CN116335226B - A working arm and engineering machinery vehicle with increased working angle and improved load-bearing capacity - Google Patents

Abstract

The application provides a working arm and an engineering machinery vehicle for increasing a working angle and bearing capacity, wherein the working arm comprises a base, a connecting arm, a telescopic arm mechanism, an end actuating mechanism, a first pitch angle adjusting mechanism and a second pitch angle adjusting mechanism. According to the working arm capable of increasing the working angle and improving the bearing capacity, the first pitch angle adjusting mechanism and the second pitch angle adjusting mechanism can be used for adjusting the pitch angle of the telescopic arm mechanism together, the working angle of the telescopic arm can be increased through the joint adjusting function of the two adjusting mechanisms, and the working range of the working arm is enlarged; in addition, a four-bar mechanism is formed among the base, the first connecting bar, the second connecting bar and the connecting arm, so that impact vibration generated when the end actuating mechanism works can be shared to a large extent, and the bearing capacity and the impact resistance of the working arm are improved.

Description

A working arm and engineering machinery vehicle with increased working angle and improved load-bearing capacity

Technical Field

The present application belongs to the technical field of engineering machinery equipment, and more specifically, relates to a working arm and an engineering machinery vehicle that increase the working angle and improve the carrying capacity.

Background technique

At present, the end effector is widely used in the construction and tunnel excavation industries, and the working arm mechanism is the main component for loading various actuators. In the crushing operation, due to the high rock mass or building, the requirements for the working angle and load-bearing capacity of the working arm of the crushing equipment are becoming higher and higher. The current impact vibrator generally has problems such as insufficient working angle and poor load-bearing capacity. Therefore, these problems need to be solved in order to better improve the working efficiency of the working arm.

Summary of the invention

The purpose of the present application is to provide a working arm and an engineering machinery vehicle with increased working angle and improved carrying capacity, so as to solve the technical problems of insufficient working angle and poor carrying capacity of the working arm in the prior art.

To achieve the above-mentioned purpose, in a first aspect of the present application, there is provided a working arm for increasing the working angle and the carrying capacity, comprising:

Pedestal;

A connecting arm, one end of which is hinged on the base;

A telescopic arm mechanism, one end of which is hinged on the connecting arm;

An end actuator, one end of which is hinged to the other end of the telescopic arm mechanism;

a first pitch angle adjustment mechanism, comprising a first hydraulic cylinder and a first piston rod; one end of the first hydraulic cylinder is hinged on the connecting arm, and the other end of the first hydraulic cylinder is hinged on the telescopic arm mechanism through the first piston rod; and,

The second pitch angle adjustment mechanism includes a second hydraulic cylinder, a second piston rod, a first connecting rod and a second connecting rod; one end of the second hydraulic cylinder is hinged to the base, the other end of the second hydraulic cylinder is hinged to the first connecting rod through the second piston rod, the lower left end of the first connecting rod is hinged to the base, the upper right end of the first connecting rod is hinged to one end of the second connecting rod, and the other end of the second connecting rod is hinged to the connecting arm and the telescopic arm mechanism.

Furthermore, one end of the first hydraulic cylinder is hinged to the middle position of the connecting arm.

Furthermore, the first connecting rod is a triangular plate, and three end points of the first connecting rod are hinged to the second piston rod, the base and the second connecting rod respectively.

Furthermore, the base is provided with a connecting plate protruding upward, and the lower left end of the first connecting rod is hinged to the upper end of the connecting plate.

Furthermore, the telescopic arm mechanism comprises:

First telescopic arm;

A second telescopic arm, which is connected to the first telescopic arm in a movable pair; and

A third hydraulic cylinder has one end hinged on the first telescopic arm, and the other end hinged on the second telescopic arm through a third piston rod.

Furthermore, the end effector comprises:

an execution working arm, one end of which is hinged to one end of the second telescopic arm;

A rotating cylinder, one end of which is hinged to the execution working arm; and

An actuator component has one end fixedly connected to the rotating cylinder.

Furthermore, it also includes a fourth hydraulic cylinder, one end of the fourth hydraulic cylinder is hinged to the second telescopic arm, and the other end of the fourth hydraulic cylinder is hinged to the execution working arm through a fourth piston rod.

