Manipulator

 

(57) Abstract:

The invention relates to agricultural machinery, in particular to lifting technique. The manipulator comprises a base (1) in the form of a hollow cylinder with an inclined upper beam, the lower X-shape oriented in the horizontal plane beams with sliding bearings and hinge brackets (2), bearing slewing column (9) mounted on it the hinge shaft (10), a handle (11) pivotally mounted lifting hook and the hydraulic control boom, arm and the rotary column. Bearing slewing column is placed coaxially in the cavity of the base and connected with him turning mechanism made in the form of longline installed one (23) and two shoulders (24) lever, mounted for free rotation on the rotary column, and an additional lever (25) mounted rigidly on the rotary column. Remote from the axis of rotation of the ends of the two shoulders of the lever pivotally connected to the base of the hydraulic actuator, the shaft of one of which is connected by a hinge to the upper end of the upper beam, rod the other remote end of a freely rotating one shoulder arm connected by means of trategi kinematic characteristics. 3 Il.

The invention relates to agricultural machinery, in particular to lifting technique.

A device for rotating and changing boom crane, containing a base, a frame pivotally mounted therein at an angle to each other of the cylinders, the piston rods are pivotally connected with each other and arrow fixed on the frame rotatable in the horizontal plane of the axis can be rotated in the vertical plane, in which, with the aim of expanding coverage and reducing dynamic loads, the frame is made in the form of a T-shaped farm, at the ends of the horizontal bars which are fixed to the housing of the hydraulic cylinders and the vertical rack frames are made hollow for securing inside a rotary axis, this farm is mounted on a base that can be rotated in a horizontal plane by means of an additional drive, interacting with the outer surface of the upright support; additional actuator is made in the form hydroventure mechanism comprising fixed on the outer surface of the upright T-shaped farm holder and placed inside the piston with a Central hole, covering verticrop it and interacting with it via a screw thread, performed on the mating surfaces of the piston and rack (SU, author's certificate N 1813697. IPC5B 66 C 23/82. Device to rotate, and change the boom of the crane. //Gerson C. M. , Karsakov A. A. , Pindak Century. And. , Rogachev A. F., Strokov C. L. Stated 11.03.1991 published 07.05.1993).

The obstacles to achieve the desired technical result when using the known devices are limited service area in the horizontal plane and the complexity of construction of an additional drive.

The closest device of the same purpose to the declared object on the totality of symptoms is the optical drive that contains the flat base with the hinge brackets and sliding bearings, mounted with a possibility of rotation around the vertical axis of the base support-rotating column pivotally mounted on the boom, arm with lifting hook, installed in pairs of power cylinders control the boom, arm and additional cylinders swing bearing slewing column (see the Mounted manipulator "Volgograd". //INF. sheet Volgograd STIC N 230-97. Editors: C. M. Gerson, C. I. Pindak, A. F. Rogachev. - Volgograd,the training of the known device, accepted for the nearest equivalent are limited service area in the horizontal plane of the articulated boom and dipper and unsatisfactory dynamic and kinematic characteristics of the mechanism of turn.

The invention consists in the following.

The problem to which the invention is directed, is the expansion of the service area.

The technical result - the increase of the rotation angle range of the boom and departure of the handle, simplifying the design and reducing the dynamic loads in the extreme parts of the rotating column.

This technical result in the implementation of the invention is achieved in that in the optical drive that contains the base with the hinge brackets and sliding bearings, mounted with a possibility of rotation around the vertical axis of rotation with one column pivotally mounted on the boom, arm articulated set lifting hook and the hydraulic control boom, arm and bearing slewing column, according to the invention, the base is made in the form of a vertically installed hollow cylinder with inclined in a radial plane of the upper beam and the lower X-shaped ori the RNO-rotary column in the form of a hollow rod is placed coaxially in the cavity of the base and with him are additionally connected by a rotation mechanism, made in the form of kinematically and hydraulically connected to the hydraulic control and longline established one - and two shoulders of levers mounted for free rotation on the rotary column, and an extra arm attached rigidly to the rotary column, remote ends from the axis of rotation of the two shoulders of the lever pivotally connected to the base of the hydraulic actuator, the shaft of one of which is connected by a hinge to the upper end of the inclined beams, stem another from the remote end of a freely rotating one shoulder arm connected by means of a third hydraulic drive with an additional lever bearing slewing column.

Due to the fact that the axis of rotation of the column is aligned with a vertical axis of the base (column placed in the cavity of the base, and the base is placed on four sliding bearings, oriented X-disposed to the longitudinal axis of the loading Assembly, with bearing slewing column equipped with a mechanism for rotating the boom and dipper in the horizontal plane at an angle of 450oachieved the above result.

Spent an analysis of the prior art, including searching by the patent and scientific and technical istockmanager, that the applicants have not discovered similar, characterized by signs, identical to all the essential features of the claimed invention.

Therefore, the claimed invention meets the requirement of "novelty" by applicable law.

To verify compliance of the claimed invention to the requirement of "inventive step" applicants conducted an additional search of the known solutions in order to identify characteristics that match the distinctive features from the nearest similar features of the claimed invention, the results of which show that the claimed invention is not necessary for the expert in the obvious way from the prior art because the prior art, certain applicants not identified impact provided the essential features of the claimed invention transformations to achieve a technical result.

Therefore, the claimed invention meets the requirement of "inventive step" by applicable law.

The invention is illustrated by drawings.

In Fig. 1 schematically in axonometric image shows the swing-mounted manipulator (the latter shown in RAB crawler tractor class 3).

