.

turns in both directions. So, p: gi moving to the left (as shown in Fig. 1), otc tone from the neutral of the front wheel 4 counterclockwise, and the rear wheel 5 - in the opposite direction, provide rotation

self-propelled manipulator torus counterclockwise. With increasing deflection of wheels 4 and 5 from the neutral, the turning radius of the manipulator decreases due to the displacement of the point of the non-slash Ko axes, i.e. 4 and 5 along the axis of the rotating wheel 6 from infinity to the reference triangle. When combining the point of intersection of the axles of wheels 4 and 5 with wheel 6, the turning radius of the manipulator is close to ve, the width of its track and rotation of the manipulator around the wheel 6 is provided. A further turn of the wheels 4 and 5 decreases

turning radius. The limit angle is the angle of rotation of the wheels 4 and 5 from the neutral (for an equilateral supporting triangle, this angle is 60), at which the point of intersection of the axes of the wheels is aligned with the geometric center of the reference triangle. In this case, the turning radius is equal to zero and the turn of the manipulator on the spot counterclockwise is provided. This reversal can; cho

Carry out on a platform whose dimensions slightly exceed the dimensions of the manipulator, since all the wheels move along the same circle describing the supporting triangle.

To rotate the manipulator clockwise, wheel 4 is turned from the neutral clockwise, and wheel 5 is turned against. In this case, a turn in place can also be achieved, but clockwise when the intersection point of the axes coincides with the geometric center of the reference triangle. With an equilateral support triangle, the margin of deviation from the neutral of the wheels 4 and 5 is 120 °. Thus, the total angle of rotation of the wheels 4 and 5, necessary for turning the manipulator with minimal radii (turning in place) in both directions, is 180 °. This provides a chain (or belt) gear 9. Small turning radii provide the manipulator with the necessary maneuverability in the cramped conditions of the assembly site (Fig. 6, the manipulator enters the equipment assembly section from separate sections and leaves it). Turns on the spot can be used to reorient the cargo without intercepting it (Fig. 7), which cannot be done by well-known loaders (for reorientation of cargo removed, for example, from an impasse, they must be freed from it and seize the cargo from the opposite side, which is not always possible).

To translate the manipulator into translational motion at an angle to its longitudinal axis, the toggle switch 38 is placed in the position of the Crab (right in Fig. 2) on the run or on the stand. With this method of movement of the LT, the simultaneous rotation of all three wheels at the same angle in one direction should be ensured. If at the moment of switching the toggle switch the wheels 4 and 5 are not in the neutral position, then the relay 33 does not work and the gear 13 is not activated. With the rudder 30 on the go or when stationary, wheels 4 and 5 are set to the neutral position, i.e. coordinate them with wheel 6 (which until now has been

in the neutral position), the limit switch 32 switches on the relay 33, which by its contact 35 switches on the electromagnet 25. The latter switches the hydraulic distributor 23 to a position that provides oil supply to the piston cavities of the hydraulic cylinders 20, 21 and 22. As a result of the operation of the hydraulic cylinders, all the couplings take the lower position, Connect shafts 1, 2 and 3 with sprockets 10, 11 and 12 open gear. The clutches in the lowest position press the limit switch 37 and stop the power supply of the electromagnet 25. Turning the steering wheel turns all three wheels to any angle necessary to perform the maneuver in the Crab. FIG. Figures 6 and 7 show the options for maneuvering using the Crab movement method at different angles to the longitudinal axis of the self-propelled manipulator. FIG. 8 shows that by smoothly changing the angle of rotation of all the wheels with the chain 13, it is possible to perform curvilinear translational movements, for example, to avoid obstacles while maintaining the original spatial position of the axes of the cargo being carried, which may be required during assembly or storage. In this case, an angle may be required.

turning wheels about 360 ° and more.

32 -fig. 2

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nineteen

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FIG. five

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FIG. 6

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And

Claims (1)

MECHANISM OF TURNING A SELF-PROPELLED MANIPULATOR, comprising three vertical shafts resting on the running wheels, two of which are interconnected via sprockets with a flexible cross gear driven by an hydraulic actuator hydraulically connected through a steering distributor with a pump and hydraulic tank, a neutral wheel position sensor and an additional hydraulic distributor, hydraulically connected to a pump and a hydraulic tank, characterized in that, in order to improve the maneuverability of the manipulator, it is equipped with three I hydraulically controlled couplings and three sprockets, interconnected by a flexible direct transmission, mounted on vertical shafts with the possibility of connecting the latter in one of the positions of the couplings with the sprockets of the direct transmission, and in the other, the cross gear, and the control of the couplings is made in the form of hydraulic cylinders hydraulically connected with an additional hydraulic control valve, made electrically controlled by two electromagnets, in the power supply circuit of which a wheel neutral sensor is installed, and The filling hydraulic machine is made in the form of a reversible hydraulic motor mechanically coupled to one of two vertical shafts connected by a cross gear. SU „„ 1253 FIG. 7 QO Ci CO>