WO2024012588A1 - 一种液压正铲工作装置、控制方法及挖掘机 - Google Patents

一种液压正铲工作装置、控制方法及挖掘机 Download PDF

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Publication number
WO2024012588A1
WO2024012588A1 PCT/CN2023/107594 CN2023107594W WO2024012588A1 WO 2024012588 A1 WO2024012588 A1 WO 2024012588A1 CN 2023107594 W CN2023107594 W CN 2023107594W WO 2024012588 A1 WO2024012588 A1 WO 2024012588A1
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WIPO (PCT)
Prior art keywords
bucket
cylinder
boom
support
arm
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PCT/CN2023/107594
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English (en)
French (fr)
Inventor
渠立红
杨裕丰
王勇
文俊
吴庆礼
马瑞永
王春磊
刘永参
汪允显
付桂山
张聪聪
焦青
王冉冉
张志洋
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徐州徐工矿业机械有限公司
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Publication of WO2024012588A1 publication Critical patent/WO2024012588A1/zh

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
    • E02F3/301—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom with more than two arms (boom included), e.g. two-part boom with additional dipper-arm
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
    • E02F3/308—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working outwardly
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/46—Dredgers; Soil-shifting machines mechanically-driven with reciprocating digging or scraping elements moved by cables or hoisting ropes ; Drives or control devices therefor
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/46—Dredgers; Soil-shifting machines mechanically-driven with reciprocating digging or scraping elements moved by cables or hoisting ropes ; Drives or control devices therefor
    • E02F3/48—Drag-lines
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/46—Dredgers; Soil-shifting machines mechanically-driven with reciprocating digging or scraping elements moved by cables or hoisting ropes ; Drives or control devices therefor
    • E02F3/58—Component parts
    • E02F3/60—Buckets, scrapers, or other digging elements
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2264—Arrangements or adaptations of elements for hydraulic drives

Definitions

  • the invention belongs to the technical field of large shovel type mining excavators, and specifically relates to a hydraulic shovel working device, a control method and an excavator.
  • hydraulic front shovels play an important role. Especially in China, hydraulic front shovels have begun to be fully promoted.
  • the operating cost and economical use of equipment are one of the key things that mining companies are most concerned about.
  • the flexibility of use and adaptability to working conditions of hydraulic front shovels have been unanimously recognized by domestic and foreign mining companies.
  • hydraulic front shovels are less loaded than others.
  • the energy consumption of machines and electric shovels is relatively large, and the cost of mining single-side materials is relatively high. This has affected the reputation and rapid promotion of hydraulic shovels in China to a certain extent. How to reduce the energy consumption and single-side costs of hydraulic shovels needs to be solved urgently. question.
  • the invention discloses a hydraulic shovel working device and an excavator, aiming to solve the problem of high engine fuel consumption of existing hydraulic shovel excavators during the excavation process due to the large proportion of the weight of the moving components and the small proportion of the material weight. , the problem of high use cost.
  • the invention discloses a hydraulic shovel working device, which includes a boom, a boom cylinder, a guide wheel, a moving pulley, a rope, a bucket rod, a slide support, a bucket rod cylinder, a bucket, and a bucket cylinder; wherein, the The boom, boom cylinder, movable pulley, guide wheel, and rope form a lifting unit, which is used to lift and lower the bucket arm and bucket; the boom, slider support, bucket arm, and arm cylinder are composed of The push unit is used to realize the pushing and recovery of the bucket; the bucket rod, bucket, and bucket cylinder form an excavation unit, which is used to realize the excavation and downward turning of the bucket.
  • the boom is connected to the hinge point of the main engine; the number of the slider supports is two, which are placed on both sides of the boom and can rotate relative to the boom; the boom cylinder is installed on the boom.
  • the movable pulley is installed at the end of the piston rod of the boom cylinder, and the guide wheel is rotationally connected to the top of the boom; one end of the rope is fixed on the top of the boom, and the other end goes around the movable pulley and the guide wheel in sequence. Then fix it on the bucket.
  • the side of the boom is provided with a lower hinge point, a middle hinge point and an upper hinge point.
  • the lower hinge point and the upper hinge point are respectively connected to the hinge point of the main engine.
