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 beams, the latter of which has a retractable support mechanisms for recording, and hinge brackets. In the cavity of the fixed base can be rotated around a vertical axis of rotation column (8) mounted on it articulated boom (9), the handle (10) and pivotally mounted lifting hook. In the upper and lower parts of the base are mounted in radial bearings and a thrust bearing at the bottom. Radial bearings are equipped with movable and stationary rings, one of which is made of hardened and wear-resistant steel, and the other is removable and preferably of the antifriction material. In the upper radial bearing wear ring installed below the support ring rod bearing slewing column, and anti - friction ring at the base, in the lower radial bearing of the lower movable ring rod made of antifriction material, and the ring at the bottom of the base from izlemesine, and down - thrust bearing. Support-rotating column with a base connected to the rotation mechanism. The invention allows to expand the service area. 13 C.p. f-crystals, 4 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, the auxiliary drive is made in the form hydroventure mechanism including Orsini with a Central hole, covering the upright support mounted for movement along the axis of the latter, fixed against rotation around it and interacting with it via a screw thread made on the mating surfaces of the piston and rack (SU authorship, 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 with mounted pivotally on the boom, arm articulated set lifting hook, installed in pairs of power cylinders control the boom, arm and D. the hell" //INF. sheet Volgograd STIC N 230-97. Editors: C. M. Gerson, C. I. Pindak, A. F. Rogachev. - Volgograd, 1997. - 4 S.).

The obstacles to achieve the desired technical result when using the known device, taken as the closest analogue, 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 known manipulator containing 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 krakowianka in the form of a hollow cylinder oriented in radial planes inclined upper and lower beams, on the last of which has a retractable supports and mechanisms for fixing the sliding bearings in the working and transport positions, the remote ends of the lower beams are focused down at the top of the beam - up, bearing slewing column in the form of a hollow rod with a support ring in the middle part is placed coaxially in the cavity of the base, the upper and lower parts of the base are mounted in radial bearings, mainly of the slip, and thrust bearing at the bottom, each radial bearing is equipped with a movable and stationary rings, one of which is made of hardened and wear-resistant steel, and the other ring is removable and is preferably made of antifriction material, in the upper radial bearing wear ring installed below the support ring rod bearing slewing column, and anti - friction ring at the base, in the lower radial bearing of the lower movable ring bearing slewing column made of antifriction material, and the ring at the bottom of the base is made of wear-resistant steel, the axial displacement of the hollow column bar up from the cavity of the base is limited by the latch move, and the down - thrust bearing, while the bearing slewing column with osnovnym the end of the upper beam; the latch to move a column in the cavity of the base is produced in the form of an annular groove and a pair of tangentially installed pins, the ends of which are placed in the aligned holes of the base, and the rods - in the cavity of the base; thrust bearing provided with a ball element and mating with him thrust bearings, one of which is placed at the bottom of the hollow rod bearing slewing column, and the other at the end of the threaded rod installed in the cap bottom portion of the hollow base; the diameters of the mating surfaces of the movable and stationary rings of the upper and lower radial bearings are made equal; retractable supports equidistant from the vertical axis of the base and from each other; the number of retractable supports more than two; the mechanism of fixation in the working and transport positions retractable supports are made in the form of an eccentric disk that is installed in the groove on the remote end of the lower inclined beams and on the axis by a pair of brackets, the drive is equipped with a pen drive; each sliding bearing made in the form of a hollow rod, the lower end of which has a pin of the spherical hinge is connected with the control paw; each sliding bearing provided with a lock limit position kind is a, placed in the longitudinal groove on the surface of the hollow rod, and the pin with the possibility of dismantling mounted on the lower end of the lower inclined beam; a rotation mechanism support-rotating speakers made in the form of kinematically connected to the hydraulic control and longline established one - and two shoulders of levers mounted for free rotation on the rotary column and lever fixed on the rotary column, the base of one of the hydraulic actuators pivotally connected with the upper end of the inclined beams of the base and its rod connected to the free end of the rotating one shoulder arm, the ends of the two shoulders of the lever pivotally connected to the bases of a pair of hydraulic actuators, the shaft of one of which is mounted on the specified free end of one shoulder arm bearing slewing column, and another rod on the free end of one shoulder arm; a hinge brackets are mounted on the inclined upper and lower beams; made telescopic handle; the angle of the axis of the upper beam to the vertical axis of the hollow base is made at least equal to or greater than the angle of the axis of the piston rod of the hydraulic control shaft at its lowest position.

