Adjustable three-section boom working device for small excavators

Abstract

The present invention is an adjustable three-section arm working device for small excavators, which uses an electric push rod to replace a hydraulic cylinder and has faster response speed, higher precision, lower maintenance cost and longer life. In order to achieve precise adjustment, a magnetostrictive sensor and an angular displacement sensor are introduced into the system. The magnetostrictive sensor measures the telescopic length of the arm and transmits an accurate feedback signal to the controller, which then accurately controls the length of the electric push rod to adjust the arm length. At the same time, an angular displacement sensor and a magnetostrictive sensor are added to the electric push rod, which can monitor the angular displacement and position displacement of the push rod and coordinate and control it through the controller. This combined control system can improve the stability and precision of the system. This precise control can improve the working efficiency and accuracy of small excavators in confined spaces, expand the working range and angle, and provide a more convenient and safe operating experience.

Description

Technical Field

[0001] The invention belongs to the innovative field of three-section arm excavators, and in particular relates to an adjustable three-section arm working device of a small excavator. Background Art

[0002] Excavators, as heavy machinery, are widely used in engineering construction, mining, and other fields. Traditional three-section excavators have fixed arm lengths, making them inflexible to different work scenarios. Furthermore, their hydraulic control systems create high noise levels and high maintenance costs.

[0003] Therefore, a new, adjustable-length, three-section boom excavator is needed to meet the needs of a wider range of work scenarios. Furthermore, with increasing demands for environmental protection, traditional fully hydraulic control systems are also insufficient in terms of environmental protection and energy consumption. Therefore, developing an adjustable three-section boom working device for small excavators to adapt to different digging depths and working environments will improve equipment flexibility and reduce maintenance costs, while also meeting environmental and energy conservation requirements. This will become a trend in future excavator technology development.

[0004] Patent CN211922760 proposes a telescopic device for the arm length of an excavator, comprising a fixed arm and a movable arm connected to the fixed arm in a slidable manner. The front section of the fixed arm has an upright L-shaped cross-section, including a fixed bottom edge and fixed side edges. The rear end of the movable arm has an inverted L-shaped cross-section, with its two sides respectively resting on the fixed bottom edge and the fixed side edges, forming a rectangular cavity with the front end of the fixed arm. A drive gear is provided within the rectangular cavity. The axle of the drive gear is fixed to the fixed arm. The movable arm is provided with a rack that meshes with the drive gear and is used to drive the movable arm to slide back and forth as the drive gear rotates. Guide edges are provided on both sides of the front end of the fixed arm, wrapping around the movable arm. When the excavator arm length needs to be adjusted, the drive gear rotates under the action of the drive source, driving the rack to move, thereby driving the movable arm to slide back and forth, thereby adjusting the overall arm length of the excavator to adapt to working conditions with different arm length requirements. However, in the design of the inverted L-shaped rear end section of the movable arm, only two sides are in contact with the fixed bottom and side edges, which may lead to weak rigidity of the overall structure. When bearing heavy loads or under complex working conditions, some bending or deformation problems may occur, affecting the stability and reliability of the excavator; the device uses drive gears and racks for forward and backward sliding adjustment. This driving method may be limited by the driving force and transmission efficiency. Under certain working conditions, such as those requiring a larger adjustment force or a fast response adjustment speed, this driving method may not meet the requirements; when achieving precise control, no sensors are used to obtain the real-time position or angle information of the arm length, and accurate control of the telescopic adjustment of the device cannot be achieved.

[0005] Patent CN203174651U provides a multi-arm, short-tail excavator that solves the problem in the prior art that the large-arm, two-arm structure and the cast iron counterweight at the tail affect operational flexibility. The excavator adopts a circular turntable and a "concave" counterweight design, making it more flexible while ensuring a reasonable center of gravity, increasing the convenience and safety of operation. At the same time, a three-arm and corresponding hydraulic cylinder are added, allowing the excavator to increase its working length when operating in a confined space. However, this multi-arm, short-tail excavator has a concave shape dug at the counterweight position, which correspondingly reduces the counterweight, which will reduce the excavator's stability, load-bearing capacity and operational balance, and increase the risk of vibration and shock, which may have a negative impact on the performance, safety and reliability of the machine; and the corresponding increase in hydraulic cylinders may make the layout and control of the hydraulic system more complicated, and the use of a hydraulic system for all controls has problems such as high noise and high energy consumption; and it has a fixed arm length, and the operator cannot flexibly adjust to different working ranges.

[0006] Patent DE3142100A1 proposes an articulated arm for an excavator. The boom arm and the boom jib are connected by an articulated joint and can rotate. The boom jib and the boom jib are also connected by an articulated joint and can rotate. This allows the boom arm, the jib, and the bucket to operate in different straight lines, increasing the bucket's lateral movement range and, in other words, the working range. However, this structural design increases instability. Since the boom arm, the jib, and the bucket are not operating in a straight line, the structural stability of the excavator is affected, which may cause the machine to become unstable or sway during excavation, increasing the difficulty and risk of operation. It also reduces strength and carrying capacity. Since they are not on the same working surface, the power transmission between the bucket and the boom arm is affected, resulting in a weakened digging force and a reduced carrying capacity of the excavator. Operational accuracy is also reduced, requiring more time and effort to adjust and control the bucket's position and posture to ensure the correct digging position, ultimately leading to reduced efficiency.