  • the slider support passes through a pin. It is connected to the hinge point in the middle; the top of the boom is provided with a hinge point of the guide wheel, and the guide wheel is connected to the hinge point of the guide wheel through a pin; the top surface of the boom is provided with a boom cylinder support and a rope support
  • the cylinder body of the boom cylinder is hinged on the boom cylinder support through a pin, and the rope is fixed on the rope support;
  • the bottom surface of the boom is provided with a stick cylinder support, and the stick
  • the piston rod of the oil cylinder is hinged to the arm cylinder support through a pin.
  • the bucket arm is an H-shaped box beam, consisting of two symmetrically arranged support arms and an intermediate connecting column connecting the two support arms; one end of the two support arms is supported by a corresponding slider.
  • the hole wall of the seat is connected to the boom, enabling relative rotation and sliding; the other ends of the two support arms are provided with coaxial bucket hinge points, which are connected to the rear upper hinge point of the bucket through a pin.
  • the middle connecting column is provided with a stick cylinder support, the stick cylinder is placed between the two support arms, and the cylinder body of the stick cylinder is hinged to the stick cylinder support through a pin.
  • the bottom surfaces of the two support arms are equipped with coaxial bucket cylinder hinge points, which are connected to the piston rods of the two bucket cylinders through pins, and the cylinders of the two bucket cylinders are respectively connected to the rear of the bucket. Lower hinge point connection.
  • the bucket includes a front bucket, a rear bucket and a bucket opening cylinder; the number of the bucket opening cylinders is two, which are respectively placed on both sides of the rear of the bucket to drive the relative movement of the front and rear buckets to realize the bucket opening and closing.
  • a further solution a top pulling lug is provided on the inside of the back of the bucket, and the rope is fixed on the top pulling lug.
  • the boom has a wide middle part and small structures at both ends; the slider support is installed at the wide middle part of the boom.
  • the invention also discloses an excavator, which includes a main machine, and the above-mentioned hydraulic shovel working device is installed on the main machine.
  • the invention also discloses a control method based on the above-mentioned hydraulic shovel working device.
  • the control method is as follows:
  • Preparation for excavation operations Adjust the position of the equipment to a reasonable distance from the material, extend the piston rod of the bucket opening cylinder to ensure that the bucket is closed, rotate the main engine to make the bucket face the material, extend the piston rod of the boom cylinder, and lower the bucket through the rope;
  • the piston rod of the rod cylinder retracts, and the bucket retracts close to the main engine;
  • the piston rod of the bucket cylinder retracts, and the bucket teeth are adjusted to be roughly flush with the ground;
  • Excavation operation Extend the arm cylinder to drive the arm forward and the bucket to push, causing the bucket teeth to cut into the material.
  • the bucket When the bucket is filled with material, extend the bucket cylinder to reduce material spillage.
  • the boom cylinder retracts and the bucket and stick are pulled up through the rope;
  • Unloading operation Rotate the host platform so that the bucket is located at a suitable position on the top of the vehicle cargo box.
  • the piston rod of the bucket opening cylinder retracts, the bucket opens, and the material falls into the cargo box.
  • the invention proposes a hydraulic shovel working device.
  • the arm cylinder drives the arm and the slider support to slide relative to each other to realize pushing, excavation and recovery of the bucket; the boom oil cylinder lifts and lowers the rope through the movable pulley and the fixed pulley.
  • the stick and bucket, excavation and unloading do not require the boom to swing up and down, which greatly reduces the weight of the moving components, reduces energy consumption and unit costs, and improves the economical use of the hydraulic shovel.
  • the invention Compared with the electric shovel, the invention has high flexibility in use, strong adaptability to working conditions, large excavation force, high mining efficiency, and the bucket opening is controllable during unloading to avoid impacts and is more friendly to mining trucks.
  • Figure 1 is a schematic diagram of an embodiment of the hydraulic shovel working device of the present invention
  • Figure 2 is a schematic diagram of the unloading operation of the hydraulic shovel working device of the present invention
  • Figure 3 is a schematic diagram of the hydraulic shovel working device of the present invention with the right side facing forward;
  • Figure 4 is a schematic diagram of the hydraulic shovel working device of the present invention with the top downward;
  • FIG. 5 is a schematic diagram of an implementation of the boom structure of the present invention.
  • Figure 6 is a schematic diagram of an implementation of the bucket arm structure of the present invention.