Furthermore, the end effector mechanism further comprises:

a fifth hydraulic cylinder, one end of which is hinged to the execution working arm;

a third connecting rod, one end of which is hinged to the execution working arm, and the other end of which is hinged to the fifth piston rod of the fifth hydraulic cylinder;

A fourth connecting rod has one end hinged on the execution working arm and the other end hinged to the third connecting rod, and the fourth connecting rod is hinged to the rotating cylinder.

Furthermore, the actuator is any one of an impact hammer, a bucket, and a lifting ring.

A second aspect of the present application provides an engineering machinery vehicle, on which a working arm as described in any one of the above items is installed.

Compared with the prior art, this application has the following technical effects:

A working arm of the present application that increases the working angle and improves the carrying capacity can cooperate with a first pitch angle adjustment mechanism and a second pitch angle adjustment mechanism to jointly adjust the pitch angle of the telescopic arm mechanism. The joint adjustment of the two adjustment mechanisms can increase the working angle of the telescopic arm and expand the working range of the working arm. In addition, a four-bar mechanism is formed between the base, the first connecting rod, the second connecting rod and the connecting arm of the present application, which can share the impact vibration generated by the end actuator when it is working to a large extent, thereby improving the carrying capacity and impact resistance of the working arm.

An engineering machinery vehicle of the present application also has the advantages of large working angle and high carrying capacity because it has the working arm structure of the present application, which will not be described in detail here.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

FIG1 is a schematic diagram of the overall structure of a working arm that increases working angle and improves load-bearing capacity, provided by an embodiment of the present application;

Fig. 2 is a front view of Fig. 1;

FIG3 is a schematic diagram of a working state when the angle between the working arm and the ground is the smallest according to an embodiment of the present application;

FIG4 is a schematic diagram of the working state when the angle between the working arm and the ground is the largest according to an embodiment of the present application.

Among them, the reference numerals in the figure are:

1. Base, 2. Second hydraulic cylinder, 3. Second piston rod, 4. First connecting rod, 5. Second connecting rod, 6. Connecting arm, 7. First hydraulic cylinder, 8. First piston rod, 9. First telescopic arm, 10. Third hydraulic cylinder, 11. Third piston rod, 12. Second telescopic arm, 13. Executing working arm, 14. Fourth hydraulic cylinder, 15. Fourth piston rod, 16. Fifth hydraulic cylinder, 17. Fifth piston rod, 18. Third connecting rod, 19. Fourth connecting rod, 20. Rotating cylinder, 21. Executing component.

Detailed ways

In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, this application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not used to limit this application.

It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

It should be understood that the terms "length", "up", "down", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

In addition, the terms "first", "second", "third", "fourth", and "fifth" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", "third", "fourth", and "fifth" may explicitly or implicitly include one or more of the feature. In the description of this application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

Please refer to Figures 1 to 4 together, and now a working arm structure for increasing the working angle and improving the load-bearing capacity provided by an embodiment of the present application will be described.

A working arm for increasing working angle and carrying capacity in the embodiment of the present application comprises a base 1, a connecting arm 6, a telescopic arm mechanism, an end actuator, a first pitch angle adjustment mechanism and a second pitch angle adjustment mechanism. One end of the connecting arm 6 is hinged on the base 1, one end of the telescopic arm mechanism is hinged on the connecting arm 6, and one end of the end actuator is hinged on the other end of the telescopic arm mechanism; the first pitch angle adjustment mechanism comprises a first hydraulic cylinder 7 and a first piston rod 8; one end of the first hydraulic cylinder 7 is hinged on the connecting arm 6, and the other end of the first hydraulic cylinder 7 is hinged on the telescopic arm mechanism through the first piston rod 8; the second pitch angle adjustment mechanism comprises a second hydraulic cylinder 2, a second piston rod 3, a first connecting rod 4 and a second connecting rod 5; one end of the second hydraulic cylinder 2 is hinged on the base 1, and the other end of the second hydraulic cylinder 2 is hinged on the first connecting rod 4 through the second piston rod 3, the lower left end of the first connecting rod 4 is hinged on the base 1, the upper right end of the first connecting rod 4 is hinged on one end of the second connecting rod 5, and the other end of the second connecting rod 5 is hinged to the connecting arm 6 and the telescopic arm mechanism.