[0007] Patent CN211312641U proposes an energy-saving structure for a multi-action arm of an excavator, including a boom, a boom arm, an arm cylinder, a boom energy-saving counterweight, and an arm energy-saving counterweight. This structure uses a multi-action arm and an energy-saving counterweight, which can achieve energy saving under various working conditions. The arm energy-saving counterweight, the boom arm, and the front-end working device form a lever structure. The fulcrum of the lever structure is the kingpin shaft of the arm, and the arm cylinder drives the boom arm to rotate around the kingpin shaft of the arm. However, this multi-action arm needs to have multiple movement modes and joint control, which requires a complex structural design and control system to ensure its smooth and stable operation; and the use of a hydraulic system for all controls has the problems of high noise and high energy consumption, so it is necessary to reasonably manage the energy consumption of the system, and the multi-action arm structure requires different components to move at the same time, so energy distribution and management may be more complicated.

[0008] Patent CN109084672A discloses a precision-controlled electric push rod with a built-in magnetostrictive displacement sensor. The push rod comprises a main body, a handle, a power compartment, a main engine box, a gearbox, a control compartment, and a push rod compartment. The invention is simple to operate. The processor calculates the push rod displacement using the magnetostrictive displacement sensor's displacement calculation formula and displays it directly on a display screen, making it convenient for operators. Inspired by this patent, and in order to address the issues addressed by this patent, innovative improvements were made to adapt to the requirements of this patent. Summary of the Invention

[0009] In order to achieve the above-mentioned purpose, the present invention provides an adjustable three-section arm working device for a small excavator, which solves the problems existing in the prior art.

[0010] Technical problems to be solved by the invention:

[0011] 1. Structural design: The adjustable three-section arm working device of a small excavator needs to consider structural design, how to design a reasonable, stable and reliable three-section arm structure.

[0012] 3. Control system: The adjustable three-section arm working device of a small excavator requires a sensitive and reliable control system that can realize automatic and precise control of the movement and fixation of the second section arm in the adjustment slot.

[0013] Technical solutions for solving technical problems:

[0014] 1. Structural Design: Based on computer simulation and numerical analysis, such as ANSYS and ADAMS, the second boom structure was designed. The optimal location of the locating holes was found. Then, electromagnetic push-pull locks were added to mate with and secure the locating holes. The forces acting on the structure were analyzed, and the locating hole positions were varied step by step. Finally, the boom material was determined by simulating the entire vehicle model to meet the design requirements.

[0015] 3. Control system solution: Design a closed-loop control system for the second-section boom extension and retraction, add a controller, a magnetostrictive sensor device, and a three-dimensional attitude sensor to ensure the accuracy of its closed-loop control. The controller is embedded in the back of the first-section boom and in the motor box casing, and an electronic control module, a signal processing module, an input / output module, a storage module, and a drive module are set in the controller. The magnetostrictive sensor device is equipped with an A / D converter module and an electronic module. The closed-loop control system drives the electric push rod device to realize automatic control of the extension and retraction of the second-section boom, and the electromagnetic push-pull lock fixes the boom.

[0016] Effects of the invention (technical effects):

[0017] 1. More flexible operation: With the adjustable three-section arm design, the operator can more flexibly control the arm length and angle of the excavator to adapt to different operating requirements and improve work efficiency and accuracy.

[0018] 2. Improved operating efficiency and accuracy: The adjustable three-section arm working device of the small excavator can freely adjust the arm length and angle. The operator can control the position and direction of the excavator more accurately, thereby improving operating efficiency and accuracy.

[0019] 3. Reduce energy consumption: The length of the adjustable three-section arm working device of the small excavator can be adjusted according to different working scenarios, and the electric push rod is used instead of the hydraulic cylinder, which also means that the adjustment movement of the machine can be controlled more accurately and energy consumption can be reduced.

[0020] 4. Improved applicability: The adjustable three-section arm working device of the small excavator is suitable for a wider range of working scenarios, such as mines, construction sites, road construction, etc. Therefore, this machine can better meet the needs of different fields, thereby increasing the applicability of the machine.

[0021] The purpose of the present invention is to provide a small excavator with an adjustable three-section arm working device with rational, automated and intelligent control in order to solve the problems that traditional three-section arm excavators have a fixed arm length, a small working range and angle, insufficient flexibility and accuracy, and at the same time, the use of a hydraulic system for control results in high noise and high energy consumption.