Held the, the identification of sources containing information about the equivalents of the claimed invention, has allowed to establish that applicants are not detected 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 image is an operational position;

in Fig. 2 is a diametrical section of the base with swivel column;

in Fig. 3 - sliding bearing in the working position;

in Fig. 4 - cross section a-a in Fig. 2, the retainer axial displacement bearing slewing column.

Information confirming the possibility of implementing the claimed technical result are as follows.

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

The base 1 of welded structure made in the form of a hollow thick-walled cylinder oriented in radial planes inclined upper and lower beams 17, 18, 19, 20. On the lower beams 18-20 installed retractable support 5-7 and mechanisms 21 locking retractable supports 5-7 working and transport positions (see Fig. 1 and 3). The remote ends of the lower beams 18-20 oriented downward, and the upper beam 17 is up. Retractable support 5-7 by placing the bottom of the inclined beams 18-20 on the basis of the nutrient each other. On the basis of 1 number of retractable supports are more than two. This is achieved by a stable position of the manipulator during operation and increase capacity.

Each sliding bearing 6 (5, 7) (see Fig. 3) made in the form of a hollow rod 22, the lower end of which has a pin 23 and the spherical concave hinge 24. Spherical hinge 25 supporting the claw 26 is connected to the pin 23 of the hollow rod 22. The lower part of the hollow rod 22 provided with a handle 27 for lifting the support legs 26 in the transport position.

Each sliding bearing 6 (5, 7) provided with a lock limit position of the sliding bearing 5 (6, 7) in the cavity of the inclined beams 20 (18, 19). The catch limit of a sliding bearing 6 (5, 7) is made in the form of a pin 28, is placed in the longitudinal groove 29 on the surface of the hollow rod 22. The groove 29 is made to the generatrix of the outer surface of the hollow rod 22. The pin 28 with the possibility of dismantling mounted on the lower end of the lower inclined beams 20 (18, 19).

The mechanism 21 fixation in the working and transport positions retractable support 6 (5, 7) made in the form of an eccentric rotary disk 30 that is installed in the groove 31 on the remote end of the lower inclined beams 20 (18, 19) and on the axis 32 by a pair of brackets 33. Excentricities 30 at a fixed position of the hollow rod 22 in the cavity of the inclined beams 20 and the translation support legs 26 in the transport position.

The remote ends of the lower inclined beams 18-20 oriented downward, and the upper beam 17 is up. The angle of the axis of the upper beam 17 to the vertical axis of the hollow base 1 is made at least equal to or greater than the angle of the axis of the rod 35 of the hydraulic actuator 12 of the control shaft 9 at its lowest position (see Fig. 1). The stem 35 of the axle is connected to the bracket 36 bearing slewing column 8 (see Fig. 1 and 2).

Bearing slewing column 8 in the form of a hollow rod with a support ring 37 in the middle part is placed coaxially in the cavity of the base 1 (see Fig. 2). In the upper and lower portions 38 and 39 of the base 1 are mounted in radial bearings, mainly of the slide 40 and 41 and the thrust bearing 42 in the lower part 39.