In the embodiment of the present application, the hinge hole on the left side of the base 1 is hinged to the cylinder body of the second hydraulic cylinder 2, the second piston rod 3 is hinged to the middle hinge hole of the first connecting rod 4, the lower left hole of the first connecting rod 4 is hinged to the base 1, and the upper right hinge hole of the first connecting rod 4 is hinged to the hinge hole at the end of the second connecting rod 5. The upper right hole of the connecting arm 6 is a composite hinge, which is hinged to the other end of the second connecting rod 5 and one end of the telescopic arm mechanism at the same time.

When the working arm of the embodiment of the present application is used to increase the working angle and improve the carrying capacity, the second hydraulic cylinder 2 in the second pitch angle adjustment mechanism can be contracted or extended to drive the connecting arm 6 to move and adjust the angle between the connecting arm 6 and the horizontal plane; the first hydraulic cylinder 7 in the first pitch angle adjustment mechanism can be contracted or extended to drive the telescopic arm mechanism to move and adjust the angle between the telescopic arm mechanism and the connecting arm 6. The superposition of the two adjustment effects of the first pitch angle adjustment mechanism and the second pitch angle adjustment mechanism can maximize the working angle of the working arm and expand the working range of the working arm.

A working arm that increases the working angle and improves the carrying capacity in an embodiment of the present application can cooperate with a first pitch angle adjustment mechanism and a second pitch angle adjustment mechanism to jointly adjust the pitch angle of the telescopic arm mechanism. The joint adjustment of the two adjustment mechanisms can increase the working angle of the telescopic arm and expand the working range of the working arm. In addition, the base 1, the first connecting rod 4, the second connecting rod 5 and the connecting arm 6 of the present application form a four-bar linkage, which can share the impact vibration generated by the end actuator when it is working to a large extent, thereby improving the carrying capacity and impact resistance of the working arm.

In one embodiment of the present application, one end of the first hydraulic cylinder 7 is hinged at the middle position of the connecting arm 6, where the middle position refers to any position between the two ends of the connecting arm 6, for example, it can be hinged at 1/3 or 1/2 of the length of the connecting arm 6. By hinged one end of the first hydraulic cylinder 7 at the middle position of the connecting arm 6 instead of at the end point of the connecting arm 6, that is, one end of the first hydraulic cylinder 7 is not hinged on the base 1, a first hydraulic cylinder 7 with a smaller stroke can be used to obtain a larger angle adjustment range, thereby reducing the cost of the first hydraulic cylinder 7.

In one embodiment of the present application, the first connecting rod 4 is a triangular plate, and the three end points of the first connecting rod 4 are respectively hinged to the second piston rod 8, the base 1, and the second connecting rod 5. The triangular plate-shaped first connecting rod 4 can meet the requirements of being hinged to the second piston rod 8, the base 1, and the second connecting rod 5 at the same time, and its structure is stable, can withstand greater impact vibration, and can improve the load-bearing capacity and impact resistance of the working arm.

In one embodiment of the present application, an upwardly protruding connecting plate is provided on the base 1, and the lower left end of the first connecting rod 4 is hinged to the upper end of the connecting plate. Compared with directly hingedly connecting the lower left end of the first connecting rod 4 to the base 1, the design structure of the embodiment of the present application has better structural stability, can withstand greater impact vibrations, and can improve the load-bearing capacity and impact resistance of the working arm.

In one embodiment of the present application, the telescopic arm mechanism of the present application embodiment includes a first telescopic arm 9, a second telescopic arm 12 and a third hydraulic cylinder 10, wherein the second telescopic arm 12 is connected to the first telescopic arm 9 in a moving pair; one end of the third hydraulic cylinder 10 is hinged on the ear seat on the lower side of the first telescopic arm 9, and the other end is hinged on the hinge plate on the lower side of the second telescopic arm 12 through a third piston rod 11. The relative movement between the first telescopic arm 9 and the second telescopic arm 12 is controlled by controlling the stroke of the third hydraulic cylinder 10, thereby adjusting the telescopic movement of the telescopic arm mechanism, and thereby adjusting the operating range of the telescopic arm mechanism in the horizontal direction.