[0022] The present invention discloses an adjustable three-section arm working device for a small excavator, comprising: a first section arm, a second section arm, a third section arm, a bucket, a bottom platform, and an electric push rod; the first section arm comprises: a first section arm frame, a hydraulic cylinder I, a latch hole, an electric push rod cylinder body mounting portion, a hydraulic cylinder I rod member mounting portion, a controller I, and an electromagnetic push-pull lock; the first section arm frame is mounted on the bottom platform via a bolt connection; the hydraulic cylinder I rod member is connected to the hydraulic cylinder I rod member mounting portion via a bolt connection, and the hydraulic cylinder I cylinder body is mounted on the bottom platform via a bolt connection; the latch hole and the latch are coaxially matched; the electric push rod cylinder body is mounted via a bolt connection At the installation position of the electric push rod cylinder; the controller I is embedded in the back of the first section arm; the electromagnetic push-pull locks are respectively embedded on both sides of the first section arm, and correspond to the positioning holes one by one; the second section arm includes: the second section arm, the electric push rod, the adjustment slot, the electric push rod rod installation position, the hydraulic cylinder II cylinder body installation position, the positioning hole, the latch, the measuring rod, the positioning pulse generator, the position ring magnet, the magnetostrictive sensor electronic warehouse; the second section arm and the third section arm are connected by bolts; the electric push rod rod and the electric push rod rod installation position are connected by bolts; the hydraulic cylinder II cylinder body is mounted on the hydraulic cylinder II cylinder body by bolt connection Installation part; the positioning holes are arranged on both sides of the second boom; the adjusting slots and the latch on both sides of the second boom are coaxially matched, and the latch is fixed to the first boom with nuts on both sides; the measuring rod is placed inside the second boom; the positioning pulse generator is embedded in the upper part of the second boom; the position ring magnet is embedded in the latch and coaxially matched with the measuring rod; the magnetostrictive sensor electronic warehouse is installed at the tail end inside the second boom; the adjusting electric push rod is extended and retracted to make the latch slide relatively in the adjusting slot, and the electromagnetic starting pulse is emitted to the position ring magnet through the magnetostrictive sensor electronic warehouse, and then After that, the interaction between the magnetic field of the electromagnetic starting pulse and the magnetic field of the position ring magnet generates a strain mechanical pulse which is returned to the magnetostrictive sensor electronic compartment. The strain mechanical pulse fed back by the controller I is then processed, and the position processing result is transmitted to the controller II of the electric push rod, which then drives the electric push rod to adjust the extension of the push rod so that the second section of the boom moves in the adjustment slot. Under the pulse signal of the positioning pulse generator, the position ring magnet can find the position of its positioning hole more accurately, and the controller I and the controller II are controlled in parallel to realize the precise, automatic and electric telescopic adjustment of the length of the second section of the boom.

[0023] The electric push rod includes: an electric push rod rod, an electric push rod cylinder, a conduit, a transmission gear, a motor, a position ring magnet, a magnetostrictive sensor electronic compartment, a measuring rod, a three-dimensional posture sensor, and a controller II; the electric push rod rod is coaxially matched with the electric push rod cylinder, and is driven by the motor and the transmission gear. The internal lead screw of the electric push rod cylinder is threadedly connected to the internal guide rail of the electric push rod rod and spirally rotates; the conduit is arranged in the electric push rod rod and the electric push rod cylinder; the transmission gear and the motor are arranged at the end of the electric push rod cylinder; the position ring magnet is embedded in the end of the electric push rod rod; the magnetostrictive sensor electronic compartment is embedded in the end of the electric push rod cylinder and is sealed with a sealing ring; the measuring rod is built into the conduit; the three-dimensional posture sensor is embedded below the electric push rod cylinder; and the controller II is embedded in the motor box casing.

[0024] The third arm section includes: a third arm frame, a hydraulic cylinder II, a second arm section installation position, a hydraulic cylinder II rod installation position, a hydraulic cylinder III cylinder body installation position, and a bucket connecting piece installation position; the third arm frame is connected to the second arm frame by bolts; the second arm section installation position is connected by bolts; the hydraulic cylinder II rod and the hydraulic cylinder II rod installation position are connected by bolts; the hydraulic cylinder III cylinder body is installed at the hydraulic cylinder III cylinder body installation position by bolts; the bucket connecting piece is installed at the bucket connecting piece installation position by bolts.

[0025] The bucket includes: a bucket piece, a hydraulic cylinder III, and a bucket connecting piece; the bucket piece is connected to the third boom by bolts; the hydraulic cylinder III rod is connected to the bucket connecting piece by bolts, and the bucket connecting piece is connected to the bucket piece by bolts.

[0026] The bottom platform includes: a first boom mounting portion and a hydraulic cylinder I cylinder body mounting portion; the first boom mounting portion is connected to the first boom via bolts; the hydraulic cylinder I cylinder body is connected to the hydraulic cylinder I cylinder body mounting portion via bolts.

[0027] Preferably, the adjustment slots and the latch pins on both sides of the second boom are coaxially matched and have clearance fit.

[0028] Preferably, the inner surfaces of the adjustment grooves and the surfaces of the latch pins on both sides of the second boom section are made of wear-resistant materials.

[0029] Preferably, the adjustment slot of the second boom is processed by laser cutting.

[0030] Preferably, the threaded connections are all transition fits, using a basic hole system.

[0031] Preferably, the controller is internally provided with an electronic control module, a signal processing module, an input / output module, a storage module, and a drive module, and is a sealed device with waterproof properties.