The thrust bearing 42 provided with a ball element and mating with him thrust bearings 43 and 44. The thrust bearing in the form of a disk with the deepening posted by annular weld seam in the bottom part 45 of the hollow rod bearing slewing column 8. The thrust bearing 44 is made at the end of the threaded rod installed in the cap bottom portion of the hollow base 1. The upper end of the rod has a recess to fit the ball element. Threaded rod installed in the cap 46 and the threaded hole is fixed by a lock nut 47. The cap 46 is placed nienaber movable and stationary rings. One of the rings are made of hardened and wear-resistant steel, and the other is removable and preferably of the antifriction material. Rings 48 and 49 on the surface of the rod bearing slewing column 8 relative to the base 1 is made movable. Rings 51 and 52 in the cavity of the base 1 fixed. The ring 48 in the middle part of the rod bearing slewing column 8 and the ring 52 in the lower part 39 of the hollow base 1 is made of heat-treated hardened and wear-resistant steel. The upper stationary ring 51 of the hollow base 1 and the lower movable ring 53 of the hollow rod bearing slewing column 8 are interchangeable brass (bronze) or other material having a high sliding properties. In the upper radial bearing 40 of the wear-resistant ring 40 mounted below the supporting ring 37 rod bearing slewing column 8, and the anti-friction ring 51 in the base 1. In the lower bearing 41 of the lower movable ring 53 rod bearing slewing column 8 is made of antifriction material, and the ring 49 at the bottom of the base 1 is made of wear-resistant steel. The diameters of the mating surfaces of the movable and stationary rings 48, 51 and 52, 53 of the upper and lower radial bearings skolian the cavity of the base is limited by the latch 54 moves, and down - thrust bearing 42. The latch 54 is made in the form of an annular groove 55 on the outer surface of the lower part of the hollow rod bearing slewing column 8 and a pair of tangentially mounted in the groove 55 of the cylindrical rod 56, the ends of which are placed with tightness in pairs of coaxial holes of the hollow base 1 (see Fig. 2 and 4). The rods 56 are mounted in the cavity of the base 1. Bearing slewing column 8 with the base 1 is additionally connected to the rotation mechanism, the base of the hydraulic actuator which is pivotally connected with the upper end of the inclined beams 17. The mechanism of rotation of the support-rotating column 8 is made in the form of a kinematically associated hydraulic actuators 14, 15 and 16 control and longline installed one shoulder of the lever 57 and two shoulders of the lever 58 (see Fig. 1). The levers 57 and 58 are mounted with free rotation on the rotary column 8 and the lever 59. An additional lever 59 is rigidly fixed on the rotary column 8. The base of the hydraulic actuator 15 pivotally connected with the upper end of the inclined beams 17 of the base 1. The stem 60 of the base of the hydraulic actuator 15 is connected to the free end of the rotating one shoulder of the lever 57. The ends of the two shoulders of the lever 56 pivotally connected to the bases of a pair of hydraulic cylinders 14 and 16. The rod 61 is rivada 14 placed on the free end of one shoulder of the lever 57.

The handle 10 is made telescopic. In the cavity of the handle 10 is installed with the possibility of displacement of the middle part 63 and the inner part 64. Lifting hook 11 is set by means of two hinges at the free end of the inner part 64.

Sloping beams 18-20 with the base 1 are connected by edges softness plates 65 and 66. A pair of upper inclined beam 17 with the base 1 is reinforced by solitaire 67.

The hinge brackets 3 and 4 are mounted on the inclined lower beams 18 and 19, and the bracket 2 on the upper inclined beam 17. The hinge brackets 2-4 contain detachable fingers with a diameter of 30 and 35 mm

The hydraulic 12-16 mutually and with the hydraulic network attached to the tractor are connected by malotrebovatelnye and high pressure hoses. ZIP manipulator includes two-way distribution valve, and a Central upper arm attachment for tractors of the class thrust 3 and 4.

The manipulator operates as follows.

