CN207974177U - A kind of automatically controlled ditcher of two-freedom chain-bucket - Google Patents
A kind of automatically controlled ditcher of two-freedom chain-bucket Download PDFInfo
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- CN207974177U CN207974177U CN201721465279.6U CN201721465279U CN207974177U CN 207974177 U CN207974177 U CN 207974177U CN 201721465279 U CN201721465279 U CN 201721465279U CN 207974177 U CN207974177 U CN 207974177U
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- 230000007246 mechanism Effects 0.000 claims abstract description 44
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- 230000006835 compression Effects 0.000 claims description 2
- 238000007906 compression Methods 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 abstract description 15
- 238000005265 energy consumption Methods 0.000 abstract description 10
- 230000008901 benefit Effects 0.000 abstract description 9
- 230000005540 biological transmission Effects 0.000 abstract description 9
- 230000008878 coupling Effects 0.000 abstract description 4
- 238000010168 coupling process Methods 0.000 abstract description 4
- 238000005859 coupling reaction Methods 0.000 abstract description 4
- 238000012423 maintenance Methods 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 230000002262 irrigation Effects 0.000 description 7
- 238000003973 irrigation Methods 0.000 description 7
- 230000032258 transport Effects 0.000 description 7
- 238000009412 basement excavation Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000005065 mining Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
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Abstract
一种两自由度链斗式电控挖沟机，包含电控挖沟机构、输送链、铲斗、导料板，所述电控挖沟机构包含主臂调节机构和斗架调节支链，所述电控挖沟机构采用连杆传动替代了现有链斗式挖沟机的液压传动，由安装在机架上的电动机通过两主动杆进行动力输入，不仅降低了制造成本，简化了控制系统，而且有效降低了故障率、能耗以及维护保养成本；所述电控挖沟机构为平面两自由度机构，斗架可实现两自由度耦合运动输出，进而实现电控挖沟机构大空间、高灵活度姿态调整，相比现有链斗式挖沟机斗架仅能实现单自由度升降，该种两自由度链斗式电控挖沟机具有更大的工作空间、更好的灵活性，能在更加复杂的环境作业，技术优势明显，市场前景广阔。
A two-degree-of-freedom chain-bucket type electronically controlled ditching machine, comprising an electronically controlled ditching mechanism, a conveyor chain, a bucket, and a material guide plate, the electronically controlled ditching mechanism includes a main arm adjustment mechanism and a bucket frame adjustment branch chain, The electric control ditching mechanism adopts connecting rod transmission to replace the hydraulic transmission of the existing chain bucket ditching machine, and the motor installed on the frame is used for power input through two active rods, which not only reduces the manufacturing cost, but also simplifies the control. system, and effectively reduce the failure rate, energy consumption and maintenance cost; the electronically controlled ditching mechanism is a planar two-degree-of-freedom mechanism, and the bucket frame can realize two-degree-of-freedom coupling motion output, thereby realizing a large space for the electronically controlled ditching mechanism , High flexibility attitude adjustment, compared with the existing chain bucket type ditching machine bucket frame which can only realize single-degree-of-freedom lifting, this two-degree-of-freedom chain bucket type electric control ditching machine has a larger working space and better Flexibility, able to work in more complex environments, with obvious technical advantages and broad market prospects.
Description
Technical field
The utility model is related to chain bucket trencher field, especially a kind of automatically controlled ditcher of two-freedom chain-bucket.
Background technology
Multi-bucket excavator be it is a kind of continuously excavated, transported and the excavating machinery of discharging using multiple scraper bowls, there is continuous make
The features such as industry, productivity are high, specific energy consumption is small, the relatively low, soil without bulk sandstone especially suitable for excavation hardness.Chain-bucket
Ditcher is one kind of multi-bucket excavator, it is main continuously excavated using the multiple scraper bowls being mounted on ladder endless chain, transport and
Discharge operation is mainly used for excavating irrigation canals and ditches, canal, stripping, exploitation and the operation in stock ground for correcting side slope and mining site.