[0032] Preferably, the measuring rod is made of magnetostrictive material.

[0033] Preferably, an A / D converter module and an electronic module are provided inside the magnetostrictive sensor electronic compartment, and the electronic compartment is a sealed device with waterproof properties.

[0034] Preferably, the electromagnetic push-pull lock has a total of 10 devices, which are sealed and waterproof. Each electromagnetic push-pull lock device transmits data to the controller through a wired connection; the movable sliding rod of the electromagnetic push-pull lock is made of iron metal, and an electromagnetic coil is wound on the rod, and the end of the movable sliding rod is connected to the data cable of the transmission controller.

[0035] The present invention addresses the shortcomings of traditional three-section boom excavators, which have a fixed arm length and are unable to flexibly meet the needs of different working environments. At the same time, the entire hydraulic system is controlled, resulting in high noise and high energy consumption. The present invention discloses a new type of three-section boom excavator with adjustable length to adapt to the needs of different excavation depths and working environments, solving the problems of existing three-section boom excavators that the arm length cannot be adjusted and the working range is small.

[0036] The advantages of the present invention are that it can achieve precise and real-time dynamic telescopic adjustment of the length of the three-section arm to adapt to excavation work at different depths and angles. In addition, the present invention has a simple structure and is easy to manufacture and maintain, reducing production and maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0038] Figure 1 It is the overall structure diagram of the vehicle;

[0039] Figure 2 This is the structural diagram of the first section of the boom (including the cross-sectional view of the electromagnetic push-pull lock structure);

[0040] Figure 3 This is the structural diagram of the second section of the boom;

[0041] Figure 4 It is a partial cross-sectional view of the second section boom structure;

[0042] Figure 5 It is the structural diagram of the position ring magnet;

[0043] Figure 6 It is a diagram of the latch structure;

[0044] Figure 7 This is the electric push rod structure diagram;

[0045] Figure 8 This is a cross-sectional structural diagram of the electric linear actuator;

[0046] Figure 9 This is a perspective structural diagram of the electric push rod cylinder;

[0047] Figure 10 This is a perspective structural diagram of the electric push rod;

[0048] Figure 11 This is the structural diagram of the third section of the boom;

[0049] Figure 12 It is a diagram of the bucket structure;

[0050] Figure 13 This is the bottom platform structure diagram;

[0051] Figure 14 This is the connection diagram between the first boom and the second boom;

[0052] Figure 15 This is a three-dimensional perspective view of the connection between the first boom and the second boom;

[0053] Figure 16 This is the block diagram of the second section boom telescopic control system;

[0054] The following are marked in the figure:

[0055] 100-first arm section, 101-first arm frame, 102-hydraulic cylinder I, 103-latch hole, 104-electric push rod cylinder installation position, 105-hydraulic cylinder I rod installation position, 106-controller I, 107-electromagnetic push-pull lock, 200-second arm section, 201-second arm frame, 202-electric push rod, 203-adjustment slot, 204-electric push rod rod installation position, 205-hydraulic cylinder II cylinder installation position, 206-positioning hole, 207-latch, 208-measuring rod, 209-positioning pulse generator, 210-position ring magnet, 211-magnetostrictive sensor electronic compartment I, 300-third arm section, 301-third arm frame, 302-hydraulic cylinder II, 303-second arm section installation position, 304- Hydraulic cylinder II rod installation position, 305-hydraulic cylinder III cylinder body installation position, 306-bucket connection installation position, 400-bucket, 401-bucket bucket member, 402-hydraulic cylinder III, 403-bucket connection, 500-bottom platform, 501-first section arm installation position, 502-hydraulic cylinder I cylinder body installation position, 1071-push rod, 1072-spring, 1073-moving slide rod, 2021-electric push rod rod, 2022-electric push rod cylinder body, 2023-conduit, 2024-transmission gear, 2025-motor, 2026-position ring magnet, 2027-magnetostrictive sensor electronic warehouse II, 2028-measuring rod, 2029-three-dimensional attitude sensor, 20210-controller II, 2101-support plate. DETAILED DESCRIPTION