  • Figure 7 is a schematic diagram of an implementation of the bucket structure of the present invention (a is a rear view, b is a front view);
  • Figure 8 is a schematic diagram of an implementation of the slider support structure of the present invention.
  • 201-support arm 202-bucket cylinder hinge point, 203-middle connecting column, 204-bucket hinge point, 205-bucket cylinder support;
  • connection should be understood in a broad sense.
  • connection can be a fixed connection or a detachable connection.
  • Connection, or integral connection can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium.
  • connection or integral connection
  • connection can be a mechanical connection or an electrical connection
  • connection can be a direct connection or an indirect connection through an intermediate medium.
  • specific meanings of the above terms in the present invention can be understood on a case-by-case basis.
  • a hydraulic shovel working device includes a boom 1, a boom cylinder 4, a guide wheel 6, a moving pulley 5, a rope 7, a stick 2, a slide support 3, a stick cylinder 9, a shovel Bucket 11, bucket cylinder 9; among them, boom 1, boom cylinder 4, movable pulley 5, guide wheel 6, and rope 7 form a lifting unit, which is used to lift and lower the bucket arm and bucket; boom 1.
  • the slide support 3, the bucket rod 2, and the bucket cylinder 9 form a pushing unit, which is used to push and recover the bucket; the bucket rod 2, the bucket 11, and the bucket cylinder 9 form an excavation unit. , used to realize the digging and turning down of the bucket.
  • the boom 1 is connected with the main engine 12 at the hinge point; the number of the slider supports 3 is two, which are placed on both sides of the boom 1 and can rotate relative to the boom 1; the boom cylinder 4 is installed on the boom 1.
  • the movable pulley 5 is installed at the end of the piston rod of the boom cylinder 4, and the guide wheel 6 is rotatably connected to the top of the boom 1; one end of the rope 7 is fixed on the top of the boom 1, and the other end goes around the movable pulley 5 and
  • the guide wheel 6 is fixed on the bucket 11, and the boom cylinder 4 drives the rope 7 to lift and lower the bucket 2 and the bucket 11.
  • the side of the boom 1 is provided with a lower hinge point 101, a middle hinge point 102 and an upper hinge point 107.
  • the lower hinge point 101 and the upper hinge point 107 are respectively connected to the hinge points of the main machine 12.
  • On the slider support 3 The slider support hinge point 302 is connected to the middle hinge point 102 through a pin; the top of the boom 1 is provided with a guide wheel hinge point 104, and the guide wheel 6 is connected to the guide wheel hinge point 104 through a pin; the top of the boom 1
  • the cylinder of the boom cylinder 4 is hinged on the boom cylinder support 106 through a pin, and the rope 7 is fixed on the rope support 105; the bottom surface of the boom 1
  • An arm cylinder support 205 is provided, and the piston rod of the arm cylinder 8 is hinged on the arm cylinder support 205 through a pin.
  • the bucket arm 2 is an H-shaped box beam, consisting of two symmetrically arranged support arms 201 and an intermediate connecting column 203 connecting the two support arms 201; one end of the two support arms 201 passes through a corresponding The hole wall 301 of the slider support 3 is connected to the boom 1 to enable relative rotation and sliding; the other ends of the two support arms 201 are provided with coaxial bucket hinge points 204, which are connected to the bucket of the bucket 11 through pins.
  • the rear upper hinge point 1101 is connected.
  • the middle connecting column 203 is provided with a stick cylinder support 205, the stick cylinder 8 is placed between the two support arms 201, and the cylinder body of the stick cylinder 8 is hinged to the stick cylinder support 205 through a pin.
  • the bottom surfaces of the two support arms 201 are provided with coaxial bucket cylinder hinge points 202, which are connected to the piston rods of the two bucket cylinders 9 through pins, and the cylinders of the two bucket cylinders 9 are respectively connected to the bucket cylinders.
  • the bucket rear lower hinge point 1102 of the bucket 11 is connected.
  • the arm cylinder 8 drives the arm 2 and the slider support 3 to slide relative to each other to realize the pushing and recovery of the bucket 11.
  • the bucket 11 includes a front bucket 112, a rear bucket 111 and a bucket opening cylinder 10; there are two bucket opening cylinders 10, which are respectively placed on both sides of the bucket rear 111 to drive the bucket front 112 and bucket rear 111 to move relative to each other. , to realize the opening and closing of the bucket 11.