Although chain bucket trencher is widely applied in numerous areas, construction efficiency is effectively increased, reduces and applies
Work cost, but existing chain bucket trencher has engineering technology problem to be solved in engineer application there is also many.First,
The equipment of existing chain bucket trencher is all made of Hydraulic Power Transmission System and is transmitted into action edge, although Hydraulic Power Transmission System structure
It is compact, convenient for executing component layout, but since that there is general powers is low, mechanical efficiency is low, oil accident easily occurs for hydraulic system
The problems such as, the problems such as causing poor existing chain bucket trencher power performance, maintenance cost height, poor reliability, high energy consumption；Secondly,
Existing chain bucket trencher equipment is plane single-degree-of-freedom executing agency, and ladder can only carry out pitching movement, work
Space is small, flexibility ratio is poor, largely affects the transaction capabilities and the scope of application of chain bucket trencher, in addition, with can
It is existing to control development and the present computer technology, modern control technology, robot for the theory of mechanisms front subject that mechanism is representative etc.
Generation technique is constantly progressive, and provides technical foundation for greenization, the intelligence of chain bucket trencher, multiple degrees of freedom controllable mechanism can
To realize that input of doing more physical exercises, complicated flexibility track movement output can preferably meet the requirement of chain bucket trencher, but in weight
It carries under environment, compares Hydraulic Power Transmission System, lack effective overload protection function.
How to propose a kind of automatically controlled ditcher of two-freedom chain-bucket, there is mechanical structure simple, low energy consumption, highly reliable
Property, low-maintenance cost of upkeep the features such as, and have that equipment flexibility ratio is good, working space is big, ladder removes the adjustable model of pitch angle
It encloses outside the features such as wide, can also realize that plane two-freedom is translatable, can further promote the workability of this kind of chain bucket trencher
Can, while also possessing certain overload protection function, overcomes existing for hydraulic system that mechanical efficiency is low, energy consumption is big, easily leaks
The problems such as oily accident, can preferably meet continuously excavation, transport and the discharge operation requirement such as irrigation canals and ditches, ore faces, it has also become chain-bucket
The engineering problem of one urgent need to resolve in ditcher field.
Invention content
The purpose of this utility model is to provide a kind of automatically controlled ditcher of two-freedom chain-bucket, simple with mechanical structure,
The features such as low energy consumption, high reliability, low-maintenance cost of upkeep；And having that equipment flexibility ratio is good, working space is big, ladder is bowed
The elevation angle except adjustable extent greatly in addition to, can also horizontal and vertical direction realize plane two-freedom movement, further promote chain bucket
The transaction capabilities of the automatically controlled ditcher of formula；Simultaneously possess certain overload protection function, overcome general power existing for hydraulic system it is low,
The problems such as mechanical efficiency is low, easy generation oil accident preferably meets irrigation canals and ditches, canal, side slope, mining site etc. and continuously excavates, transports
With discharge operation requirement.
The utility model reaches above-mentioned purpose by the following technical programs：
A kind of automatically controlled ditcher of two-freedom chain-bucket, including automatically controlled ditching mechanism, carrier chain, scraper bowl, stock guide, described
Automatically controlled ditching mechanism is planar two-DOF seven-bar linkage, contains two closed loops, including principal arm regulating mechanism and ladder are adjusted
Branch, the principal arm regulating mechanism include principal arm, hydraulic stem, the first driving lever, rack, and the principal arm passes through revolute pair and rack
Connection, first driving lever one end are connect by revolute pair with rack, and the other end is connect by revolute pair with hydraulic stem one end,
The hydraulic stem other end is connect by revolute pair with principal arm, and first driving lever is by rack-mounted motor drive
Control is controlled by the positive and negative rotation of motor, realizes clockwise, the counter-clockwise swing of the first driving lever, and then drives principal arm pendulum
It is dynamic, realize pose adjustment；It includes the second driving lever, connecting rod, ladder that the ladder, which adjusts branch, and second driving lever one end is logical
Revolute pair is crossed to connect with rack, the other end is connect by revolute pair with connecting rod one end, the connecting rod other end by revolute pair with
Ladder connects, and the ladder is connect by revolute pair with principal arm, and second driving lever is driven by rack-mounted motor
Dynamic control realizes clockwise, the counter-clockwise swing of the second driving lever by the positive and negative rotation of motor, and then realizes ladder around master
Arm is swung up and down, and under the control of a computer system, by the coupled motions of the first driving lever, the second driving lever, realizes ladder
Two-freedom flexibility track movement output, and then ensure that this kind of automatically controlled ditching mechanism flexibility ratio is good, working space is big, ladder
In addition to the features such as pitch angle adjustable extent is wide, it can also realize that plane two-freedom moves along horizontal and vertical direction, further
Improve the transaction capabilities of the automatically controlled ditcher of chain-bucket；The automatically controlled ditching mechanism is also with rod piece number is few, the degree of coupling is low, fortune
Dynamic learn solves the advantages that easy, programming Control is simple.