[0056] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0057] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 、 Figure 9 、 Figure 10 、 Figure 14 、 Figure 15As shown, the adjustable three-section arm working device of the small excavator includes: a first section arm 100, a second section arm 200, a third section arm 300, a bucket 400, a bottom platform 500, and an electric push rod 202; the first section arm 100 includes: a first section arm frame 101, a hydraulic cylinder I 102, a pin hole 103, an electric push rod cylinder body mounting portion 104, a hydraulic cylinder I rod member mounting portion 105, a controller I 106, and an electromagnetic push-pull lock 107; the first section arm frame 101 is mounted on the bottom platform 500 by bolt connection, the hydraulic cylinder I rod member 102 is connected to the hydraulic cylinder I rod member mounting portion 105 by bolt connection, and the hydraulic cylinder I cylinder body 10 2 is installed on the bottom platform 500 by bolt connection, the latch hole 103 and the latch 207 are coaxially matched, the electric push rod cylinder 202 is installed on the electric push rod cylinder installation part 104 by bolt connection, the controller I 106 is embedded in the back of the first section boom 101, and the electromagnetic push-pull locks 107 are respectively embedded on both sides of the first section boom 101 and correspond one to one with the positioning holes 206; the second section boom 200 includes: the second section boom 201, the electric push rod 202, the adjustment slot 203, the electric push rod rod installation part 204, the hydraulic cylinder II cylinder installation part 205, the positioning hole 206, the latch 207, the measuring rod 208 ... Pulse generator 209, position ring magnet 210, magnetostrictive sensor electronic warehouse I 211; the second section boom 201 and the third section boom 301 are connected by bolts, the electric push rod rod 202 and the electric push rod rod mounting portion 204 are connected by bolts, the hydraulic cylinder II cylinder body 302 is installed in the hydraulic cylinder II cylinder body mounting portion 205 by bolt connection, the positioning holes 206 are arranged on both sides of the second section boom 201, the adjustment slots 203 and the latch 207 on both sides of the second section boom 201 are coaxially matched, and the latch 207 and the first section boom 101 are fixed with nuts on both sides, and the measuring rod 208 is placed on the second section boom Inside the frame 201, the positioning pulse generator 209 is embedded in the upper part of the second boom 201, the position ring magnet 210 is embedded in the pin 207 and is coaxially matched with the measuring rod 208, and the magnetostrictive sensor electronic compartment I 211 is installed at the tail end inside the second boom 201; the electric push rod 202 includes: an electric push rod rod 2021, an electric push rod cylinder 2022, a guide tube 2023, a transmission gear 2024, a motor 2025, a position ring magnet 2026, a magnetostrictive sensor electronic compartment II 2027, a measuring rod 2028, a three-dimensional posture sensor 2029, and a controller II 20210;The electric push rod rod 2021 is coaxially matched with the electric push rod cylinder 2022, and is driven by the motor 2025 and the transmission gear 2024. The internal screw of the electric push rod cylinder 2022 is threadedly connected to the internal guide rail of the electric push rod rod 2021 and spirally rotates. The guide tube 2023 is arranged in the electric push rod rod 2021 and the electric push rod cylinder 2022. The transmission gear 2024 and the motor 2025 are arranged at the end of the electric push rod cylinder 2022. The position ring magnet 2026 is embedded in the end of the electric push rod rod 2021. The magnetostrictive sensor electronic warehouse II 2027 is embedded in the end of the electric push rod cylinder 2022 and is sealed with a sealing ring. The measuring rod 2028 is built into the guide tube 2 023, the three-dimensional posture sensor 2029 is embedded under the electric push rod cylinder 2022, and the controller II 20210 is embedded in the motor box housing; the electric push rod 202 is adjusted to extend and retract so that the pin 207 slides relatively in the adjustment slot 203, and the electromagnetic starting pulse is transmitted to the position ring magnet 210 through the magnetostrictive sensor electronic compartment I 211, and then the interaction between the magnetic field of the electromagnetic starting pulse and the magnetic field of the position ring magnet 210 generates a strain mechanical pulse that is returned to the magnetostrictive sensor electronic compartment I 211, and then the strain mechanical pulse fed back is processed by the controller I 106, and then the position processing result is transmitted to the controller II 202 of the electric push rod 202. 10, and then drive the electric push rod 202 to adjust the push rod extension so that the second boom 201 moves in the adjustment slot 203, and under the pulse signal of the positioning pulse generator 209, the position ring magnet 210 can find the position of its positioning hole 206 more accurately, so that the controller I 106 and the controller II 20210 are controlled in parallel to achieve accurate, automated, and electric telescopic adjustment of the length of the second boom 201; a magnetostrictive sensor and a three-dimensional posture sensor 2029 are built into the electric push rod 202, and an external controller II 20210 is installed. After the signal is processed by the controller I 106, it is transmitted to the controller II 20210, and then the motor 2025 is adjusted to drive the transmission Gear 2024 rotates the lead screw in a spiral motion. Simultaneously, magnetostrictive sensor electronic compartment II 2027 generates real-time strain pulses from the position ring magnet 2026. A three-dimensional attitude sensor 2029 assists in monitoring the angular position of the electric push rod 202. Finally, the telescopic data of the push rod 2021, the angular position data of the push rod 202, and the data transmitted by controller I 106 are transmitted to controller II 20210 for processing. This accurately determines the final telescopic length of the push rod 202 and the position of the latch 207. The controller then adjusts the length of the second boom section 201 in real time to position it in each positioning hole 206 to achieve telescopic movement. The electromagnetic push-pull lock 107 then secures the position.

[0058] like Figure 1 、 Figure 15As shown, the electric push rod 202 is adjusted to extend or retract so that the pin 207 slides relatively in the adjustment slot 203, and the length of the second boom 201 is adjusted dynamically in real time so as to be positioned at each positioning hole 206 to achieve extension or retraction, and then fixed with the electromagnetic push-pull lock 107. After each positioning hole 206 is fixed, the second boom 201 can be swung up and down simply by adjusting the electric push rod 202 to extend or retract, thereby increasing the active angle of the second boom 201 and expanding the working range and angle.

