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CN114396088A - Accessory positioning device, working machine and method for using accessory positioning device - Google Patents

Accessory positioning device, working machine and method for using accessory positioning device Download PDF

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Publication number
CN114396088A
CN114396088A CN202111574712.0A CN202111574712A CN114396088A CN 114396088 A CN114396088 A CN 114396088A CN 202111574712 A CN202111574712 A CN 202111574712A CN 114396088 A CN114396088 A CN 114396088A
Authority
CN
China
Prior art keywords
accessory
connector
drive
gear
driving
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202111574712.0A
Other languages
Chinese (zh)
Inventor
杨洲
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sany Automobile Manufacturing Co Ltd
Original Assignee
Sany Automobile Manufacturing Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sany Automobile Manufacturing Co Ltd filed Critical Sany Automobile Manufacturing Co Ltd
Priority to CN202111574712.0A priority Critical patent/CN114396088A/en
Publication of CN114396088A publication Critical patent/CN114396088A/en
Pending legal-status Critical Current

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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
    • E02F3/36—Component parts
    • 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
    • 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
    • E02F3/36—Component parts
    • E02F3/3604—Devices to connect tools to arms, booms or the like
    • 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
    • E02F3/36—Component parts
    • E02F3/3604—Devices to connect tools to arms, booms or the like
    • E02F3/3609—Devices to connect tools to arms, booms or the like of the quick acting type, e.g. controlled from the operator seat
    • 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
    • E02F3/36—Component parts
    • E02F3/38—Cantilever beams, i.e. booms;, e.g. manufacturing processes, forms, geometry or materials used for booms; Dipper-arms, e.g. manufacturing processes, forms, geometry or materials used for dipper-arms; Bucket-arms
    • 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
    • E02F3/36—Component parts
    • E02F3/38—Cantilever beams, i.e. booms;, e.g. manufacturing processes, forms, geometry or materials used for booms; Dipper-arms, e.g. manufacturing processes, forms, geometry or materials used for dipper-arms; Bucket-arms
    • E02F3/382—Connections to the frame; Supports for booms or arms

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Automatic Assembly (AREA)

Abstract

The invention relates to the technical field of accessories on vehicles of working machinery, and provides an accessory positioning device, the working machinery and a use method of the accessory positioning device. Wherein, accessory positioner includes: a support assembly for connection with a work machine; and the driving device is arranged on the supporting component and is provided with a connecting structure used for being connected with an accessory, and the driving device can drive the connecting structure to move. When the accessory is required to be installed, after the arm support drives the connector to displace to the first target position, the driving device can drive the connecting structure to displace so that the connecting structure drives the accessory to displace, and therefore the position of the accessory is adjusted, the accessory is aligned with the connector, and the connector is conveniently connected with the accessory. The accessory positioning device can adjust the position of the accessory so that the accessory can be aligned and connected with the connector on the arm support, and therefore the problem that the connector and the accessory can be aligned and connected only by adjusting the arm support for many times in the prior art and the use is inconvenient is solved.

Description

Accessory positioning device, working machine and method for using accessory positioning device
Technical Field
The invention relates to the technical field of vehicle-mounted accessories of working machinery, in particular to an accessory positioning device, the working machinery and a use method of the accessory positioning device.
Background
Work machine attachments include, but are not limited to, buckets. When the accessory is not needed, the accessory is typically placed on a positioning device of the work machine. When the operation is needed, the arm support of the operation machine acts to enable the connector to move to the target position to be connected with the accessory. However, due to the reason that assembly errors exist among the arm sections of the arm support, the connector cannot be directly aligned with the accessory, the arm support needs to be adjusted for many times, and the connector can be aligned and connected with the accessory, so that time and labor are consumed.
Disclosure of Invention
The invention provides an accessory positioning device, an operation machine and a use method of the accessory positioning device, which are used for solving the defect that a connector is not convenient to align and connect with an accessory in the prior art and achieving the effect of conveniently and quickly installing the accessory.
The invention provides a belonging tool positioning device, comprising:
a support assembly for connection with a work machine;
the driving device is arranged on the supporting component, the connecting structure is arranged on the driving device, and the driving device can at least drive the connecting structure to displace along two different directions.