Attached to the tractor staff is prepared to work. In the hydraulic network of the tractor in addition enter the bypass valve. The lower thrust system mounted tractor connected to the brackets 2 and 3, and the Central upper cravings without the elastic element with the bracket 4. Sleeves wysokiego 13 (see Fig. 1). The average hydrosaluric hydraulically via an additional valve connected to the hydraulic cylinders 14, 15 and 16 control the rotation of the rotation of the column 8. The telescopic part 63 and maximum 64 is pushed into the cavity of the handle 10. Retractable support 5-7 lead in working position. Without load lifting hook 11 check the operation of the hydraulic actuators 12, 13, 14, 15 and 16. For this tractor (mechanic) handle left, right and middle sections of hydrovalves hydraulic system of the tractor consistently puts in the position "Up", "Neutral", "Lowering" and back. Control lifting and moving loads relative to the support 6 is evident from the presented spatial of his scheme. The rotation of the rotation column 8 arrow 9 and the handle 10 is as follows. When the oil flow from the hydraulic system of the tractor under the working pressure (20 MPa) in Rodless cylinders cavity of the hydraulic drive rod 15 last 60 rotates one shoulder arm 57 on the angle 150 1o. With these moves the rod 62 of the hydraulic actuator 14 and two shoulders lever 58, which is pivotally mounted to its base. As Rodless cylinders cavity of the hydraulic actuators 15 and 14 are hydraulically connected in parallel rods 60 and 62 are pulled out of the cavity liner hydropro the/SUP>. Mindful of the fact that the hydraulic cylinders 14 and 15 are mutually connected hydraulically in parallel, the piston rod 61 of the hydraulic actuator 16 is ejected from the cavity liner hydraulic actuator 16, and a second lever arm 58 is approaching one shoulder lever 59 bearing slewing column 8. The boom angle 9 and the handle 10 in the horizontal plane increases by 150 1o. Thus the rotation mechanism to rotate in the horizontal plane of the boom 9 and the handle 10 at the angle of 450 3o. The telescopic part of the handle 10 with the movable part 63 and proposed part 64 substantially increase the service area in a radial direction relative to the base 1 and height of loading relative to the supports 5-7.

Each of these hydraulic actuators 14, 15 and 16 without significant reduction in their technical and operational parameters provides robust rotation at a given speed and torque levers 57, 58 and 59 at an angle 450o. This ultimately provides full turn rotation of the column 8 in the horizontal plane from its original position.

The design of the rotation mechanism of the stated pointing device simple in construction and involves the use of commercially available standard the AC distribution valve base 1 translates into the transport position. Next he handles 34 mechanisms 21 moves upward. This is the position in Fig. 3 is depicted with a dotted line. When this eccentric disks 30 mechanisms 21 free the hollow rod 22. The machine operator moves the handle 27 of the hollow rod 22 of each support 6 (5, 7) into the cavity of the inclined beams 20 (18, 19). Next, the handle 34 of the actuator Cam block 30 in the transport position, the claw 26. These manipulations should be carried out and with the other legs 26.

When moving to another place, the tractor operator selects the location for loading (unloading) of a piece or other cargo. All system of the tractor by means of rods set the base 1 in a vertical position. Support 5-7 are above the surface of the ground (grounds) above 400-450 mm, Then the machine operator releases the mechanism 21, the position of the hollow rod 22. They are under their own weight shifted down from the cavities of inclined beams 18-20. Thanks spherical hinges 25 support legs 25 are flush to the surface, copying the terrain or technological platform. Next mechanic handle 34 of the drive Cam disk 30 moves into the working position. The Central knob hydrosaluric tractor mechanic moves to position "Floating". The weight of the manipulator is perceived tremelo. When critical loads described the position of the eccentric disk 30 in the slots 31 leads to a complete lock retractable supports 5-7.

The expansion of the service area declared by the manipulator is achieved not only by the rotation mechanism support-rotating column 6, and the telescopic handle 10. To do this, the mechanic enough moving parts 63 and 64 to slide in and out of the cavity of the handle 10 and to fix their fingers.

High technical and operational reliability of the declared manipulator provided by the fact that the support-rotating column 8 in the cavity of the base 1 is installed by means of radial bearings 40 and 41 and the thrust bearing 42. In the bottom (lower) part of the Foundation pour gear oil volume of 3.75 HP Later in the cavity of the base 1 establish a hollow rod bearing slewing column 8. When lowering the column 8 oil perceives itself partly axial load, and performs to the same lubrication of the surfaces of the rings 49 and 53 of the lower bearing 41. Ball element thrust bearing 42 is led to the upper thrust bearing 43 as long as the gap between the shoulder of the rings 51 and 48 of the upper bearing 40 reaches 0.1 - 0.15 mm around the perimeter. In the pair of rings 48 and 51 consistsing 42 reduces to the minimum size of the forces (moments) friction and ensures the functioning of all moving parts of the manipulator. The latch 54 eliminates any emergency situations that arise when performing certain types of work in agricultural production.