The carrier chain is mounted on ladder, and the scraper bowl is mounted on carrier chain, and the stock guide is pacified by revolute pair
On principal arm, the automatically controlled ditcher of this kind of two-freedom chain-bucket during the work time, driving of the carrier chain in motor
Under around ladder rotate, and then drive the continuous digging operation of scraper bowl, coordinate the automatically controlled ditching mechanism kinematic of two-freedom, meet irrigation canals and ditches,
Ore faces etc. continuously excavates, transport and discharge operation require.The hydraulic stem includes cylinder body, piston rod, the cylinder body and piston rod
Between connected by prismatic pair, it is hydraulically full in the cylinder body, under normal operation load, piston rod and cylinder body composition hydraulic pressure
Bar is equal to a non-telescoping rod piece, when the automatically controlled ditcher load of this kind of chain-bucket is beyond rated load, passes through introducing
The auxiliary equipments such as overflow valve, the piston rod contained by hydraulic stem can be flexible relative to cylinder body, can effectively solve this kind of automatically controlled ditcher
Structure lacks the problem of overload protection.In order to improve the bearing capacity and stability of this kind of automatically controlled ditcher of two-freedom chain-bucket,
Principal arm regulating mechanism is usually installed in parallel two the first driving levers, two hydraulic stems, the first cylinder body of two hydraulic stem, second
Cylinder body can be made by the first cylinder body and the second cylinder body unicom in two cylinder bodies by 19 unicom of hydraulic line, according to Pascal's law
The pressure of liquid maintains balance, and then effectively increases the bearing capacity and stabilization of this kind of automatically controlled ditcher of two-freedom chain-bucket
Property.
The automatically controlled ditching mechanism of this kind of automatically controlled ditcher of two-freedom chain-bucket is passed through by rack-mounted motor
Two driving levers are inputted into action edge, using link transmission instead of the hydraulic drive of existing chain bucket trencher, are not only reduced
Manufacturing cost simplifies control system, and effectively reduces failure rate, energy consumption and maintaining cost；Compared to existing chain
Bucket trencher ladder is only capable of realizing single-degree-of-freedom lifting, this kind of automatically controlled ditching mechanism is plane two-freedom mechanism, passes through two
The kinematic parameter of driving lever inputs, and ladder can realize horizontal and vertical direction two-freedom coupled motions output, has work empty
Between it is big, flexibility is good the advantages that, effectively improve the transaction capabilities of the automatically controlled ditcher of chain-bucket, coordinate in carrier chain and scraper bowl
Under, more complicated operating environment can be coped with well, completed irrigation canals and ditches, canal, side slope, mining site etc. and continuously excavated, transport and unload
Expect operation.The automatically controlled ditcher technical advantage of this kind of two-freedom chain-bucket is apparent, wide market.
Compared with prior art, the utility model has the prominent advantages that：
1. the automatically controlled ditching mechanism of this kind of automatically controlled ditcher of two-freedom chain-bucket uses plane two-freedom link mechanism
Design contains two closed loops, and it is excellent to have that rod piece number is few, the degree of coupling is low, kinematics solution is easy, programming Control is simple etc.