According to the attribute tool positioning device provided by the invention, the supporting assembly is provided with a first guide structure extending along a first direction, and the driving device comprises a lifting seat, a first driving mechanism, a mounting seat and a second driving mechanism;
the lifting seat is slidably arranged on the first guide structure, the first driving mechanism is used for driving the lifting seat to move, the lifting seat is provided with a second guide structure extending along the second direction, the mounting seat is slidably arranged on the second guide structure, the second driving mechanism is used for driving the mounting seat to move, and the connecting structure is arranged on the mounting seat.
According to the attribute tool positioning device provided by the invention, the first direction is vertical to the second direction.
The attribute tool positioning device further comprises a first rack, and the first driving mechanism comprises a first gear and a first driving device;
the first gear is rotatably arranged on the supporting component;
the first rack is arranged on the lifting seat and extends along the first direction, and the first rack is meshed with the first gear;
the first driving device is arranged on the supporting component, and an output shaft of the first driving device is in transmission connection with the first gear so as to drive the first gear to rotate.
According to the attribute tool positioning device provided by the invention, the number of the first gear, the first rack and the first driving device is two;
the two first racks are respectively arranged on two sides of the lifting seat, and the first gear, the first racks and the first driving device are in one-to-one correspondence.
The attribute tool positioning device further comprises a second rack, and the second driving mechanism comprises a second gear and a second driving device;
the second gear is rotatably arranged on the supporting component;
the second rack is arranged on the mounting seat and extends along the second direction, and the second rack can be meshed with the second gear;
the second driving device is arranged on the supporting component, and an output shaft of the second driving device is in transmission connection with the second gear so as to drive the second gear to rotate.
According to the belonging tool positioning device provided by the invention, the supporting assembly comprises two supporting seats, and a space for placing an accessory is arranged between the two supporting seats;
the driving devices are the same in number with the supporting seats and correspond to the supporting seats one by one;
the connecting structure comprises positioning pins, and the two driving devices are provided with at least one positioning pin.
According to the attribute tool positioning device provided by the invention, the first driving mechanism comprises a cylinder, an oil cylinder, an electric cylinder or a lead screw nut driving mechanism;
the second driving mechanism comprises an air cylinder, an oil cylinder, an electric cylinder or a screw nut driving mechanism.
The invention also provides a working machine, which comprises an arm support, a connector, an accessory and the accessory positioning device;
the support assembly is connected with a vehicle body of the working machine;
the connector is arranged on the arm support and can be connected with or separated from the accessory.
The invention also provides a method for using the attribute positioning device, which is implemented on the basis of the working machine and comprises the following steps:
acquiring an action instruction;
when an installation instruction is obtained, controlling the arm support to drive the connector to move to a first target position;
controlling the driving device to drive the accessory to move to a butting position with the connector;
and controlling the connector to be connected with the accessory.
The application method of the attribute tool positioning device provided by the invention further comprises the following steps:
when a disassembly instruction is obtained, controlling the arm support to drive the connector to move to a second target position;
controlling the driving device to drive the connecting structure to move to a butt joint position with the accessory;
controlling the connector to be disengaged from the accessory.
The accessory positioning device provided by the invention has the advantages that the supporting component is connected with the operation machine, and the accessory can be connected with the connecting structure when the accessory is not required to be used at ordinary times, so that the accessory is connected with the operation machine through the driving device and the supporting component.
When the accessory is required to be installed, after the arm support drives the connector to displace to the first target position, the driving device can drive the connecting structure to displace so that the connecting structure drives the accessory to displace, and therefore the position of the accessory is adjusted, the accessory is aligned with the connector, and the connector is conveniently connected with the accessory.
With the arrangement, the accessory positioning device provided by the invention can adjust the position of the accessory so that the accessory can be aligned and connected with the connector on the arm support, thereby solving the problem that the connector and the accessory can be aligned and connected only by adjusting the arm support for many times in the prior art and the use is inconvenient.
Further, the present invention provides a working machine including the above-described attachment positioning device, and therefore, including all of the above-described advantages of the attachment positioning device.
