A multifunctional hydraulic mechanical arm

Abstract

The present invention belongs to the field of ore crushing equipment, and specifically relates to a multifunctional hydraulic mechanical arm, including a machine base installed on the edge of a material pool, a turntable rotatably connected to the machine base, the upper end of the turntable is hingedly connected to the rear end of a first arm, the front end of the first arm is hingedly connected to the rear end of a second arm, the front end of the second arm is rotatably connected to the connecting end of a third arm, the third arm can rotate around the central axis of the second arm under the action of a rotary drive, a bucket, a pressure plate and a hydraulic breaker are hingedly connected to the free end of the third arm, the bucket can dig materials in the material pool alone or in cooperation with the pressure plate, the hydraulic breaker can pre-crush large pieces of material in the material pool to a size allowed by the crusher, avoid the problem that large pieces of material cannot enter the crushing chamber and block other materials from entering, avoid difficult-to-crush or uncrushable materials entering the crushing chamber to cause damage or malfunction to the crusher, high operating efficiency, and comprehensive solution to on-site crushing and obstacle clearance and other related problems.

Description

Technical Field

[0001] The invention belongs to the field of ore crushing equipment, and in particular relates to a multifunctional hydraulic mechanical arm. Background Art

[0002] Gyratory crusher is a high-efficiency heavy-duty crushing equipment for preliminary crushing of ore during mining. It has a wide range of uses. Crusher is generally equipped with a large material pool. The crusher is located below the material pool. Materials are dumped into the material pool by vehicles. Under the action of gravity, the materials continuously enter the crushing chamber of the crusher to ensure the continuous crushing operation of the crusher. The crushed materials flow out from the bottom of the crusher.

[0003] The materials to be crushed in the crusher pool are of different sizes and shapes; sometimes they are mixed with some materials that are not suitable for crushing or other impurities. These impurities not only affect the purity of the minerals, but also often make it difficult to feed the crusher or damage the crusher. For example, when the material size is larger than the maximum inlet particle size of the crusher, the material cannot enter the crushing chamber and blocks other materials from entering, affecting the normal operation of the crusher; when some difficult (or impossible) materials enter the crushing chamber, it will cause damage or malfunction to the crusher.

[0004] To solve this kind of problem, the commonly used method now is to use general engineering machinery to clean up foreign objects in the material pool, such as excavators, truck cranes, etc. to complete related crushing or obstacle removal operations. There are many inconveniences in using this kind of general operating machinery: it needs to be operated by professional drivers, and because the drivers are randomly called, they are not familiar with the work site and work requirements, etc., the operation efficiency is not high, and the crusher downtime waiting time is long, which affects the normal operation efficiency of the crusher; because the material pool is a square trough with a side length of more than ten meters and a depth of seven or eight meters, it is large in size, and the engineering machinery driver has poor visual effects in the operating room, and the operation efficiency and safety are not good. Sometimes some foreign objects appear in the material pool, and it is necessary to manually enter the material pool to assist in lifting and cleaning. The labor intensity and safety hazards of the staff are high, and the operation emissions and noise have adverse effects on the environment.

[0005] Based on the above reasons, some mines currently install a crushing robot arm next to the material pool to assist in completing part of the work. A breaker hammer is installed at the free end of the robot arm to assist in the crushing of large pieces of material, which has a good effect on improving the operating efficiency of the crusher. However, this type of crushing robot arm has a single function. To fully solve the problems of material cleaning and obstacle removal, it still needs to rely on other external mechanical equipment to complete the operation, and does not fully solve the relevant problems on site. Summary of the invention

[0006] In order to solve the problems in the background technology, the present invention discloses a multifunctional hydraulic mechanical arm, at the front end of which is hingedly connected a bucket, a pressure plate and a hydraulic breaker, which has high operating efficiency and comprehensively solves problems related to on-site crushing and obstacle clearance.