[0059] like Figure 1 、 Figure 11 As shown, the third boom 300 includes: a third boom frame 301, a hydraulic cylinder II 302, a second boom mounting position 303, a hydraulic cylinder II rod mounting position 304, a hydraulic cylinder III cylinder body mounting position 305, and a bucket connecting member mounting position 306; the third boom frame 301 is connected to the second boom frame 201 by bolts, the second boom mounting position 303 is connected by bolts, the hydraulic cylinder II rod 302 is connected to the hydraulic cylinder II rod mounting position 304 by bolts, the hydraulic cylinder III cylinder body 402 is installed at the hydraulic cylinder III cylinder body mounting position 305 by bolts, and the bucket connecting member 403 is installed at the bucket connecting member mounting position 306 by bolts.

[0060] like Figure 1 、 Figure 12 As shown, the bucket 400 includes: a bucket piece 401, a hydraulic cylinder III 402, and a bucket connecting piece 403; the bucket piece 401 is connected to the third boom 301 by bolts, the hydraulic cylinder III rod 402 is connected to the bucket connecting piece 403 by bolts, and the bucket connecting piece 403 is connected to the bucket piece 401 by bolts.

[0061] like Figure 1 、 Figure 13 As shown, the bottom platform 500 includes: a first boom mounting portion 501 and a hydraulic cylinder I cylinder body mounting portion 502; the first boom mounting portion 501 is connected to the first boom 101 by bolts, and the hydraulic cylinder I cylinder body 102 is connected to the hydraulic cylinder I cylinder body mounting portion 502 by bolts.

[0062] like Figure 1 、 Figure 2As shown, the electromagnetic push-pull lock 107 includes: a push rod 1071, a spring 1072, and a movable slide rod 1073; the push rod 1071, the spring 1072 and the movable slide rod 1073 are all coaxially matched; the electromagnetic push-pull lock 107 has a total of 10 devices, 5 of which are arranged on both sides of the first section arm 101, corresponding one-to-one to the positions of the positioning holes 206, and the electromagnetic push-pull lock 107 device is a sealed device and has waterproof properties. Each electromagnetic push-pull lock 107 device transmits data to the controller I 106 through a wired connection; the movable slide rod 1073 of the electromagnetic push-pull lock 107 is made of iron metal, and an electromagnetic coil is wound on the rod. The end of the movable slide rod 1073 is connected to the data cable of the transmission controller I 106.

[0063] like Figure 5 As shown, the position ring magnet 210 includes: a support piece 2101; there are two support pieces 2101, which are symmetrically embedded in the interior of the position ring magnet 210, and the position ring magnet 210 and the position ring magnet 2026 have the same device structure.

[0064] like Figure 3 、 Figure 4 、 Figure 8 As shown, both the measuring rod 208 and the measuring rod 2028 are made of magnetostrictive material.

[0065] like Figure 1 、 Figure 2 、 Figure 7 As shown, both controller I 106 and controller II 20210 are internally provided with an electronic control module, a signal processing module, an input / output module, a storage module, and a drive module, and are sealed devices with waterproof properties.

[0066] like Figure 1 、 Figure 4 、 Figure 8 As shown, both the magnetostrictive sensor electronic compartment I 211 and the magnetostrictive sensor electronic compartment II 2027 are provided with an A / D converter module and an electronic module, and are sealed and waterproof.

[0067] like Figure 1 、 Figure 14 、 Figure 15 、 Figure 16 As shown, the specific working principle of the second section arm 200 of the present invention is:

[0068] An electrical signal i is sent to the electric push rod 202 and sent to the controller II 20210 to drive it to work; when the electric push rod 202 is telescopic, the position ring magnet 2026, the magnetostrictive sensor electronic warehouse II 2027 and the measuring rod 2028 inside the electric push rod 202 will monitor its displacement x1 pulse signal in real time to determine the telescopic length of the push rod, and convert the pulse signal into an electrical signal to feed back to the controller II 20210. At the same time, when the electric push rod 202 is telescopic, the three-dimensional posture sensor 2029 inside the electric push rod 202 will also monitor the inclination angle θ of the electric push rod 202 in real time to determine the three-dimensional position of the push rod, and convert the inclination angle signal into an electrical signal to feed back to the controller II 20210; a closed-loop control system is initially established through the magnetostrictive sensor device and the three-dimensional posture sensor; at the same time, when the electric push rod 202 is telescopic, the pin 207 and the second arm frame 201 will move accordingly and generate a displacement x2, the measuring rod 208, the position ring magnet 210 inside the second arm 200 , the magnetostrictive sensor electronic warehouse I 211 will monitor the displacement x2 pulse signal of the pin 207 in real time to determine its moving position and length, and its signal is received by the magnetostrictive sensor electronic warehouse I 211. At this time, the positioning pulse generator 209 will also generate a positioning pulse signal, which interacts with the magnetic field signal generated by the position ring magnet 210 to generate an action pulse, which is also received by the magnetostrictive sensor electronic warehouse I 211. Finally, the signals are received and processed by the controller I 106, and then transmitted and fed back to the controller II 20210; when a series of closed-loop operations are completed, the pin 207 and the second boom 201 are moved to each graded position, and the displacement x2 pulse signal and the positioning pulse signal and the action pulse signal generated by the magnetic field signal generated by the position ring magnet 210 are processed and analyzed in the controller I 106 to the specific position of the positioning hole 206, and then the controller I 106 drives the electromagnetic push-pull lock 107 to work and fix it to each level of length, realizing precise and automated closed-loop control of the second boom 201.