The use method of the accessory positioning device provided by the invention comprises the steps of receiving the installation instruction, controlling the arm support to drive the connector to move to the target position, driving the connecting structure position to the butt joint position of the connector through the driving device, and controlling the connector to be connected with the accessory, so that the connector is connected with the accessory. The problem that the connector and the accessory can be aligned and connected only by adjusting the arm support for many times in the prior art, and the use is inconvenient is effectively solved.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic structural view of an accessory positioning device in some embodiments provided herein;
FIG. 2 is a schematic structural view of an accessory positioning device in some embodiments provided herein;
FIG. 3 is a schematic structural view of an accessory positioning device in some embodiments provided herein;
FIG. 4 is a schematic flow chart of a method for using an accessory positioning device in some embodiments provided herein;
reference numerals:
1. a lifting seat; 2. a mounting seat; 3. a first gear; 4. a first rack; 5. a first driving device; 6. a second gear; 7. a second rack; 8. a second driving device; 9. a supporting seat; 10. positioning pins; 11. an accessory; 12. a first guide structure; 13. a control unit; 14. positioning holes; 15. and connecting the holes.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The accessory positioning device in the embodiment provided by the invention is described below with reference to fig. 1 to 4.
Specifically, the accessory positioning device comprises a supporting component and a driving device.
Wherein the support assembly is adapted to be coupled to a work machine.
For example, the support assembly may be coupled to the body of the work machine by a threaded fastener connection or a welded connection.
The driving device is arranged on the supporting component. The driving device is provided with a connecting structure for connecting with the accessory 11.
The driving device can drive the connecting structure to displace. For example, the driving device can alternatively drive the connecting structure to displace in three directions perpendicular to each other, so that the driving device can more flexibly adjust the position of the connecting structure.
In the accessory positioning device provided by the embodiment of the invention, the supporting component is connected with the working machine, and the accessory can be connected with the connecting structure when the accessory is not required to be used at ordinary times, so that the accessory is connected with the working machine through the driving device and the supporting component.
When the accessory 11 needs to be installed, after the arm support drives the connector to displace to the first target position, the driving device can drive the connecting structure to displace, so that the connecting structure drives the accessory 11 to displace, thereby adjusting the position of the accessory 11, and aligning the accessory 11 with the connector, so that the connector is conveniently connected with the accessory 11.
With the arrangement, the accessory positioning device in the embodiment of the invention can adjust the position of the accessory 11 through the driving device, so that the accessory 11 can be aligned and connected with the connector on the arm support, and the problem that the connector and the accessory 11 can be aligned and connected only by adjusting the arm support for many times in the prior art, and the use is inconvenient is solved.
In some embodiments provided by the present invention, the support assembly is provided with a first guide structure 12 extending in a first direction. The driving device comprises a lifting seat 1, a first driving mechanism, a mounting seat 2 and a second driving mechanism.
The lifting seat 1 is slidably disposed on the first guiding structure 12, and the first driving mechanism is configured to drive the lifting seat 1 to move. The lifting seat 1 is provided with a second guide structure extending along a second direction, the mounting seat 2 is slidably arranged on the second guide structure, and the second driving mechanism is used for driving the mounting seat 2 to move. The connecting structure is arranged on the mounting seat 2.
Further, referring to fig. 1, the first direction is perpendicular to the second direction. For example, the first direction may extend in a height direction of the work machine, and the second direction may be disposed in a horizontal direction and extend in directions close to and away from the work machine.
For example, when it is desired to mount the accessory 11, the arm may drive the coupler above the attachment structure and biased toward the side of the attachment structure away from the work machine body. When the connector is in place, the second driving mechanism can drive the mounting base 2 to displace towards the direction away from the vehicle body, so that the accessory 11 is aligned with the connector in the vertical direction. Then, the first driving mechanism drives the elevating base 1 to ascend, thereby displacing the accessory 11 to a mating position with the connector. When the accessory reaches the docking position, the connector is actuated to connect with the accessory 11. After the installation is finished, the first driving mechanism drives the lifting seat 1 to descend, and after the lifting seat descends to the proper position, the second driving mechanism drives the installation seat 2 to move towards the direction close to the vehicle body, so that the driving device returns to the initial state.