[0007] In order to achieve the above-mentioned invention object, the present invention adopts the following technical scheme:

[0008] A multifunctional hydraulic mechanical arm comprises a machine base installed on the edge of a material pool, a turntable is rotatably connected to the machine base, the turntable can swing left and right relative to the machine base on a horizontal plane under the action of a swing drive, the upper end of the turntable is hingedly connected to the rear end of a first section arm, the front end of the first section arm is hingedly connected to the rear end of a second section arm, the front end of the second section arm is rotatably connected to the connecting end of a third section arm, the third section arm can rotate around the central axis of the second section arm under the action of a rotary drive, a bucket, a pressure plate and a hydraulic breaker are hingedly connected to the free end of the third section arm, the bucket can dig materials in the material pool alone or in cooperation with the pressure plate, and the hydraulic breaker can pre-crush large pieces of material in the material pool to a size allowed by the crusher.

[0009] Furthermore, a bucket and a pressure plate are rotatably connected to the upper part of the front end of the third arm through a rotating shaft A, and the bucket and the pressure plate are arranged opposite to each other. A hydraulic cylinder C is arranged between the third arm and the bucket, and the cylinder body of the hydraulic cylinder C is hingedly connected to the middle part of the third arm, and the free end of the hydraulic cylinder C is hingedly connected to the bucket and the upper part of the front end of the third arm through a connecting rod A. Under the action of the hydraulic cylinder C, the bucket can rotate around the rotating shaft A to dig materials in the material pool, and a hydraulic cylinder D is arranged on the side of the pressure plate facing away from the bucket, and the cylinder body of the hydraulic cylinder D is hingedly connected to the middle part of the third arm, and the free end of the hydraulic cylinder D is hingedly connected to the pressure plate. Under the action of the hydraulic cylinder D, the pressure plate can rotate around the rotating shaft A to move the materials in the material pool or cooperate with the bucket to clamp the materials in the material pool.

[0010] Furthermore, a swing seat is rotatably connected to the lower part of the front end of the third arm via a rotating shaft B, and a hydraulic breaker is rotatably connected to the front end of the swing seat via a hydraulic swing cylinder. The hydraulic breaker can swing around the axis of the hydraulic swing cylinder itself under the drive of the hydraulic swing cylinder. A hydraulic cylinder E is arranged between the swing seat and the third arm, and the cylinder body of the hydraulic cylinder E is hingedly connected to the middle part of the third arm. The free end of the hydraulic cylinder E is hingedly connected to the lower part of the front end of the third arm and the swing seat through a connecting rod B. Under the action of the hydraulic cylinder E, the swing seat can drive the hydraulic breaker to rotate around the rotating shaft B.

[0011] Furthermore, a turntable bearing is arranged at the upper end of the machine base, and the bottom of the turntable is rotatably connected to the turntable bearing through a vertically arranged first joint shaft. Under the action of the swing drive, the turntable can rotate around the first joint shaft.

[0012] Furthermore, a second joint shaft is rotatably connected to the upper end of the turntable, and the upper end of the turntable is hingedly connected to the rear end of the first arm through the second joint shaft. A hydraulic cylinder A is arranged between the turntable and the first arm, and the cylinder body of the hydraulic cylinder A is hingedly connected to the first arm, and the free end of the hydraulic cylinder A is hingedly connected to the bottom of the turntable. Under the action of the hydraulic cylinder A, the first arm can rotate around the second joint shaft to adjust the pitch angle of the first arm.

[0013] Furthermore, a third joint shaft is rotatably connected to the front end of the first arm, and the rear end of the second arm is hingedly connected to the front end of the first arm through the third joint shaft. A hydraulic cylinder B is arranged between the first arm and the second arm, and the cylinder body of the hydraulic cylinder B is hingedly connected to the first arm, and the free end of the hydraulic cylinder B is hingedly connected to the second arm. Under the action of the hydraulic cylinder B, the second arm can rotate around the third joint shaft to adjust the pitch angle of the second arm.