Point；The automatically controlled ditching mechanism of this kind of automatically controlled ditcher of two-freedom chain-bucket is using link transmission instead of existing chain-bucket ditching
The hydraulic drive that machine uses avoids existing for hydraulic system the problems such as mechanical efficiency is low, energy consumption is big, easy generation oil accident,
The power performance for effectively improving the automatically controlled ditcher of chain-bucket reduces maintaining cost, have good reliability, low energy consumption,
The features such as convenient for maintaining.
2. being only capable of carrying out single-degree-of-freedom pitching movement, the automatically controlled ditching of this kind of chain-bucket compared to existing chain bucket trencher ladder
Not only pitch angle adjustable extent is wide for the ladder of machine, can also be achieved the movement of plane two-freedom, effectively improves the automatically controlled digging of chain-bucket
The transaction capabilities of ditch machine.This kind of ditching Electrical Control ditcher structure under the control of a computer system, passes through the first driving lever, second
The coupled motions of driving lever are, it can be achieved that ladder makes this kind in the two-freedom flexibility track movement output in horizontal and vertical direction
The automatically controlled ditcher of chain-bucket has better flexibility and working space.
3. this kind of automatically controlled ditcher of two-freedom chain-bucket mainly uses computer system control, acted in control circuit
Under, it is controlled by the in due course positive and negative rotation of motor, realizes the two-freedom coupled motions of automatically controlled ditching mechanism, compare existing liquid
Pressure or mechanical handling mode have many advantages, such as that intelligence degree is high, controllability is good, and control system is simple and reliable, and easily real
Existing remote control and unmanned control.
4. the automatically controlled ditching mechanism introduces hydraulic stem, under normal operation load, the liquid of piston rod and cylinder body composition
Compression bar is equal to a non-telescoping rod piece, when the automatically controlled ditcher load of this kind of chain-bucket is beyond rated load, by drawing
Enter the auxiliary equipments such as overflow valve, can effectively solve the problems, such as that this kind of automatically controlled ditching mechanism lacks overload protection, this kind of two-freedom
The automatically controlled ditcher of chain-bucket has great research significance and market application potential.
Description of the drawings
Fig. 1 is the automatically controlled ditcher schematic diagram of two-freedom chain-bucket described in the utility model.
Fig. 2 is the topology diagram of the automatically controlled ditcher of two-freedom chain-bucket described in the utility model.
Fig. 3 is principal arm regulating mechanism schematic diagram described in the utility model.
Fig. 4 is that ladder described in the utility model adjusts branch schematic diagram.
Fig. 5 is the automatically controlled ditcher pitch plane view of two-freedom chain-bucket described in the utility model.
Fig. 6 is one of automatically controlled ditcher schematic three dimensional views of two-freedom chain-bucket described in the utility model.
Fig. 7 is the two of the automatically controlled ditcher schematic three dimensional views of two-freedom chain-bucket described in the utility model.
Specific implementation mode
The technical solution of the utility model is described further below by way of drawings and examples.