When the accessory 11 needs to be detached from the arm support, the arm support can be controlled to drive the connector to be positioned above the connecting structure, and the connecting structure is biased to the side away from the body of the working machine. When the connector is in place, the second driving mechanism can drive the mounting base 2 to displace in the direction away from the vehicle body, so that the connecting structure is aligned with the accessory 11 in the vertical direction. Then, the second driving mechanism drives the lifting seat 1 to move upwards to drive the connecting structure to move to the butt joint position with the accessory 11. After the connection structure is mated with the accessory, the connector is actuated to disengage from the accessory 11. After the disassembly is finished, the first driving mechanism drives the lifting seat 1 to descend, and after the lifting seat descends to the proper position, the second driving mechanism drives the mounting seat 2 to move towards the direction close to the vehicle body, so that the driving device returns to the initial state.
So set up, drive arrangement's simple structure, convenient to use.
Alternatively, the first guide structure 12 and the second guide structure may each comprise a guide rail or a guide groove.
Optionally, the connector comprises a connecting seat, a connecting pin and a driving member. The connecting base is connected with the arm support, and the connecting pin shaft is slidably arranged on the connecting base. The driving piece is arranged on the connecting seat and connected with the connecting pin shaft so as to drive the connecting pin shaft to move. The accessory 11 is provided with a connecting hole 15 for the connecting pin shaft to extend into.
When the arm support is used, the arm support drives the connector to move until the connecting pin shaft is opposite to the connecting hole 15 on the accessory 11, and the driving piece drives the connecting pin shaft to extend into the connecting hole 15, so that the accessory 11 is connected with the connector. Similarly, when the accessory 11 needs to be detached, the driving piece is only required to be controlled to drive the connecting pin shaft to slide out of the connecting hole 15.
Alternatively, the drive member may be an air cylinder, a hydraulic cylinder or an electric cylinder. Furthermore, the number of the connecting pin shafts is at least two, and the connecting holes 15 on the accessory 11 are the same as the connecting pin shafts in number and are in one-to-one correspondence.
Referring to fig. 1, 2 and 3, in some embodiments provided by the present invention, the accessory positioning device further includes a first rack 4. The first driving mechanism includes a first gear 3 and a first driving device 5.
The first gear 3 is rotatably disposed to the support assembly. For example, the supporting component is provided with a first gear seat, and the first gear 3 is rotatably mounted on the first gear seat through a first supporting shaft.
The first rack 4 is arranged on the lifting seat 1 and extends along a first direction, and the first rack 4 is meshed with the first gear 3. Alternatively, the first rack 4 may be a prefabricated rack, and fixed on the lifting seat 1 by a threaded fastener or welding, or teeth may be directly machined on the lifting seat 1 to form the first rack 4.
The first driving device 5 is disposed on the supporting component, and an output shaft of the first driving device 5 is in transmission connection with the first gear 3 to drive the first gear 3 to rotate. For example, the output shaft of the first drive 5 can be connected in a transmission manner via a coupling to the first support shaft of the first gear wheel 3. Alternatively, the first drive means 5 may be a drive motor or a hydraulic motor.
When the lifting seat 1 is required to ascend, the first gear 3 can be driven to rotate through the first driving device 5, the first gear 3 rotates to be meshed with the first rack 4, and therefore the first rack 4 is driven to drive the lifting seat 1 to ascend. So set up, first actuating mechanism's simple structure.
Referring to fig. 2, in some embodiments of the present invention, the first gear 3, the first rack 4 and the first driving device 5 are provided in two.
Moreover, the two first racks 4 are respectively arranged at two sides of the lifting seat 1, and the first gear 3, the first racks 4 and the first driving device 5 are in one-to-one correspondence.
So set up, when needs lift seat 1 goes up, two first drive arrangement 5 drive two first gears 3 respectively and rotate, and two first gears 3 drive two first racks 4 respectively and rise, and two first racks 4 rise at lift seat 1's both sides drive lift seat 1 respectively, so, can make lift seat 1 play to rise the in-process and move more steadily.
Referring to fig. 1, 2 and 3, in some embodiments provided by the present invention, the accessory positioning device further includes a second rack 7. The second drive mechanism includes a second gear 6 and a second drive device 8.
The second gear 6 is rotatably disposed on the support assembly. For example, the supporting component is provided with a second gear seat, and the second gear 6 is rotatably mounted on the second gear seat through a second supporting shaft.
The second rack 7 is disposed on the mounting base 2 and extends along the second direction, and the second rack 7 can be meshed with the second gear 6. Alternatively, the second rack 7 may be formed by a prefabricated rack, and fixed on the mounting base 2 by a threaded fastener or welding, or teeth may be directly machined on the mounting base 2 to form the second rack 7.
