Hydraulic synchronous lifting device for electric shovel

Abstract

The application discloses a hydraulic synchronous jacking device for an electric shovel, and particularly relates to the technical field of mechanical arms, and comprises a self-protection assembly, wherein the self-protection assembly comprises a groove block, a disengagement groove block, a bolt column and a hinged block, the disengagement groove block is slidingly installed on the inner wall of the groove block, the inner wall of the disengagement groove block is inserted with the bolt column, and the bolt column is slidingly connected with the groove block; and the hinged block is fixed at one end of the bolt column. The self-protection assembly is adopted in the application, when the overload of the hand shovel is detected, the hand shovel is physically separated from the jacking arm and the inclined shaft arm at the instant of overload, the resistance transmission path is effectively blocked, the jacking arm and the inclined shaft arm are prevented from continuing to be deformed and damaged under overload, and the efficiency and cost-effectiveness of device operation are significantly improved, so that the problem that the durability of the mechanical arm is greatly reduced, the maintenance cost is significantly increased, and the efficiency and cost-effectiveness of device operation are affected is solved.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and more specifically, to an electric shovel hydraulic synchronous lifting device. Background Technology

[0002] The electric shovel hydraulic synchronous lifting robotic arm device is a specialized device that combines hydraulic technology with a robotic arm. It is mainly used for adjusting the handling posture of electric shovels. It uses hydraulic and electric power to synchronously drive the robotic arm to lift the shovel body for movement.

[0003] Among existing publicly available documents, patent publication number CN105945908A discloses a swing-opening bucket. This technology uses a first sliding sleeve fitted onto the rear half of the first telescopic rod. This bucket features no cumulative error, high precision, compact structure, high load-bearing capacity, high rigidity, and low inertia of the end effector. The drive unit can be placed on or near a fixed platform, resulting in lightweight moving parts and high speed. However, this technology still has the following problems.

[0004] When the electric shovel is hydraulically jacking, the robotic arm needs to drive the shovel body to move. When the resistance encountered by the shovel body in jacking up the material exceeds the set threshold, and the operator does not stop the operation for inspection as required by the standard, but instead continues to increase the power, causing the robotic arm to jackle beyond its limit, it is very easy to cause problems. At this time, the robotic arm will deform and be damaged due to excessive load, and it is difficult to protect the robotic arm parts that exceed the limit. This will not only greatly reduce the durability of the robotic arm, but also significantly increase its maintenance costs, affecting the efficiency and cost-effectiveness of the equipment operation. Summary of the Invention

[0005] To overcome the aforementioned deficiencies of the prior art, the present invention provides the following technical solution: an electric shovel hydraulic synchronous lifting device, comprising a lifting arm and a controller, wherein a groove block is connected to the bottom end of the lifting arm, and a self-protection component is provided on the inner wall of the groove block, the self-protection component comprising:

[0006] It is detached from the slot block and slidably installed on the inner wall of the slot block. A pin is inserted into the inner wall of the detached slot block, and the pin is slidably connected to the slot block.

[0007] A hinge block is fixed at one end of a pin post. An electric cylinder is installed on one side of the hinge block, and the controller is electrically connected to the electric cylinder. The output end of the electric cylinder is used to drive the hinge block to move.

[0008] A hand shovel is fixedly located on one side of the detached groove block. A connecting shaft is fixedly connected to one side of the inner wall of the hinge block, and a sleeve rod is rotatably installed on the outer wall of the connecting shaft.

[0009] In a preferred embodiment, the outer wall of the electric cylinder is fixedly connected to the groove block, and a gap is provided between the electric cylinder and the detachment groove block;

[0010] A gap is provided between the hand shovel and the groove block.

[0011] In a preferred embodiment, a pulling shaft is rotatably connected to the inner wall of the sleeve rod away from the slot block, and the slot block is fixedly connected to the lifting arm.

[0012] A pressure strip is fixedly located at one end of the pull shaft, and symmetrically arranged inclined pressure frames are fixedly connected to both ends of the pressure strip.