  • a top pulling ear 1103 is provided on the inner side of the bucket rear 111, and the rope 7 is fixed on the top pulling ear 1103.
  • the bucket cylinder 9 drives the bucket 11 to rotate around the rear upper hinge point 1101 of the bucket to realize the digging and downward turning of the bucket 11.
  • the boom 1 has a wide middle part and small structures at both ends; the slider support 3 is installed at the wide middle part of the boom 1.
  • the invention also discloses a control method of a hydraulic shovel working device.
  • the control method is as follows:
  • Preparation for excavation operations Adjust the position of the equipment to a reasonable distance from the material. Extend the piston rod of the bucket opening cylinder 10 to ensure that the bucket 11 is closed. Rotate the main engine 12 so that the bucket 11 faces the material. Extend the piston rod of the boom cylinder 4 and pass the rope. 7. Lower the bucket 11; the piston rod of the bucket rod cylinder 8 retracts, and the bucket 11 is retracted close to the main engine 12; the piston rod of the bucket cylinder 9 retracts, and the bucket teeth are adjusted to be roughly flush with the ground;
  • Excavation operation Extend the arm cylinder 8 to drive the arm 2 forward and the bucket 11 to push, so that the bucket teeth cut into the material.
  • the bucket 11 When the bucket 11 is filled with material, extend the bucket cylinder 9 to reduce the amount of material outside. Sprinkle, at the same time, the boom cylinder 4 retracts, and the bucket 11 and bucket rod 2 are pulled up through the rope 7;
  • Unloading operation Rotate the host platform so that the bucket 11 is located at a suitable position on the top of the mine car container.
  • the piston rod of the bucket opening cylinder 10 retracts, the bucket 11 is opened, and the materials fall into the container.