The second driving device 8 is disposed on the supporting component, and an output shaft of the second driving device 8 is in transmission connection with the second gear 6, so as to drive the second gear 6 to rotate. The output shaft of the second driving device 8 can be in transmission connection with the second supporting shaft of the second gear 6 through a coupler. Alternatively, the second drive means 8 may be a drive motor or a hydraulic motor.
In the actual process of mounting and dismounting the accessory 11, the arm support can be controlled to drive the connector to the upper part of the accessory positioning device, and the side of the connecting structure far away from the vehicle body is biased. When the position of the connecting structure needs to be adjusted, the second gear 6 can be driven to rotate through the second driving device 8, and the second gear 6 drives the second rack 7 to drive the mounting seat 2 to translate when rotating. After the mounting seat 2 is translated to the right position, the first driving mechanism drives the lifting seat 1 to ascend so as to enable the accessory 11 to be in butt joint with the connector or enable the connecting structure to be in butt joint with the accessory 11.
So set up, second actuating mechanism's second gear 6 and second drive arrangement 8 all can set up on supporting component, and need not to set up on lift seat 1, and lift seat 1 need not to drive second gear 6 and the motion of second drive arrangement 8 to can simplify lift seat 1's structure, alleviate lift seat 1's quality, reduce energy consumption, and make lift seat 1 lift operation more steady.
Referring to fig. 1 and 3, in some embodiments of the present invention, the supporting assembly includes two supporting seats 9, and a space for placing an accessory 11 is provided between the two supporting seats 9.
For example, both support blocks 9 can be connected to the body of the work machine by means of a screw connection or a welded connection.
The driving devices are the same in number and correspond to the supporting seats 9 one by one, and the two driving devices are respectively arranged on the corresponding supporting seats 9.
The connection structure comprises positioning pins 10, both driving devices being provided with at least one positioning pin. Further, each of the positioning pins 10 extends in the height direction of the work machine.
The two sides of the accessory 11 are provided with positioning holes 14 matched with the positioning pins 10.
With the arrangement, two sides of the accessory 11 are respectively connected to the positioning pins 10 of the two supporting seats 9, and the accessory 11 is supported from two sides, so that a more stable supporting effect can be achieved.
Specifically, when the accessory 11 is actually installed, the arm support drives the connector to move to a first target position, and then the two driving devices drive the two positioning pins 10 to drive the accessory to move in a direction away from the body of the working machine until the accessory is aligned with the connector. And driving the two positioning pins to drive the accessory to move upwards through the two driving devices until the connecting hole 15 of the accessory is opposite to the connecting pin shaft of the connector, and finally enabling the connecting pin shaft of the driving piece driving the connector to extend into the connecting hole 15 of the accessory to complete the connection of the accessory and the connector.
When the accessory 11 is actually disassembled, the arm support drives the connecting structure to move to the second target position, and then the two driving devices drive the two positioning pins 10 to move towards the direction far away from the body of the operation machine until the positioning pins 10 are aligned with the positioning holes 14 in the accessory 11. After alignment, the two positioning pins 10 are driven by the two driving devices to move upwards, so that the two positioning pins 10 respectively extend into the two positioning holes 14 of the accessory 11. And finally, controlling the driving piece to drive the connecting pin shaft to be separated from the connecting hole 15 on the accessory 11, and completing the disassembly of the accessory 11.
Of course, the first driving mechanism is not limited to the above-described rack and pinion driving method.
For example, in other embodiments provided by the present invention, the first drive mechanism comprises an air cylinder, an oil cylinder, an electric cylinder, or a lead screw nut drive mechanism.
Wherein, the first end of cylinder, hydro-cylinder or electric cylinder can be articulated with supporting component, and the second end can be articulated with the seat that goes up and down.
The screw nut driving mechanism comprises a screw, a driving nut and a motor. The driving nut is arranged on the lifting seat 1 and is in threaded fit with the lead screw. The lead screw extends along a first direction and is rotatably connected with the supporting component. The motor is arranged on the supporting component and is in transmission connection with the lead screw so as to drive the lead screw to rotate. The screw rod rotates and simultaneously drives the driving nut to drive the lifting seat 1 to move through the screw pair.
Of course, the second driving mechanism is not limited to the above-described rack-and-pinion driving method.