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;

the tool embodying the claimed invention in its implementation, is able to achieve a perceived applicants technical result.

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

1. 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 form a monolith column with an arrow, the handle and the swivel column, characterized in that the base is made in the form of a hollow cylinder oriented in radial planes inclined upper and lower beams, the latter of which has a retractable supports and mechanisms for fixing the sliding bearings in the working and transport positions, the remote ends of the lower beams are oriented downward, and the upper beam - up, bearing slewing column in the form of a hollow rod with a support ring in the middle part is placed coaxially in the cavity of the base, the upper and lower parts of the base are mounted in radial bearings, mainly of the slip, and thrust bearing at the bottom, each radial bearing is equipped with a movable and stationary rings, one of which is made of hardened and wear-resistant steel, and the other ring is removable and is preferably made of antifriction material, in the upper radial bearing wear ring installed below the support ring rod bearing slewing column, and anti - friction ring at the base, in the lower radial bearing of the lower movable ring rod bearing slewing column made of antifriction material, and the ring at the bottom of the base is made of izlemesine, and down - thrust bearing, while the bearing slewing column with the basis of the additionally connected to the rotation mechanism, the base of the hydraulic actuator which is pivotally connected with the upper end of the upper beam.

2. The manipulator under item 1, characterized in that the retainer to move a column in the cavity of the base is produced in the form of an annular groove and a pair of tangentially installed pins, the ends of which are placed in the aligned holes of the base, and the rods - in the cavity of the base.

3. The manipulator under item 1, characterized in that the thrust bearing provided with a ball element and mating with him thrust bearings, one of which is placed at the bottom of the hollow rod bearing slewing column, and the other at the end of the threaded rod installed in the cap bottom portion of the hollow base.

4. The manipulator under item 1, characterized in that the diameters of the mating surfaces of the movable and stationary rings of the upper and lower radial bearings are made equal.

5. The manipulator under item 1, characterized in that the sliding bearing equidistant from the vertical axis of the base and from each other.

6. The manipulator under item 1, characterized in that the number of retractable supports graphic displays the provisions of retractable supports are made in the form of a Cam disk, installed in a groove on the remote end of the lower inclined beams and on the axis by a pair of brackets, the drive is equipped with a pen drive.

8. The manipulator under item 1, characterized in that each sliding bearing made in the form of a hollow rod, the lower end of which has a pin of the spherical hinge connected to the support leg.

9. The manipulator under item 1, characterized in that each sliding support is provided with a stopper limiting a sliding bearing in the cavity of the inclined beams.

10. The manipulator under item 1, characterized in that the catch limit of a sliding bearing made in the form of a pin placed in the longitudinal groove on the surface of the hollow rod, and the pin with the possibility of dismantling mounted on the lower end of the lower inclined beams.

11. The manipulator under item 1, characterized in that the rotation mechanism support-rotating speakers made in the form of kinematically connected to the hydraulic control and longline established one - and two shoulders of levers mounted for free rotation on the rotary column and lever fixed on the rotary column, the base of one of the hydraulic cylinders pivotally connected to the upper Konopleva lever pivotally connected to the bases of a pair of hydraulic actuators, the shaft of one of which is mounted on the specified free end of one shoulder arm bearing slewing column, and another rod on the free end of one shoulder of the lever.

12. The manipulator under item 1, characterized in that the hinge brackets are mounted on the inclined upper and lower beams.

13. The manipulator under item 1, characterized in that the handle is made telescopic.

14. The manipulator under item 1, characterized in that the angle of the axis of the upper beam to the vertical axis of the hollow base is made at least equal to or greater than the angle of the axis of the piston rod of the hydraulic control shaft at its lowest position.

 

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