[0014] Furthermore, a driving device, a turntable bearing and a fourth joint shaft are arranged at the front end of the second arm. The rear end of the third arm is rotatably connected to the front end of the second arm through the turntable bearing and the fourth joint shaft. Under the action of the driving device, the third arm can rotate around the fourth joint shaft.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] The multifunctional hydraulic mechanical arm of the present invention is installed on a machine base at the edge of a material pool, a turntable is rotatably connected to the machine base, the turntable can swing left and right relative to the machine base, the upper end of the turntable is hingedly connected to a first section arm, the front end of the first section arm is hingedly connected to a second section arm, the pitch angles of the first section arm and the second section arm can be adjusted under the action of a hydraulic cylinder, the front end of the second section arm is rotatably connected to the connecting end of the third section arm, the third section arm can rotate around the central axis of the second section arm under the action of a rotary drive, and a bucket, a pressure plate and a hydraulic pressure plate are hingedly connected to the free end of the third section arm. The breaker and bucket can dig out materials in the material pool alone or in cooperation with the pressure plate. The hydraulic breaker can pre-crush large pieces of material in the material pool to the size allowed by the crusher, avoiding the problem that large pieces of material cannot enter the crushing chamber and block other materials from entering. The bucket and the pressure plate cooperate to take some difficult-to-crush or unbreakable materials out of the material pool, avoiding difficult-to-crush or unbreakable materials entering the crushing chamber and causing damage or malfunction to the crusher. There is no need for manual entry into the material pool to assist in lifting and cleaning, with high operating efficiency, which comprehensively solves related problems such as on-site crushing and obstacle removal. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the structure of the present invention;

[0018] In the above figure: 1-machine base; 2-first joint axis; 3-turntable; 4-second joint axis; 5-hydraulic cylinder A; 6-first arm; 7-hydraulic cylinder B; 8-third joint axis; 9-second arm; 10-fourth joint axis; 11-third arm; 12-hydraulic cylinder C; 13-hydraulic cylinder D; 14-connecting rod A; 15-bucket; 16-rotating shaft A; 17-pressing plate; 18-rotating shaft B; 19-swinging seat; 20-connecting rod B; 21-hydraulic swing cylinder; 22-hydraulic cylinder E; 23-hydraulic breaker. DETAILED DESCRIPTION

[0019] In order to better understand the present invention, the content of the present invention is further explained below in conjunction with the embodiments, but the content of the present invention is not limited to the following embodiments.

[0020] Combined with Figure 1 A multifunctional hydraulic mechanical arm of the present invention is described in detail, including a base 1 installed on the edge of a material pool, a turntable 3 is rotatably connected to the base 1, and the turntable 3 can swing left and right relative to the base 1 in a horizontal plane under the action of a swing drive, the upper end of the turntable 3 is hingedly connected to the rear end of a first section arm 6, the front end of the first section arm 6 is hingedly connected to the rear end of a second section arm 9, the front end of the second section arm 9 is rotatably connected to the connecting end of a third section arm 11, and the third section arm 11 can rotate around the central axis of the second section arm 9 under the action of a rotary drive, and a bucket 15, a pressure plate 17 and a hydraulic breaker 23 are hingedly connected to the free end of the third section arm 11, the bucket 15 can dig materials in the material pool alone or in cooperation with the pressure plate 17, and the hydraulic breaker 23 can pre-crush large pieces of material in the material pool to a size allowed by the crusher.

[0021] As an optional design, it is preferred that a bucket 15 and a pressure plate 17 are rotatably connected to the upper part of the front end of the third boom 11 through a rotating shaft A16, the bucket 15 and the pressure plate 17 are arranged opposite to each other, the handle of the bucket 15 and the handle of the pressure plate 17 are both hingedly connected to the third boom 11 through the rotating shaft A16, a hydraulic cylinder C12 is arranged between the upper part of the third boom 11 and the bucket 15, the cylinder body of the hydraulic cylinder C12 is hingedly connected to the middle part of the third boom 11, and the free end of the hydraulic cylinder C12 is connected to the bucket 15 and the third boom 11 through a connecting rod A14. The upper front end of the boom 11 is hingedly connected. Under the action of the hydraulic cylinder C12, the bucket 15 can rotate around the rotation axis A16 to dig materials in the material pool. A hydraulic cylinder D13 is arranged on the side of the pressure plate 17 facing away from the bucket 15. The cylinder body of the hydraulic cylinder D13 is hingedly connected to the middle part of the third boom 11. The free end of the hydraulic cylinder D13 is hingedly connected to the pressure plate 17. Under the action of the hydraulic cylinder D13, the pressure plate 17 can rotate around the rotation axis A16 to move the materials in the material pool or cooperate with the bucket 15 to clamp the materials in the material pool.