For example, in other embodiments provided herein, the second drive mechanism comprises an air cylinder, an oil cylinder, an electric cylinder, or a lead screw nut drive mechanism;
it should be noted that the principle of the second driving mechanism is the same as that of the first driving mechanism, and the principle and the arrangement form of the first driving mechanism have been discussed above, and those skilled in the art can refer to the above discussion to arrange the second driving mechanism, and will not be described here again.
The embodiment of the invention also provides a working machine.
Specifically, the working machine comprises an arm support, a connector, an accessory 11 and the accessory positioning device.
The support assembly is coupled to a body of the work machine.
The connector is arranged on the arm support and can be connected with or separated from the accessory 11.
It should be noted that the working machine includes the above accessory positioning device, and also includes all the advantages thereof, which are not described herein again.
It should also be noted that work machines described herein include, but are not limited to, demolition trucks, excavators, and loaders, and accessories 11 include, but are not limited to, buckets, demolition shears, and demolition heads.
In some implementations provided herein, the accessory positioning devices are at least two in number. By arranging at least two accessory positioning devices, accessories of different types can be installed, so that the working machine can select different accessories according to actual needs.
Referring to fig. 4, in an embodiment of the present invention, a method for using the attribute tool positioning device is further provided, which is implemented based on the above work machine.
Specifically, the accessory positioning device using method comprises the following steps: step S100, step S200, and step S300.
And S100, controlling the arm support to drive the connector to move to a first target position when the installation instruction is obtained.
For example, the installation instruction may be triggered by an operator operating a key, knob, or touch screen.
Step S200, controlling the driving device to drive the accessory 11 to move to the mating position with the connector.
And step S300, connecting the control connector with the accessory 11.
Therefore, after the installation instruction is triggered, the arm support drives the connector to move to the first target position, the driving device drives the accessory 11 to be in butt joint with the connector, the adjustment time of the arm support is shortened, and the installation efficiency of the accessory 11 is improved.
Optionally, controlling the driving device to drive the accessory to move to the docking position with the connector includes:
and controlling the driving device to drive the accessory to move to the butting position with the connector based on the first target position.
Optionally, in order to reduce a position error between the accessory 11 and the connector, so that the accessory 11 can be more accurately mated with the connector, the controlling the driving device to drive the accessory to be displaced to a mating position with the connector includes:
the actual position of the connector is acquired, and based on the actual position of the connector, the driving device is controlled to drive the attachment 11 to move to the mating position with the connector.
Because the arm sections in the arm support are more, and transmission between the arm sections has errors, errors may exist between the position where the arm support drives the connector to operate and the first target position, and the problem that the accessory 11 cannot be in butt joint with the connector due to the transmission errors of the arm sections can be solved by driving the accessory 11 to operate based on the actual position of the connector.
Specifically, a spatial coordinate system may be established with the center of the work machine as a reference point, a positioning tag may be provided on the connector, and a base station for detecting position information of the positioning tag may be provided on the work machine. And the base station acquires the position information of the positioning label in real time, so that the spatial coordinate value of the connector can be calculated.
For example, the positioning tag and the base station may be communicably connected using a baseband communication technology (UWB).
Meanwhile, a positioning tag may be provided at the connection structure, for example, the positioning pin 10, to acquire a spatial coordinate value of the positioning pin 10. Of course, it is also possible to directly displace the driving device to the initial position, actually measure the spatial coordinate value of the positioning pin 10 when the driving device is at the initial position, and then calculate the spatial coordinate value of the positioning pin 10 based on the displacement amount of the driving device in the spatial coordinate system.
Since the attachment 11 is attached to the positioning pin 10, the spatial position of the attachment 11 can be obtained from the spatial coordinate value of the positioning pin 10.
After the arm support drives the connector to the first target position, the space coordinate value of the connector is obtained, and the driving device is controlled to drive the accessory 11 to move to the butting position with the connector based on the space coordinate value, so that the accessory and the connector can be accurately butted.
Optionally, the control connector is connected to the accessory 11, and includes:
the driving piece drives the connecting pin shaft to extend into the connecting hole 15 of the accessory 11.
In some embodiments provided herein, the accessory positioning device using method further comprises:
and when the disassembly instruction is acquired, controlling the arm support to drive the connector to move to a second target position.