In one embodiment of the present application, the end actuator of the embodiment of the present application includes an execution working arm 13, a rotating cylinder 20 and an execution component 21, one end of the execution working arm 13 is hinged to one end of the second telescopic arm 12; one end of the rotating cylinder 20 is hinged to the execution working arm 13; one end of the execution component 21 can be fixedly connected to the rotating cylinder 20 by bolts. The rotating cylinder 20 drives the execution component 21 to rotate. The execution component 21 of the embodiment of the present application can be selected and adapted according to the type of operation, for example, it can be an impact hammer, a bucket, or a lifting ring, etc.

In one embodiment of the present application, the working arm of the embodiment of the present application further includes a fourth hydraulic cylinder 14, one end of the fourth hydraulic cylinder 14 is hinged to the hinge plate on the lower side of the second telescopic arm 12, and the other end of the fourth hydraulic cylinder 14 is hinged to the ear seat on the lower side of the execution working arm 13 through a fourth piston rod 15. By controlling the stroke of the fourth hydraulic cylinder 14, the angle between the execution working arm 13 and the second telescopic arm 12 can be adjusted, thereby adjusting the working range.

In one embodiment of the present application, the end actuator of the embodiment of the present application further includes a fifth hydraulic cylinder 16, a third connecting rod 18 and a fourth connecting rod 19, wherein the third connecting rod 18 is a meniscus, and one end of the fifth hydraulic cylinder 16 is hinged to the ear seat on the lower side of the execution working arm 13; one end of the third connecting rod 18 is hinged to the execution working arm 13, and the other end is hinged to the fifth piston rod 17 of the fifth hydraulic cylinder 16; one end of the fourth connecting rod 19 is hinged to the execution working arm 13, and the other end is hinged to the third connecting rod 18, and the fourth connecting rod 19 is hinged to the rotating cylinder 20. One end of the third connecting rod 18 of the embodiment of the present application is a composite hinge, which is hinged to the fifth piston rod 17 and the fourth connecting rod 19 at the same time. By controlling the stroke of the fifth hydraulic cylinder 16, the angle between the execution component 21 and the execution working arm 13 can be adjusted, thereby adjusting the working range of the execution component 21.

The working principle of the working arm of the embodiment of the present application is: the pitch of the connecting arm 6 is adjusted by the second hydraulic cylinder 2, the pitch of the first telescopic arm 9 is adjusted by the first hydraulic cylinder 7, the position of the second telescopic arm 12 is adjusted by the third hydraulic cylinder 10, the pitch of the executing working arm 13 is adjusted by the fourth hydraulic cylinder 14, the pitch of the rotating cylinder 20 is adjusted by the fifth hydraulic cylinder 16, and the left and right swing angle of the executing component 21 is adjusted by the rotating cylinder 20.

Figures 3 and 4 show two working states of the working arm provided in an embodiment of the present application. In Figure 3, the second piston rod 3 of the second hydraulic cylinder 2 is extended to its longest position, the first piston rod 8 of the first hydraulic cylinder 7 is contracted to its shortest position, the third piston rod 11 of the third hydraulic cylinder 10 is contracted to its shortest position, and the fourth piston rod 15 of the fourth hydraulic cylinder 14 is extended to its longest position. The working arm is in a first extreme position, that is, the elevation angle of the first telescopic arm 9 reaches its minimum state.

In Figure 4, the second piston rod 3 of the second hydraulic cylinder 2 is retracted to the shortest, the first piston rod 8 of the first hydraulic cylinder 7 is extended to the longest, the third piston rod 11 of the third hydraulic cylinder 10 is extended to the longest, and the fourth piston rod 15 of the fourth hydraulic cylinder 14 is retracted to the shortest. The working arm is in the second extreme position, that is, the elevation angle of the first telescopic arm 9 reaches the maximum state.