[0069] The above description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention are included in the scope of protection of the present invention.

Claims

1. The adjustable three-section arm working device of the small excavator is characterized by: include: A first boom section (100), a second boom section (200), a third boom section (300), a bucket (400), a bottom platform (500), and an electric push rod (202); the first boom section (100) comprises: a first boom frame (101), a hydraulic cylinder I (102), a latch hole (103), an electric push rod cylinder body mounting portion (104), a hydraulic cylinder I rod member mounting portion (105), a controller I (106), and an electromagnetic push-pull lock (107); the first boom frame (101) is mounted on the bottom platform (500) by means of bolts; the hydraulic cylinder I rod member (102) and the hydraulic cylinder I rod member mounting portion (105) are connected to each other. The hydraulic cylinder I cylinder body (102) is connected by bolts and mounted on the bottom platform (500); the latch hole (103) and the latch (207) are coaxially matched; the electric push rod cylinder body (202) is connected by bolts and mounted on the electric push rod cylinder body mounting portion (104); the controller I (106) is embedded in the back of the first boom (101); the electromagnetic push-pull lock (107) is respectively embedded on both sides of the first boom (101) and corresponds to the positioning hole (206) one by one; the second boom (200) includes: a second boom (201), an electric push rod (202), an adjustment slot (203), an electric push rod ... The push rod rod mounting portion (204), the hydraulic cylinder II cylinder body mounting portion (205), the positioning hole (206), the latch (207), the measuring rod (208), the positioning pulse generator (209), the position ring magnet (210), the magnetostrictive sensor electronic compartment I (211); the second boom (201) and the third boom (301) are connected by bolts; the electric push rod rod (202) and the electric push rod rod mounting portion (204) are connected by bolts; the hydraulic cylinder II cylinder body (302) is mounted on the hydraulic cylinder II cylinder body mounting portion (205) by bolt connection; the positioning hole (206) is arranged in ... electric push rod The second boom frame (201) is provided with a first boom frame (101) and a second boom frame (201) on both sides thereof; the adjusting slots (203) and the latch (207) on both sides of the second boom frame (201) are coaxially matched, and the latch (207) and the first boom frame (101) are fixed with nuts on both sides; the measuring rod (208) is placed inside the second boom frame (201); the positioning pulse generator (209) is embedded in the upper part of the second boom frame (201); the position ring magnet (210) is embedded in the latch (207) and is coaxially matched with the measuring rod (208); the magnetostrictive sensor electronic compartment I (211) is installed at the tail end inside the second boom frame (201);The adjusting electric push rod (202) is extended and retracted so that the latch (207) slides relatively in the adjusting slot (203), and an electromagnetic starting pulse is emitted to the position ring magnet (210) through the magnetostrictive sensor electronic compartment I (211). Then, the interaction between the magnetic field of the electromagnetic starting pulse and the magnetic field of the position ring magnet (210) generates a strain mechanical pulse which is returned to the magnetostrictive sensor electronic compartment I (211). The strain mechanical pulse fed back is then processed by the controller I (106), and the position processing result is transmitted to the The controller II (20210) of the electric push rod (202) then drives the electric push rod (202) to adjust the extension of the push rod so that the second boom (201) moves along the groove path in the adjustment groove (203), and under the pulse signal of the positioning pulse generator (209), the position ring magnet (210) is more accurately found in the position of its positioning hole (206), so that the controller I (106) and the controller II (20210) are controlled in parallel to achieve accurate, automated, and electric telescopic adjustment of the length of the second boom (201).

2. The adjustable three-section boom working device for a small excavator according to claim 1, characterized in that: The electric push rod (202) comprises: an electric push rod rod (2021), an electric push rod cylinder (2022), a guide tube (2023), a transmission gear (2024), a motor (2025), a position ring magnet (2026), a magnetostrictive sensor electronic compartment II (2027), a measuring rod (2028), a three-dimensional posture sensor (2029), and a controller II (20210); the electric push rod rod (2021) and the electric push rod cylinder (2022) are coaxially matched and driven by the motor (2025) and the transmission gear (2024); the internal lead screw of the electric push rod cylinder (2022) is threadedly connected to the internal guide rail of the electric push rod rod (2021), and spirally rotates. ; The conduit (2023) is arranged in the electric push rod rod (2021) and the electric push rod cylinder (2022); the transmission gear (2024) and the motor (2025) are arranged at the end of the electric push rod cylinder (2022); the position ring magnet (2026) is embedded in the end of the electric push rod rod (2021); the magnetostrictive sensor electronic warehouse II (2027) is embedded in the end of the electric push rod cylinder (2022) and is sealed with a sealing ring; the measuring rod (2028) is built into the conduit (2023); the three-dimensional posture sensor (2029) is embedded below the electric push rod cylinder (2022); the controller II (20210) is embedded in the motor box housing.