Compares figure 1, Fig. 2, Fig. 3, Fig. 4, a kind of automatically controlled ditcher of two-freedom chain-bucket, including automatically controlled ditching mechanism, defeated
It is planar two-DOF seven-bar linkage to send chain 20, scraper bowl 18, stock guide 17, the automatically controlled ditching mechanism, contains two closed loops,
Including principal arm regulating mechanism and ladder adjust branch, the principal arm regulating mechanism includes principal arm 9, hydraulic stem 14, the first driving lever
12, rack 1, the principal arm 9 are connect by revolute pair 10 with rack 1, described first driving lever, 12 one end by revolute pair 11 with
Rack 1 connects, and the other end is connect by revolute pair 13 with 14 one end of hydraulic stem, and 14 other end of the hydraulic stem passes through revolute pair 15
It is connect with principal arm 9, first driving lever 12 is controlled by the motor drive in rack 1, passes through the positive and negative of motor
Turn control, realizes clockwise, the counter-clockwise swing of the first driving lever 12, and then principal arm 9 is driven to swing, realize pose adjustment；Institute
It includes the second driving lever 3, connecting rod 5, ladder 8 to state ladder and adjust branch, and described second driving lever, 3 one end passes through revolute pair 2 and machine
Frame 1 connects, and the other end is connect by revolute pair 4 with 5 one end of connecting rod, and 5 other end of the connecting rod is connected by revolute pair 6 and ladder 8
It connects, the ladder 8 is connect by revolute pair 7 with principal arm 9, and second driving lever 3 is by rack-mounted motor drive
Control realizes clockwise, the counter-clockwise swing of the second driving lever 3 by the positive and negative rotation of motor, and then realizes ladder 8 around master
Arm 9 is swung up and down, and under the control of a computer system, by the coupled motions of the first driving lever 12, the second driving lever 3, is realized
The two-freedom flexibility track movement output of ladder 8, and then ensure that this kind of automatically controlled ditching mechanism flexibility ratio be good, working space
Greatly, ladder 8 can also realize plane two-freedom fortune in addition to the features such as pitch angle adjustable extent is wide along horizontal and vertical direction
It is dynamic, further improve the transaction capabilities of the automatically controlled ditcher of chain-bucket；The automatically controlled ditching mechanism also few, coupling with rod piece number
The advantages that right low, kinematics solution is easy, programming Control is simple.
Compares figure 3, Fig. 6, the carrier chain 20 are mounted on ladder 8, and the scraper bowl is mounted on carrier chain 20, described to lead
Flitch 17 by revolute pair 16 be mounted on principal arm 9 on, the automatically controlled ditcher of this kind of two-freedom chain-bucket during the work time,
Carrier chain 20 rotates under the driving of motor around ladder 8, and then drives 18 continuous digging operation of scraper bowl, cooperation two-freedom electricity
Ditching mechanism kinematic is controlled, continuously excavation, transport and the discharge operation requirement such as irrigation canals and ditches, ore faces are met.The hydraulic stem 14 includes cylinder
Body 14.1, piston rod 14.3, are connected between the cylinder body 14.1 and piston rod 14.3 by prismatic pair 14.2, the cylinder body 14.1
Interior hydraulically full, under normal operation load, the hydraulic stem 14 of piston rod 14.3 and the composition of cylinder body 14.1 is equal to one can not
Flexible rod piece, when the automatically controlled ditcher load of this kind of chain-bucket is beyond rated load, by introducing the auxiliary equipments such as overflow valve,
Piston rod 14.3 contained by hydraulic stem 14 can be flexible relative to cylinder body 14.1, can effectively solve this kind of automatically controlled ditching mechanism and lack
The problem of carrying protection.In order to improve the bearing capacity and stability of this kind of automatically controlled ditcher of two-freedom chain-bucket, principal arm is adjusted
Mechanism is usually installed in parallel two the first driving levers, 12, two hydraulic stems 14, the first cylinder body 14.11 of two hydraulic stem 14,
Second cylinder body 14.12, can by the first cylinder body and the second cylinder body unicom according to Pascal's law by 19 unicom of hydraulic line
So that the pressure of liquid in two cylinder bodies is maintained balance, and then effectively increases the carrying of this kind of automatically controlled ditcher of two-freedom chain-bucket
Ability and stability.
Compares figure 5, Fig. 6, Fig. 7, the automatically controlled ditching mechanism of this kind of automatically controlled ditcher of two-freedom chain-bucket is by being mounted on machine
Motor on frame is inputted by two driving levers into action edge, using link transmission instead of the hydraulic pressure of existing chain bucket trencher
Transmission, not only reduces manufacturing cost, simplifies control system, and effectively reduce failure rate, energy consumption and maintaining
Cost；Be only capable of realizing single-degree-of-freedom lifting compared to existing chain bucket trencher ladder, this kind of automatically controlled ditching mechanism be plane two from
By degree mechanism, inputted by the kinematic parameter of two driving levers, ladder 8 can realize horizontal and vertical direction two-freedom coupled motions
Output, has many advantages, such as that working space is big, flexibility is good, the transaction capabilities of the automatically controlled ditcher of chain-bucket is effectively improved, defeated
Under sending chain 20 and scraper bowl 18 to coordinate, more complicated operating environment can be coped with well, complete irrigation canals and ditches, canal, side slope, mining site etc.