For example, the removal command may be triggered by an operator operating a key, knob, or touch screen.
The control drive device drives the connecting structure to move to the butt joint position with the accessory 11.
The control connector is disengaged from the accessory 11.
Alternatively, the spatial coordinate value of the second target position may be the same as the spatial coordinate value of the first target position.
Therefore, after the disassembly instruction is triggered, the arm support drives the connector to move to the second target position, the driving device drives the connecting structure to be in butt joint with the accessory 11, and then the connector is separated from the accessory 11, so that the disassembly of the accessory 11 is completed conveniently and quickly.
Optionally, controlling the driving device to drive the connecting structure to displace to the docking position with the accessory 11 includes:
based on the second target position, the driving device is controlled to drive the connecting structure to move to the butt joint position with the accessory 11.
Optionally, in order to reduce a position error between the connection structure and the accessory 11, so that the connection structure can be more accurately docked with the accessory 11, the controlling the driving device to drive the connection structure to be displaced to a docking position with the accessory 11 includes:
the actual position of the connector is obtained and based on the actual position of the connector, the drive means is controlled to drive the displacement of the connection structure to the docking position with the accessory 11.
Because the arm sections in the arm support are more, and transmission between the arm sections has errors, errors may exist between the position where the arm support drives the connector to operate and the second target position, and the problem that the connecting structure cannot be butted with the accessory 11 due to the transmission errors of the arm sections can be solved by driving the connecting structure to operate based on the actual position of the connector.
Specifically, the spatial coordinate value of the connector is acquired based on the established spatial coordinate system and the method for acquiring the spatial coordinate value of the connector. Since the attachment 11 is attached to the connector, the spatial position of the attachment 11 can be acquired based on the spatial coordinate value of the connector.
And after the arm support drives the connector to the second target position, acquiring a space coordinate value of the connector, and controlling the driving device to drive the connecting structure to move to a butt joint position with the accessory 11 based on the space coordinate value so that the connecting structure can be accurately connected with the accessory.
Optionally, disengaging the control connector from the accessory 11 comprises:
the driving piece drives the connecting pin shaft to slide out of the connecting hole 15 of the accessory 11.
It should be noted that all the control, acquisition, calculation and the like described in the method herein can be implemented by the control unit 13.
Referring to fig. 3, in some embodiments provided by the present disclosure, the work machine further includes a control unit 13. The driving device, the arm support and the connector are all electrically connected with the control unit 13.
Wherein the control unit 13 is upon acquiring the installation instruction.
The arm support driving connector can be controlled to move to the first target position.
Then, controlling the driving device to drive the accessory to move to a butt joint position with the connector;
finally, the control connector is connected with the accessory.
The control unit 13 acquires the detachment instruction.
The boom drive connector can be controlled to move to the second target position.
Then, the control driving device drives the connecting structure to move to a butt joint position with the accessory.
Finally, the control connector is disengaged from the accessory.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (11)

1. An attribute tool positioning device, comprising:
a support assembly for connection with a work machine;
the driving device is arranged on the supporting component and provided with a connecting structure used for being connected with an accessory, and the driving device can drive the connecting structure to move.
2. The accessory positioner of claim 1, wherein the support assembly is provided with a first guide structure extending in a first direction, and the drive arrangement comprises a lift mount, a first drive mechanism, a mount, and a second drive mechanism;
the lifting seat is slidably arranged on the first guide structure, the first driving mechanism is used for driving the lifting seat to move, the lifting seat is provided with a second guide structure extending along the second direction, the mounting seat is slidably arranged on the second guide structure, the second driving mechanism is used for driving the mounting seat to move, and the connecting structure is arranged on the mounting seat.
3. The accessory positioning device of claim 2, wherein the first direction is perpendicular to the second direction.
4. The accessory positioner of claim 2, further comprising a first rack, the first drive mechanism comprising a first gear and a first drive device;
the first gear is rotatably arranged on the supporting component;
the first rack is arranged on the lifting seat and extends along the first direction, and the first rack is meshed with the first gear;
the first driving device is arranged on the supporting component, and an output shaft of the first driving device is in transmission connection with the first gear so as to drive the first gear to rotate.