  • the arm cylinder drives the arm and the slider support to slide relative to each other to realize pushing, excavation and recovery of the bucket; the boom cylinder pulls the rope through the movable pulley and the fixed pulley.
  • Lifting and lowering the stick and bucket, excavation and unloading do not require the boom to swing up and down, which greatly reduces the weight of the moving components, reduces energy consumption and unit costs, and improves the economical use of the hydraulic shovel.
  • the invention also discloses an excavator, which includes a main machine, and the above-mentioned hydraulic shovel working device is installed on the main machine.

Abstract

本发明公开了一种液压正铲工作装置、控制方法及挖掘机，属于大型正铲式矿用挖掘机技术领域，包括动臂、动臂油缸、导向轮、动滑轮、绳索、斗杆、滑块支座、斗杆油缸、铲斗、铲斗油缸；本发明的设计中，斗杆油缸驱动斗杆与滑块支座相对滑动，实现铲斗的推压挖掘与回收；动臂油缸通过动滑轮、定滑轮牵引绳索举升、下放斗杆和铲斗，挖掘与卸载无需动臂上下摆动，大幅减少了运动构件自身重量，降低了能量消耗及单方成本，提升了液压正铲的使用经济性。

Description

一种液压正铲工作装置、控制方法及挖掘机 技术领域
本发明属于大型正铲式矿用挖掘机技术领域，具体涉及一种液压正铲工作装置、控制方法及挖掘机。
 背景技术
随着世界经济的发展，露天矿山规模不断扩大，大吨位矿用装备作用日益显现，液压正铲作为重要一员，发挥着重要的作用，尤其在国内，液压正铲已开始全面推广。设备的运行成本、使用经济性是矿山企业最为关注的关键内容之一，液压正铲的使用灵活性与工况适应能力已得到国内外矿山企业的一致肯定，同时普遍反应液压正铲相比较装载机、电铲的能量消耗较大，采掘单方物料的成本偏高，在一定程度上影响了液压正铲在国内的口碑及快速推广进程，如何降低液压正铲能量消耗及单方成本是亟待解决的问题。
 发明内容
本发明公开了一种液压正铲工作装置及挖掘机，旨在解决现有液压正铲挖掘机在挖掘过程中因运动构件自身重量占比大、物料重量占比小导致的发动机燃油消耗量高、使用成本高的问题。
本发明按以下技术方案实现：
本发明公开了一种液压正铲工作装置，包括动臂、动臂油缸、导向轮、动滑轮、绳索、斗杆、滑块支座、斗杆油缸、铲斗、铲斗油缸；其中，所述动臂、动臂油缸、动滑轮、导向轮、绳索组成了提拉单元，用于实现斗杆、铲斗的举升与下放；所述动臂、滑块支座、斗杆、斗杆油缸组成了推压单元，用于实现铲斗的推压与回收；所述斗杆、铲斗、铲斗油缸组成了掘起单元，用于实现铲斗的掘起与下翻。
进一步的方案：所述动臂与主机铰点连接；所述滑块支座数量为两个，置于动臂两侧，并与动臂之间能够相对转动；所述动臂油缸安装于动臂上部，所述动滑轮安装在动臂油缸的活塞杆端部，所述导向轮转动连接在动臂的顶端；所述绳索一端固定于动臂的顶端，另一端顺次绕过动滑轮、导向轮后固定铲斗上。
进一步的方案：所述动臂的侧面上设有下部铰点、中部铰点和上部铰点，所述下部铰点、上部铰点分别与主机铰点连接，所述滑块支座通过销轴与中部铰点连接；所述动臂的顶端设有导向轮铰点，所述导向轮通过销轴与导向轮铰点连接；所述动臂的顶面设有动臂油缸支座和绳索支座，所述动臂油缸的缸体通过销轴铰接在动臂油缸支座上，所述绳索固定在绳索支座上；所述动臂的底面设有斗杆油缸支座，所述斗杆油缸的活塞杆通过销轴铰接在斗杆油缸支座上。