Continuous excavation, transport and discharge operation.The automatically controlled ditcher technical advantage of this kind of two-freedom chain-bucket is apparent, and market prospects are wide
It is wealthy.
Claims (2)
1. a kind of automatically controlled ditcher of two-freedom chain-bucket, it is characterised in that：Including automatically controlled ditching mechanism, carrier chain, scraper bowl, leading
Flitch, the automatically controlled ditching mechanism be planar two-DOF seven-bar linkage, contain two closed loops, comprising principal arm regulating mechanism with
Ladder adjusts branch, and the principal arm regulating mechanism includes principal arm, hydraulic stem, the first driving lever, rack, and the principal arm passes through rotation
Pair is connect with rack, and first driving lever one end is connect by revolute pair with rack, and the other end passes through revolute pair and hydraulic stem
One end connects, and the hydraulic stem other end is connect by revolute pair with principal arm, and first driving lever is by rack-mounted
Motor drive controls；It includes the second driving lever, connecting rod, ladder that the ladder, which adjusts branch, and second driving lever one end is logical
Revolute pair is crossed to connect with rack, the other end is connect by revolute pair with connecting rod one end, the connecting rod other end by revolute pair with
Ladder connects, and the ladder is connect by revolute pair with principal arm, and second driving lever is driven by rack-mounted motor
Dynamic control.
2. a kind of automatically controlled ditcher of two-freedom chain-bucket according to claim 1, it is characterised in that：Including cylinder body, piston
Bar is connected between the cylinder body and piston rod by prismatic pair, hydraulically full in the cylinder body, under normal operation load, liquid
Compression bar is equal to a non-telescoping rod piece, when the automatically controlled ditcher load of this kind of chain-bucket is beyond rated load, hydraulic stem
Contained piston rod is flexible relative to cylinder body.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721465279.6U CN207974177U (en) | 2017-11-07 | 2017-11-07 | A kind of automatically controlled ditcher of two-freedom chain-bucket |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721465279.6U CN207974177U (en) | 2017-11-07 | 2017-11-07 | A kind of automatically controlled ditcher of two-freedom chain-bucket |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109653266A (en) * | 2019-01-25 | 2019-04-19 | 韩璇卿 | A kind of slusher chain type trenching machine |
| CN109750709A (en) * | 2017-11-07 | 2019-05-14 | 山东交通学院 | A two-degree-of-freedom chain bucket type electric control trencher |
| CN109745802A (en) * | 2017-11-07 | 2019-05-14 | 山东交通学院 | A two-degree-of-freedom controllable haze and fog cannon mechanism |
| CN112772239A (en) * | 2021-01-07 | 2021-05-11 | 杭州良渚麟海蔬果专业合作社 | Green vegetable prevention and control method for repelling snails by using insect-proof net |
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2017
- 2017-11-07 CN CN201721465279.6U patent/CN207974177U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109750709A (en) * | 2017-11-07 | 2019-05-14 | 山东交通学院 | A two-degree-of-freedom chain bucket type electric control trencher |
| CN109745802A (en) * | 2017-11-07 | 2019-05-14 | 山东交通学院 | A two-degree-of-freedom controllable haze and fog cannon mechanism |
| CN109653266A (en) * | 2019-01-25 | 2019-04-19 | 韩璇卿 | A kind of slusher chain type trenching machine |
| CN109653266B (en) * | 2019-01-25 | 2020-12-01 | 韩璇卿 | A rake bucket chain groove forming machine |
| CN112772239A (en) * | 2021-01-07 | 2021-05-11 | 杭州良渚麟海蔬果专业合作社 | Green vegetable prevention and control method for repelling snails by using insect-proof net |
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Granted publication date: 20181016 Termination date: 20201107 |