Generally, the difference between the maximum elevation angle and the minimum elevation angle of a working arm is about 35°. However, the embodiment of the present application, through the coordinated adjustment of the first pitch angle adjustment mechanism and the second pitch angle adjustment mechanism, can make the difference between the maximum elevation angle and the minimum elevation angle of the working arm reach about 45°, thereby effectively increasing the working angle range of the working arm.

The working arm of the embodiment of the present application is an eighteen-bar linkage mechanism with five degrees of freedom, which adopts mechanism topology to design the power actuator of the robot arm without redundant structural parts.

The embodiment of the present application also provides an engineering machinery vehicle, on which the working arm of the embodiment of the present application is installed. The engineering machinery vehicle of the embodiment of the present application can be different types of engineering machinery vehicles according to different types of the execution component 21. For example, when the execution component 21 is an impact hammer, the engineering machinery vehicle of the embodiment of the present application is a prying trolley; when the execution component 21 is a bucket, the engineering machinery vehicle of the embodiment of the present application is an excavator; when the execution component 21 is a lifting ring, the engineering machinery vehicle of the embodiment of the present application is a crane.

The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims (9)

1. A work arm for increasing a work angle and improving a bearing capacity, comprising:

A base;

One end of the connecting arm is hinged on the base;

One end of the telescopic arm mechanism is hinged to the connecting arm;

one end of the tail end executing mechanism is hinged to the other end of the telescopic arm mechanism;

A first pitch angle adjustment mechanism comprising a first hydraulic cylinder and a first piston rod; one end of the first hydraulic cylinder is hinged to the connecting arm, and the other end of the first hydraulic cylinder is hinged to the telescopic arm mechanism through the first piston rod; and

The second pitch angle adjusting mechanism comprises a second hydraulic cylinder, a second piston rod, a first connecting rod and a second connecting rod; one end of the second hydraulic cylinder is hinged to the base, the other end of the second hydraulic cylinder is hinged to the first connecting rod through the second piston rod, the left lower end of the first connecting rod is hinged to the base, the right upper end of the first connecting rod is hinged to one end of the second connecting rod, and the other end of the second connecting rod is hinged to the connecting arm and the telescopic arm mechanism;

One end of the first hydraulic cylinder is hinged to the middle position of the connecting arm;

a four-bar mechanism is formed among the base, the first connecting bar, the second connecting bar and the connecting arm.

2. The working arm of claim 1 wherein the first connecting rod is a triangular plate and three ends of the first connecting rod are hinged to the second piston rod, the base and the second connecting rod, respectively.

3. The working arm according to claim 2, wherein the base is provided with an upwardly protruding connecting plate, and the lower left end of the first connecting rod is hinged to the upper end of the connecting plate.

4. The working arm of claim 1 wherein the telescoping arm mechanism comprises:

A first telescopic arm;

The second telescopic arm is connected with the first telescopic arm in a moving pair; and

And one end of the third hydraulic cylinder is hinged to the first telescopic arm, and the other end of the third hydraulic cylinder is hinged to the second telescopic arm through a third piston rod.

5. The working arm of claim 4 wherein the end effector comprises:

One end of the execution working arm is hinged with one end of the second telescopic arm;

One end of the rotating oil cylinder is hinged to the executing working arm; and

And one end of the execution component is fixedly connected to the rotating oil cylinder.

6. The work arm of claim 5 further comprising a fourth hydraulic cylinder, one end of said fourth hydraulic cylinder being hinged to said second telescoping arm and the other end of said fourth hydraulic cylinder being hinged to said implement work arm by a fourth piston rod.

7. The working arm of claim 6 wherein the end effector further comprises:

One end of the fifth hydraulic cylinder is hinged to the execution working arm;

one end of the third connecting rod is hinged to the execution working arm, and the other end of the third connecting rod is hinged to a fifth piston rod of the fifth hydraulic cylinder;

and one end of the fourth connecting rod is hinged to the execution working arm, the other end of the fourth connecting rod is hinged to the third connecting rod, and the fourth connecting rod is hinged to the rotating oil cylinder.

8. A working arm according to any of claims 5-7, wherein the actuator is any of an impact hammer, a bucket, a lifting ring.

9. A working machine vehicle, characterized in that the working arm according to any one of claims 1 to 8 is mounted on the working machine vehicle.