进一步的方案：所述斗杆为呈H型的箱梁，由两个对称布置的支臂和将两个支臂连接的中间连接柱构成；两个支臂的一端分别通过对应的滑块支座的孔壁与动臂连接，能够实现相对转动与滑动；两个支臂的另一端设有同轴的铲斗铰点，通过销轴与铲斗的斗后上铰点连接。
进一步的方案：所述中间连接柱上设有斗杆油缸支座，所述斗杆油缸置于两个支臂之间，所述斗杆油缸的缸体通过销轴铰接在斗杆油缸支座上；两个支臂的底面设有同轴的铲斗油缸铰点，通过销轴分别与两个铲斗油缸的活塞杆连接，两个铲斗油缸的缸体又分别与铲斗的斗后下铰点连接。
进一步的方案：所述铲斗包括斗前、斗后和开斗油缸；所述开斗油缸数量为两个，分别置于斗后内部两侧，驱动斗前、斗后相对运动，实现铲斗的打开与关闭。
进一步的方案：所述斗后的内侧设有顶部拉耳，所述绳索固定在顶部拉耳上。
进一步的方案：所述动臂呈中部宽大、两端小结构；所述滑块支座安装在动臂的中部宽大处。
本发明还公开了一种挖掘机，包括主机，所述主机上安装有上述的液压正铲工作装置。
本发明还公开了一种基于上述的液压正铲工作装置的控制方法，该控制方法如下：
挖掘作业准备：调整设备位置与物料合理距离，开斗油缸的活塞杆外伸确保铲斗闭合，旋转主机使铲斗正对物料，动臂油缸的活塞杆外伸，通过绳索下放铲斗；斗杆油缸的活塞杆回缩，铲斗内收靠近主机；铲斗油缸的活塞杆回缩，调整铲斗斗齿与地面大致平齐；
挖掘作业：伸长斗杆油缸，驱动斗杆前移及铲斗推压，使得铲斗斗齿切入物料，待铲斗内装满物料时，伸长铲斗油缸减少物料外撒，与此同时动臂油缸回缩，通过绳索将铲斗和斗杆拉起；
卸料作业：回转主机平台使铲斗位于车辆货箱顶部合适位置，开斗油缸的活塞杆回缩，铲斗打开，物料落入货箱。
与现有技术相比，本发明的有益效果：
本发明提出的一种液压正铲工作装置，斗杆油缸驱动斗杆与滑块支座相对滑动，实现铲斗的推压挖掘与回收；动臂油缸通过动滑轮、定滑轮牵引绳索举升、下放斗杆和铲斗，挖掘与卸载无需动臂上下摆动，大幅减少了运动构件自身重量，降低了能量消耗及单方成本，提升了液压正铲的使用经济性。与电铲相比，本发明使用灵活性高、工况适应能力强、挖掘力大、采掘效率高，且卸料时铲斗开口可控，避免冲击，对矿车更友好。
 附图说明
附图作为本发明的一部分，用来提供对本发明的进一步的理解，本发明的示意性实施例及其说明用于解释本发明，但不构成对本发明的不当限定。显然，下面描述中的附图仅仅是一些实施例，对于本领域普通技术人员来说，在不付出创造性劳动的前提下，还可以根据这些附图获得其他附图。
在附图中：
图1为本发明液压正铲工作装置一种实施例的示意图；
图2为本发明液压正铲工作装置卸载作业的示意图；
图3为本发明液压正铲工作装置右侧向前的示意图；
图4为本发明液压正铲工作装置顶部向下的示意图；
图5为本发明动臂结构一种实施的示意图；
图6为本发明斗杆结构一种实施的示意图；
图7为本发明铲斗结构一种实施的示意图（a为后视图，b为前视图）；
图8为本发明滑块支座结构一种实施的示意图。
附图标识：1、动臂，2、斗杆，3、滑块支座，4、动臂油缸，5、动滑轮，6、导向轮，7、绳索，8、斗杆油缸，9、铲斗油缸，10、开斗油缸，11、铲斗，12、主机；
101-下部铰点，102-中部铰点，103-斗杆油缸支座，104-导向轮铰点，105-绳索支座，106-动臂油缸支座，107-上部铰点；
201-支臂，202-铲斗油缸铰点，203-中间连接柱，204-铲斗铰点，205-斗杆油缸支座；
301-孔壁，302-滑块支座铰点；
111-斗后，112-斗前，1101-斗后上铰点，1102-斗后下铰点，1103-顶部拉耳。
需要说明的是，这些附图和文字描述并不旨在以任何方式限制本发明的构思范围，而是通过参考特定实施例为本领域技术人员说明本发明的概念。
 实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对实施例中的技术方案进行清楚、完整地描述，以下实施例用于说明本发明，但不用来限制本发明的范围。
在本发明的描述中，需要说明的是，术语 “上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。
如图1所示，一种液压正铲工作装置，包括动臂1、动臂油缸4、导向轮6、动滑轮5、绳索7、斗杆2、滑块支座3、斗杆油缸9、铲斗11、铲斗油缸9；其中，动臂1、动臂油缸4、动滑轮5、导向轮6、绳索7组成了提拉单元，用于实现斗杆、铲斗的举升与下放；动臂1、滑块支座3、斗杆2、斗杆油缸9组成了推压单元，用于实现铲斗的推压与回收；斗杆2、铲斗11、铲斗油缸9组成了掘起单元，用于实现铲斗的掘起与下翻。