In Fig. 3 - the same, left side view (one of the operating positions of the handle and boom).

Information confirming the possibility of implementing the claimed invention are as follows.

The manipulator comprises a base 1 with the hinge brackets 2, 3, 4 and retractable support legs 5, 6, 7 and 8, mounted with a possibility of rotation around the vertical axis of the base 1 support-rotating column 9 with pivotally mounted on the bolt 10, a handle 11 pivotally mounted lifting hook 12, the hydraulic actuators 13, 14, 15, 16, and 17 of the control shaft 10, a handle 11 and the rotary column 9.

The base 1 is made in the form of a vertically installed hollow cylinder with inclined in a radial plane of the upper beam 18 and the lower X-shape oriented in the horizontal plane of the beams 19, 20, 21 and 22.

In cavities in X-shape oriented beams 19, 20, 21 and 22 posted by retractable supports 5, 6, 7 and 8. The latter can be translated into the working and transport position. Bearing slewing column 9 in the form of a hollow rod is placed coaxially in the cavity of the base 1 and it is additionally connected to the rotation mechanism. The said mechanism is in the form kinematically and hydraulically bound hydropres is ichha 25. The levers 23 and 24 are mounted on the rotary column 9 with the possibility of free rotation around the vertical axis. Additional arm 25 rigidly mounted on the rotary column 9. The remote ends from the axis of rotation of the two shoulders of the lever 24 pivotally connected to the base of the hydraulic actuators 15 and 16. The piston rod of the hydraulic actuator 15 pivotally connected with the upper end of the inclined beams 18. The piston rod of the hydraulic actuator 16 is mounted on the remote end of a freely rotating one shoulder of the lever 23. One shoulder lever 23 is connected by means of a third hydraulic actuator 17 with an additional lever 25 bearing slewing column 9.

The manipulator operates as follows.

By means of hinge brackets 2-4 base 1 mounted on thrust 26, 27 and 28 all system of a tractor 29 (see Fig. 2 and 3). Support 5-7 transferred to the working position. Remote-cylinder hydraulic system of the tractor 29 through trehzahodnoy valve and connect the three pairs of high pressure hoses properly with hydraulic 13-17 manipulator. Average handle valve control hydraulic 15-17, left handle - hydraulic actuator 13 of the boom 10, the right handle hydrosaluric - hydraulic actuator 14 of the handle 11. The position control gr. 1-3.

Rotation of arm 10 with a handle 11 and, as a consequence, lifting hook 12 is carried out as follows.

When the intake pressure of the working fluid in Rodless cylinders cavity of the hydraulic actuator 15 its base two shoulders lever 24 rotates around a vertical axis of rotation of the column 9. Along with this remote end of the second lever arm 24 moves the base of the hydraulic actuator 16. The piston rod of the hydraulic actuator 16, in turn, extends from the cavity of the hydraulic actuator 16 and rotates the remote end of one shoulder of the lever 23, to rotate around the vertical axis of the column 9. The hydraulic actuator 17 is placed on the ends of the levers 23 and 25 and for this reason, the hydraulic actuator 17 carries rigidly fixed to the lever 25 bearing slewing column 9. This is facilitated also by the fact that while moving the hydraulic actuator 17 his rod retracts into the cavity of the hydraulic actuator 17, thereby increasing the angle of rotation in the horizontal plane of the column 9, and with it the boom 10 and a handle 11.

The displacement of the rod of the hydraulic actuator 15 causes rotation of the two shoulders of the lever angle 150oand the displacement of the rod of the hydraulic actuator 16 to rotate one shoulder arm 23 on the angle 300ofrom the original position. If you pull the rod hydropres the 450o.

Tier placement of the levers 23, 24 and 25 and the hydraulic 15-17 provides the task. This ensures that rotation of arm 10 and the arm 11 around the vertical axis of the base 1 at an angle 450ofrom the original position. Accommodation retractable supports 5-8 in X-shape oriented beams 19-22 provides a stable position of the manipulator when the movement of goods specified weight specified in the passport of the arm throughout the range of angular movements.

The service area of the manipulator is substantially increased by the fact that the handle 11 is equipped with a retractable beams 30 and 31.

Thus, the presented data suggest the implementation of the use of the claimed invention the following cumulative conditions:

the tool embodying the claimed invention in its implementation, is intended for use in agricultural engineering;

for the claimed invention in the form as it is described in the independent clause following claims, confirmed the possibility of its implementation using the above described in the application or known before the priority date tools and techniques;

tool, implement and technical result.

Therefore, the claimed invention meets the requirement of "industrial applicability" under the current law.

The optical drive that contains the base with the hinge brackets and sliding bearings, mounted with a possibility of rotation around the vertical axis of the support-rotating column with mounted on it articulated boom, arm articulated set lifting hook and the hydraulic control boom, arm and bearing slewing column, characterized in that the base is made in the form of a vertically installed hollow cylinder with inclined in a radial plane of the upper beam and the lower X-shape oriented in the horizontal plane beams, the latter of which has a sliding bearing, and bearing slewing column in the form of a hollow rod is placed coaxially in the cavity of the base and with him are additionally connected by a rotation mechanism, made in the form of kinematically and hydraulically connected to the hydraulic control and longline established one - and two shoulders of levers mounted for free rotation on the rotary column, and an extra arm attached rigidly to the rotary column, PP of which is connected by a hinge to the upper end of the upper beam, stock the other with the remote end of a freely rotating one shoulder arm connected by means of a third hydraulic drive with an additional lever bearing slewing column.

 

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