[0022] As an optional design, it is preferred that a swing seat 19 is rotatably connected to the lower part of the front end of the third boom 11 through a rotating shaft B18, and a hydraulic breaker 23 is rotatably connected to the front end of the swing seat 19 through a hydraulic swing cylinder 21. The hydraulic breaker 23 can swing around the axis of the hydraulic swing cylinder 21 under the drive of the hydraulic swing cylinder 21. A hydraulic cylinder E22 is arranged between the swing seat 19 and the third boom 11. The cylinder body of the hydraulic cylinder E22 is hingedly connected to the middle part of the third boom 11, and the free end of the hydraulic cylinder E22 is hingedly connected to the lower part of the front end of the third boom 11 and the swing seat 19 through a connecting rod B20. Under the action of the hydraulic cylinder E22, the swing seat 19 can drive the hydraulic breaker 23 to rotate around the rotating shaft B18.

[0023] As an optional design, a turntable bearing is preferably provided at the upper end of the machine base 1 , and the bottom of the turntable 3 is rotatably connected to the turntable bearing through a vertically arranged first joint shaft 2 , and the turntable 3 can rotate around the first joint shaft 2 under the action of the swing drive.

[0024] As an optional design, it is preferred that a second joint shaft 4 is rotatably connected to the upper end of the turntable 3, and the upper end of the turntable 3 is hingedly connected to the rear end of the first arm 6 through the second joint shaft 4. A hydraulic cylinder A5 is arranged between the turntable 3 and the first arm 6, and the cylinder body of the hydraulic cylinder A5 is hingedly connected to the first arm 6. The free end of the hydraulic cylinder A5 is hingedly connected to the bottom of the turntable 3. Under the action of the hydraulic cylinder A5, the first arm 6 can rotate around the second joint shaft 4 to adjust the pitch angle of the first arm 6.

[0025] As an optional design, it is preferred that a third joint shaft 8 is rotatably connected to the front end of the first arm 6, the rear end of the second arm 9 is hingedly connected to the front end of the first arm 6 through the third joint shaft 8, and a hydraulic cylinder B7 is arranged between the first arm 6 and the second arm 9. The cylinder body of the hydraulic cylinder B7 is hingedly connected to the first arm 6, and the free end of the hydraulic cylinder B7 is hingedly connected to the second arm 9. Under the action of the hydraulic cylinder B7, the second arm 9 can rotate around the third joint shaft 8 to adjust the pitch angle of the second arm 9.

[0026] As an optional design, a driving device, a turntable bearing and a fourth joint shaft 10 are preferably provided at the front end of the second arm 9, and the rear end of the third arm 11 is rotatably connected to the front end of the second arm 9 through the turntable bearing and the fourth joint shaft 10. Under the action of the driving device, the third arm 11 can rotate around the fourth joint shaft 10. The drive of the turntable 3 and the rotation drive of the fourth joint shaft 10 adopt the driving method of hydraulic motor + reducer and the existing technologies such as hydraulic and electronic control systems, so they are not described in detail.

[0027] The working process of the present invention is as follows:

[0028] The multifunctional mechanical arm of the present invention is installed at the edge of the material pool, and its operating range covers the entire area and depth of the material pool, and can penetrate into the crushing chamber. During the use of the multifunctional mechanical arm, the bucket 15, the pressure plate 17 and the hydraulic breaker 23 integrated at the end thereof avoid and cooperate with each other according to the operating actions implemented according to the use requirements, and adjust the pitch state of each mechanical arm and the state of the bucket 15, the pressure plate 17 and the hydraulic breaker 23. When it is necessary to pre-crush large pieces of material to a size smaller than the maximum size allowed by the crusher, first rotate the pressure plate 17 in the direction close to the bucket 15, and then adjust the pitch angle of the hydraulic breaker 23 to pre-crush the large pieces of material in the material pool to the crusher. The allowed size, when auxiliary feeding is needed, the hydraulic breaker 23 is folded and the bucket 15 and / or the pressure plate 17 are used to scrape, dig, pull, etc. to feed the material into the crushing chamber. When cleaning the material pool, before maintenance operations such as replacing the liner, the multi-joint joint movement of the multi-functional mechanical arm is used to move the debris to the appropriate position, and the bucket 15 and / or the pressure plate 17 are used to remove and clean the materials that affect the maintenance operations, and the materials that are difficult to crush or cannot be crushed are removed from the material pool. The control mode of the multi-functional mechanical arm described in the present invention is a coexistence of wire control and remote control to adapt to different on-site operation requirements. The hydraulic system adopts a proportional control system with good control linearity and low failure rate.