进一步的方案：动臂1与主机12铰点连接；滑块支座3数量为两个，置于动臂1两侧，并与动臂1之间能够相对转动；动臂油缸4安装于动臂1上部，动滑轮5安装在动臂油缸4的活塞杆端部，导向轮6转动连接在动臂1的顶端；绳索7一端固定于动臂1的顶端，另一端顺次绕过动滑轮5、导向轮6后固定铲斗11上，动臂油缸4驱动绳索7实现斗杆2、铲斗11的举升与下放。
进一步的方案：动臂1的侧面上设有下部铰点101、中部铰点102和上部铰点107，下部铰点101、上部铰点107分别与主机12铰点连接，滑块支座3上的滑块支座铰点302通过销轴与中部铰点102连接；动臂1的顶端设有导向轮铰点104，导向轮6通过销轴与导向轮铰点104连接；动臂1的顶面设有动臂油缸支座106和绳索支座105，动臂油缸4的缸体通过销轴铰接在动臂油缸支座106上，绳索7固定在绳索支座105上；动臂1的底面设有斗杆油缸支座205，斗杆油缸8的活塞杆通过销轴铰接在斗杆油缸支座205上。
进一步的方案：斗杆2为呈H型的箱梁，由两个对称布置的支臂201和将两个支臂201连接的中间连接柱203构成；两个支臂201的一端分别通过对应的滑块支座3的孔壁301与动臂1连接，能够实现相对转动与滑动；两个支臂201的另一端设有同轴的铲斗铰点204，通过销轴与铲斗11的斗后上铰点1101连接。
进一步的方案：中间连接柱203上设有斗杆油缸支座205，斗杆油缸8置于两个支臂201之间，斗杆油缸8的缸体通过销轴铰接在斗杆油缸支座205上；两个支臂201的底面设有同轴的铲斗油缸铰点202，通过销轴分别与两个铲斗油缸9的活塞杆连接，两个铲斗油缸9的缸体又分别与铲斗11的斗后下铰点1102连接。斗杆油缸8驱动斗杆2与滑块支座3相对滑动，实现铲斗11的推压与回收。
进一步的方案：铲斗11包括斗前112、斗后111和开斗油缸10；开斗油缸10数量为两个，分别置于斗后111内部两侧，驱动斗前112、斗后111相对运动，实现铲斗11的打开与关闭。
进一步的方案：斗后111的内侧设有顶部拉耳1103，绳索7固定在顶部拉耳1103上。铲斗油缸9驱动铲斗11绕斗后上铰点1101旋转，实现铲斗11掘起与下翻。
进一步的方案：动臂1呈中部宽大、两端小结构；滑块支座3安装在动臂1的中部宽大处。
本发明还公开了一种液压正铲工作装置的控制方法，该控制方法如下：
挖掘作业准备：调整设备位置与物料合理距离，开斗油缸10的活塞杆外伸确保铲斗11闭合，旋转主机12使铲斗11正对物料，动臂油缸4的活塞杆外伸，通过绳索7下放铲斗11；斗杆油缸8的活塞杆回缩，铲斗11内收靠近主机12；铲斗油缸9的活塞杆回缩，调整铲斗斗齿与地面大致平齐；
挖掘作业：伸长斗杆油缸8，驱动斗杆2前移及铲斗11推压，使得铲斗斗齿切入物料，待铲斗11内装满物料时，伸长铲斗油缸9减少物料外撒，与此同时动臂油缸4回缩，通过绳索7将铲斗11和斗杆2拉起；
卸料作业：回转主机平台使铲斗11位于矿车货箱顶部合适位置，开斗油缸10的活塞杆回缩，铲斗11打开，物料落入货箱。
由上述可见，本发明提出的一种液压正铲工作装置，斗杆油缸驱动斗杆与滑块支座相对滑动，实现铲斗的推压挖掘与回收；动臂油缸通过动滑轮、定滑轮牵引绳索举升、下放斗杆和铲斗，挖掘与卸载无需动臂上下摆动，大幅减少了运动构件自身重量，降低了能量消耗及单方成本，提升了液压正铲的使用经济性。
本发明还公开了一种挖掘机，包括主机，主机上安装有上述的液压正铲工作装置。
在此处所提供的说明书中，说明了大量具体细节。然而，能够理解，本发明的实施例可以在没有这些具体细节的情况下实践。在一些实例中，并未详细示出公知的方法、结构和技术，以便不模糊对本说明书的理解。
此外，本领域的技术人员能够理解，尽管在此所述的一些实施例包括其它实施例中所包含的某些特征而不是其它特征，但是不同实施例的特征的组合同样意味着处于本发明的保护范围之内并且形成不同的实施例。例如，在上面的实施例中，本领域技术人员能够根据获知的技术方案和本申请所要解决的技术问题，以组合的方式来使用。
以上所述仅是本发明的较佳实施例而已，并非对本发明作任何形式上的限制，虽然本发明已以较佳实施例揭露如上，然而并非用以限定本发明，任何熟悉本专利的技术人员在不脱离本发明技术方案范围内，当可利用上述提示的技术内容做出些许更动或修饰为等同变化的等效实施例，但凡是未脱离本发明技术方案的内容，依据本发明的技术实质对以上实施例所作的任何简单修改、等同变化与修饰，均仍属于本发明方案的范围内。