3. The adjustable three-section boom working device for a small excavator according to claim 1, characterized in that: A magnetostrictive sensor and a three-dimensional posture sensor (2029) are built into the electric push rod (202), and an external controller II (20210) is provided. After the controller I (106) processes the signal, it is transmitted to the controller II (20210), and then the motor (225) is adjusted to drive the transmission gear (224) to rotate the lead screw in a spiral manner. At the same time, the magnetostrictive sensor electronic warehouse II (2027) returns the strain mechanical pulse of the position ring magnet (226) in real time, and the three-dimensional posture sensor (2029) assists in monitoring The inclination position of the electric push rod (202) is finally transmitted to the controller II (20210) for processing, and the telescopic data of the electric push rod (2021), the inclination position data of the electric push rod (202) and the data transmitted by the controller I (106) are accurately obtained to obtain the final telescopic length of the electric push rod (202) and the movement position of the pin (207), and the length of the second section arm (201) is adjusted in real time to position it to each positioning hole (206) to achieve telescopic, and then fixed with an electromagnetic push-pull lock (107).

4. The adjustable three-section boom working device for a small excavator according to claim 1, characterized in that: The third boom section (300) comprises: a third boom section (301), a hydraulic cylinder II (302), a second boom section mounting position (303), a hydraulic cylinder II rod mounting position (304), a hydraulic cylinder III cylinder body mounting position (305), and a bucket connecting member mounting position (306); the third boom section (301) is connected to the second boom section (201) by bolts; the second boom section mounting position (303) is connected by bolts; the hydraulic cylinder II rod (302) is connected to the hydraulic cylinder II rod mounting position (304) by bolts; the hydraulic cylinder III cylinder body (402) is mounted on the hydraulic cylinder III cylinder body mounting position (305) by bolts; and the bucket connecting member (403) is mounted on the bucket connecting member mounting position (306) by bolts.

5. The adjustable three-section boom working device for a small excavator according to claim 1, characterized in that: The bucket (400) comprises: a bucket member (401), a hydraulic cylinder III (402), and a bucket connecting member (403); the bucket member (401) is connected to the third boom (301) via bolts; the hydraulic cylinder III rod (402) is connected to the bucket connecting member (403) via bolts, and the bucket connecting member (403) is connected to the bucket member (401) via bolts.

6. The adjustable three-section boom working device for a small excavator according to claim 1, characterized in that: The bottom platform (500) comprises: a first boom mounting portion (501) and a hydraulic cylinder I cylinder body mounting portion (502); the first boom mounting portion (501) is connected to the first boom (101) via bolts; and the hydraulic cylinder I cylinder body (102) is connected to the hydraulic cylinder I cylinder body mounting portion (502) via bolts.

7. The adjustable three-section boom working device for a small excavator according to claim 1, characterized in that: The electromagnetic push-pull lock (107) comprises: a push rod (1071), a spring (1072), and a movable slide rod (1073); the push rod (1071), the spring (1072), and the movable slide rod (1073) are all coaxially matched; the electromagnetic push-pull lock (107) has a total of 10 devices, 5 of which are arranged on both sides of the first section arm (101), corresponding to the positions of the positioning holes (206) one by one, and the electromagnetic push-pull lock (107) device is a sealed device with waterproof properties, and each electromagnetic push-pull lock (107) device is connected to the control The device I (106) transmits data through a wired connection; the movable slide rod (1073) of the electromagnetic push-pull lock (107) is made of iron metal, and an electromagnetic coil is wound on the rod, and the end of the movable slide rod (1073) is connected to the data line of the transmission controller I (106); the positioning holes (206) are arranged on both sides of the second section arm frame (201), and the spacing between each positioning hole (206) is the same, corresponding to the electromagnetic push-pull lock (107) one by one, and there are a total of 10 positioning holes (206), 5 of which are arranged on both sides of the second section arm frame (201).

8. The adjustable three-section boom working device for a small excavator according to claim 1, characterized in that: The position annular magnet (210) comprises: a support plate (2101); there are two support plates (2101), which are symmetrically embedded in the interior of the position annular magnet (210); the position annular magnet (210) and the position annular magnet (2026) have the same device structure; the measuring rod (208) is made of magnetostrictive material; the controller I (106) is internally provided with an electronic control module, a signal processing module, an input / output module, a storage module, and a drive module, and is a sealed device with waterproof properties; the magnetostrictive sensor electronic compartment I (211) is internally provided with an A / D converter module and an electronic module, and is a sealed device with waterproof properties.

9. The adjustable three-section boom working device for a small excavator according to claim 2, characterized in that: The measuring rod (2028) is made of magnetostrictive material; the controller II (20210) is internally provided with an electronic control module, a signal processing module, an input / output module, a storage module, and a drive module, and is a sealed device with waterproof properties; the magnetostrictive sensor electronic compartment II (2027) is internally provided with an A / D converter module and an electronic module, and is a sealed device with waterproof properties.

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