5. The accessory positioning device of claim 4, wherein the first gear, the first rack, and the first driving device are provided in two;
the two first racks are respectively arranged on two sides of the lifting seat, and the first gear, the first racks and the first driving device are in one-to-one correspondence.
6. The accessory positioner of claim 2, further comprising a second rack, the second drive mechanism comprising a second gear and a second drive device;
the second gear is rotatably arranged on the supporting component;
the second rack is arranged on the mounting seat and extends along the second direction, and the second rack can be meshed with the second gear;
the second driving device is arranged on the supporting component, and an output shaft of the second driving device is in transmission connection with the second gear so as to drive the second gear to rotate.
7. The accessory positioner of claim 1, wherein the support assembly comprises two support seats with a space therebetween for placement of an accessory;
the driving devices are the same in number with the supporting seats and correspond to the supporting seats one by one;
the connecting structure comprises positioning pins, and the two driving devices are provided with at least one positioning pin.
8. The accessory positioning device of claim 2, wherein the first drive mechanism comprises an air cylinder, an oil cylinder, an electric cylinder, or a lead screw nut drive mechanism;
the second driving mechanism comprises an air cylinder, an oil cylinder, an electric cylinder or a screw nut driving mechanism.
9. A work machine comprising an arm support, a connector, an accessory and an accessory positioning device as claimed in any one of claims 1 to 8;
the support assembly is connected with a vehicle body of the working machine;
the connector is arranged on the arm support and can be connected with or separated from the accessory.
10. An implement positioning device using method implemented by the working machine according to claim 9, comprising:
when an installation instruction is obtained, controlling the arm support to drive the connector to move to a first target position;
controlling the driving device to drive the accessory to move to a butting position with the connector;
and controlling the connector to be connected with the accessory.
11. The method of using the accessory positioning device of claim 10, further comprising:
when a disassembly instruction is obtained, controlling the arm support to drive the connector to move to a second target position;
controlling the driving device to drive the connecting structure to move to a butt joint position with the accessory;
controlling the connector to be disengaged from the accessory.
CN202111574712.0A 2021-12-21 2021-12-21 Accessory positioning device, working machine and method for using accessory positioning device Pending CN114396088A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111574712.0A CN114396088A (en) 2021-12-21 2021-12-21 Accessory positioning device, working machine and method for using accessory positioning device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111574712.0A CN114396088A (en) 2021-12-21 2021-12-21 Accessory positioning device, working machine and method for using accessory positioning device

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CN114396088A true CN114396088A (en) 2022-04-26

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2403998A1 (en) * 2009-03-06 2012-01-11 LST GmbH Attachment for construction equipment
CN207030852U (en) * 2017-04-17 2018-02-23 扬州航鹰科技装备有限公司 A kind of hoistable platform
CN207030831U (en) * 2017-04-17 2018-02-23 扬州航鹰科技装备有限公司 A kind of six degree of freedom hoistable platform
US20180298583A1 (en) * 2015-06-12 2018-10-18 Lehnhoff Hartstahl Gmbh Quick-change device
CN112982522A (en) * 2021-02-20 2021-06-18 三一重机有限公司 Control system of attachment replacement device of excavator and excavator with same
CN113200308A (en) * 2021-05-08 2021-08-03 武汉武铁机辆装备有限公司 Motor train unit lower part dismounting device with lifting function
CN214657316U (en) * 2021-01-27 2021-11-09 三一重机有限公司 Centering connector and excavator

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2403998A1 (en) * 2009-03-06 2012-01-11 LST GmbH Attachment for construction equipment
US20180298583A1 (en) * 2015-06-12 2018-10-18 Lehnhoff Hartstahl Gmbh Quick-change device
CN207030852U (en) * 2017-04-17 2018-02-23 扬州航鹰科技装备有限公司 A kind of hoistable platform
CN207030831U (en) * 2017-04-17 2018-02-23 扬州航鹰科技装备有限公司 A kind of six degree of freedom hoistable platform
CN214657316U (en) * 2021-01-27 2021-11-09 三一重机有限公司 Centering connector and excavator
CN112982522A (en) * 2021-02-20 2021-06-18 三一重机有限公司 Control system of attachment replacement device of excavator and excavator with same
CN113200308A (en) * 2021-05-08 2021-08-03 武汉武铁机辆装备有限公司 Motor train unit lower part dismounting device with lifting function

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Application publication date: 20220426