Claims (10)

  1. 一种液压正铲工作装置，其特征在于：
    包括动臂、动臂油缸、导向轮、动滑轮、绳索、斗杆、滑块支座、斗杆油缸、铲斗、铲斗油缸；
    其中，所述动臂、动臂油缸、动滑轮、导向轮、绳索组成了提拉单元，用于实现斗杆、铲斗的举升与下放；
    所述动臂、滑块支座、斗杆、斗杆油缸组成了推压单元，用于实现铲斗的推压与回收；
    所述斗杆、铲斗、铲斗油缸组成了掘起单元，用于实现铲斗的掘起与下翻。
  2. 根据权利要求1所述的一种液压正铲工作装置，其特征在于：
    所述动臂与主机铰点连接；
    所述滑块支座数量为两个，置于动臂两侧，并与动臂之间能够相对转动；
    所述动臂油缸安装于动臂上部，所述动滑轮安装在动臂油缸的活塞杆端部，所述导向轮转动连接在动臂的顶端；
    所述绳索一端固定于动臂的顶端，另一端顺次绕过动滑轮、导向轮后固定铲斗上。
  3. 根据权利要求2所述的一种液压正铲工作装置，其特征在于：
    所述动臂的侧面上设有下部铰点、中部铰点和上部铰点，所述下部铰点、上部铰点分别与主机铰点连接，所述滑块支座通过销轴与中部铰点连接；
    所述动臂的顶端设有导向轮铰点，所述导向轮通过销轴与导向轮铰点连接；
    所述动臂的顶面设有动臂油缸支座和绳索支座，所述动臂油缸的缸体通过销轴铰接在动臂油缸支座上，所述绳索固定在绳索支座上；
    所述动臂的底面设有斗杆油缸支座，所述斗杆油缸的活塞杆通过销轴铰接在斗杆油缸支座上。
  4. 根据权利要求1所述的一种液压正铲工作装置，其特征在于：
    所述斗杆为呈H型的箱梁，由两个对称布置的支臂和将两个支臂连接的中间连接柱构成；
    两个支臂的一端分别通过对应的滑块支座的孔壁与动臂连接，能够实现相对转动与滑动；
    两个支臂的另一端设有同轴的铲斗铰点，通过销轴与铲斗的斗后上铰点连接。
  5. 根据权利要求4所述的一种液压正铲工作装置，其特征在于：
    所述中间连接柱上设有斗杆油缸支座，所述斗杆油缸置于两个支臂之间，所述斗杆油缸的缸体通过销轴铰接在斗杆油缸支座上；
    两个支臂的底面设有同轴的铲斗油缸铰点，通过销轴分别与两个铲斗油缸的活塞杆连接，两个铲斗油缸的缸体又分别与铲斗的斗后下铰点连接。
  6. 根据权利要求1所述的一种液压正铲工作装置，其特征在于：
    所述铲斗包括斗前、斗后和开斗油缸；
    所述开斗油缸数量为两个，分别置于斗后内部两侧，驱动斗前、斗后相对运动，实现铲斗的打开与关闭。
  7. 根据权利要求6所述的一种液压正铲工作装置，其特征在于：
    所述斗后的内侧设有顶部拉耳，所述绳索固定在顶部拉耳上。
  8. 根据权利要求1至7任一项所述的一种液压正铲工作装置，其特征在于：
    所述动臂呈中部宽大、两端小结构；
    所述滑块支座安装在动臂的中部宽大处。
  9. 一种挖掘机，包括主机，其特征在于：
    所述主机上安装有权利要求1至8任一项所述的液压正铲工作装置。
  10. 一种基于权利要求1至8任一项所述的液压正铲工作装置的控制方法，其特征在于，
    该控制方法如下：
    挖掘作业准备：调整设备位置与物料合理距离，开斗油缸的活塞杆外伸确保铲斗闭合，旋转主机使铲斗正对物料，动臂油缸的活塞杆外伸，通过绳索下放铲斗；斗杆油缸的活塞杆回缩，铲斗内收靠近主机；铲斗油缸的活塞杆回缩，调整铲斗斗齿与地面大致平齐；
    挖掘作业：伸长斗杆油缸，驱动斗杆前移及铲斗推压，使得铲斗斗齿切入物料，待铲斗内装满物料时，伸长铲斗油缸减少物料外撒，与此同时动臂油缸回缩，通过绳索将铲斗和斗杆拉起；
    卸料作业：回转主机平台使铲斗位于车辆货箱顶部合适位置，开斗油缸的活塞杆回缩，铲斗打开，物料落入货箱。
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CN114892739A (zh) * 2022-07-14 2022-08-12 徐州徐工矿业机械有限公司 一种液压正铲工作装置、控制方法及挖掘机

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