[0029] The above description is only an application implementation mode of the present invention, but the protection scope of the present invention is not limited to this, and the scope of rights of the present invention cannot be limited thereto. Any equivalent changes made according to the technical solution of the present invention should be covered within the protection scope of the present invention.

Claims

1. A multifunctional hydraulic mechanical arm, characterized by: The invention comprises a machine base installed on the edge of the material pool, a turntable is rotatably connected to the machine base, and the turntable can swing left and right relative to the machine base in a horizontal plane under the action of a swing drive, the upper end of the turntable is hingedly connected to the rear end of the first section arm, the front end of the first section arm is hingedly connected to the rear end of the second section arm, a driving device, a slewing bearing and a fourth joint shaft are arranged at the front end of the second section arm, the rear end of the third section arm is rotatably connected to the front end of the second section arm through the slewing bearing and the fourth joint shaft, and under the action of the driving device, the third section arm can rotate around the fourth joint shaft, and a bucket and a pressure plate are rotatably connected to the upper part of the front end of the third section arm through a rotating shaft A, the bucket and the pressure plate are arranged opposite to each other, and a hydraulic cylinder C is arranged between the third section arm and the bucket, the cylinder body of the hydraulic cylinder C is hingedly connected to the middle part of the third section arm, the free end of the hydraulic cylinder C is hingedly connected to the bucket and the upper part of the front end of the third section arm through a connecting rod A, and under the action of the hydraulic cylinder C, the bucket can rotate around the rotating shaft A to dig out the material in the material pool. The hydraulic cylinder D is arranged on the side of the pressure plate facing away from the bucket, the cylinder body of the hydraulic cylinder D is hingedly connected to the middle part of the third arm, and the free end of the hydraulic cylinder D is hingedly connected to the pressure plate. Under the action of the hydraulic cylinder D, the pressure plate can rotate around the rotating shaft A to move the material in the material pool or cooperate with the bucket to clamp the material in the material pool. A swing seat is rotatably connected to the lower part of the front end of the third arm through the rotating shaft B, and a hydraulic breaker is rotatably connected to the front end of the swing seat through the hydraulic swing cylinder. The hydraulic breaker can swing around the axis of the hydraulic swing cylinder itself under the drive of the hydraulic swing cylinder. A hydraulic cylinder E is arranged between the swing seat and the third arm, the cylinder body of the hydraulic cylinder E is hingedly connected to the middle part of the third arm, and the free end of the hydraulic cylinder E is hingedly connected to the lower part of the front end of the third arm and the swing seat through a connecting rod B. Under the action of the hydraulic cylinder E, the swing seat can drive the hydraulic breaker to rotate around the rotating shaft B, and the hydraulic breaker can pre-crush large pieces of material in the material pool to the size allowed by the crusher.

2. A multifunctional hydraulic mechanical arm according to claim 1, characterized in that: A turntable bearing is arranged at the upper end of the machine base, and the bottom of the turntable is rotatably connected to the turntable bearing through a vertically arranged first joint shaft. Under the action of the swing drive, the turntable can rotate around the first joint shaft.

3. The multifunctional hydraulic mechanical arm according to claim 1, characterized in that: A second joint shaft is rotatably connected to the upper end of the turntable, and the upper end of the turntable is hingedly connected to the rear end of the first arm through the second joint shaft. A hydraulic cylinder A is arranged between the turntable and the first arm, and the cylinder body of the hydraulic cylinder A is hingedly connected to the first arm, and the free end of the hydraulic cylinder A is hingedly connected to the bottom of the turntable. Under the action of the hydraulic cylinder A, the first arm can rotate around the second joint shaft to adjust the pitch angle of the first arm.

4. The multifunctional hydraulic mechanical arm according to claim 1, characterized in that: The third joint shaft is rotatably connected to the front end of the first arm, and the rear end of the second arm is hingedly connected to the front end of the first arm through the third joint shaft. A hydraulic cylinder B is arranged between the first arm and the second arm, and the cylinder body of the hydraulic cylinder B is hingedly connected to the first arm, and the free end of the hydraulic cylinder B is hingedly connected to the second arm. Under the action of the hydraulic cylinder B, the second arm can rotate around the third joint shaft to adjust the pitch angle of the second arm.

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