[0013] The sleeve post is slidably installed on the inner wall of the inclined pressure frame. One end of each sleeve post is fixedly connected to a linkage bar, and a separation shaft is fixedly installed on one side of the inner wall of the linkage bar.

[0014] A linkage arm is rotatably mounted between the hand shovel and the linkage bar, and both the hand shovel and the linkage arm are slidably connected to the separation shaft.

[0015] A guide rod is slidably installed on the inner wall of the sleeve post. The guide rod is used to guide the movement of the two sleeve posts. The two ends of the guide rod are fixedly connected to the same support frame.

[0016] In a preferred embodiment, both inclined pressure frames are slidably connected to the support frame, and the outer walls of both sleeve columns are slidably connected to the inner walls of the support frame.

[0017] In a preferred embodiment, the inner wall of the pressure strip is slidably connected to a guide post, and the bottom end of the guide post is fixedly connected to the groove block.

[0018] A connecting arm is fixedly connected to the upper surface of the support frame, and the bottom end of the connecting arm is fixedly connected to the groove block.

[0019] In a preferred embodiment, a steel cable is fixedly installed on one side of the outer wall of the linkage arm, and a positioning disc is rotatably installed on the outer wall of the steel cable;

[0020] The inner wall of the positioning disk is equipped with a slanted shaft arm, which is used to position the rotation of the positioning disk. A take-up reel is wound around the top of the positioning disk, and a drive motor is installed at one end of the take-up reel. The drive motor is electrically connected to the controller and is used to drive the take-up reel to rotate.

[0021] A mounting base is fixedly connected to the lower surface of the winding reel, and the mounting base is fixedly connected to the inclined shaft arm. A torque force sensor is installed at the other end of the winding reel. The lower surface of the torque force sensor is fixedly connected to the mounting base, and the sensing end of the torque force sensor is fixedly connected to the winding reel coaxially. The torque force sensor is electrically connected to the controller.

[0022] In a preferred embodiment, the inclined shaft arm and the mounting base are provided at an angle, and the inclined shaft arm is inclined.

[0023] In a preferred embodiment, a hydraulic motor is fixedly mounted on the upper inclined surface of the slant arm, and a sliding sleeve is fixedly connected to the output end of the hydraulic motor, with the sliding sleeve slidably connected to the lifting arm.

[0024] In a preferred embodiment, the controller is located on one side of the slant arm, and the controller is fixedly connected to the mounting base.

[0025] The technical effects and advantages of this invention are as follows:

[0026] 1. This invention employs a self-protection component. When an overload is detected on the hand shovel, the output end of the electric cylinder drives the hinge block to move to the right, simultaneously causing the pin to move to the right along the release groove and the inner wall of the groove, completely cutting off the rotational driving force of the lifting arm on the hand shovel. Subsequently, the hand shovel drives the release groove to move down along the inner wall of the groove, achieving dual decoupling of power transmission and structural connection. Through a mechanical forced separation mechanism, the hand shovel is physically separated from the lifting arm and the inclined shaft arm at the moment of overload, effectively blocking the resistance transmission path and preventing the lifting arm and the inclined shaft arm from continuing to be subjected to overload deformation and damage. At the same time, it reduces the peak load of the drive motor and the hydraulic motor to avoid load damage. This not only significantly extends the durability of the inclined shaft arm and the lifting arm but also significantly reduces maintenance costs and significantly improves the efficiency and cost-effectiveness of the device operation.

[0027] 2. This invention, by moving the hinge block to the right, causes the connecting shaft to move the bottom end of the sleeve rod to the right. This, in turn, causes the pressure bar to slide down via the pull shaft, causing the inclined pressure frame to press the sleeve column to move to the right, while the other sleeve column moves to the left. The distance between the two sleeve columns increases, and the linkage bar drives the separation shaft to simultaneously pull away the hand shovel. This achieves a synchronous and complete separation of the hand shovel from the release trough block and the linkage arm. Through mechanical linkage, the power transmission chain is quickly decoupled under over-limit working conditions, effectively blocking the continued transmission of over-limit resistance to the lifting arm and inclined shaft arm. At the same time, it reduces the load on the drive motor and hydraulic motor, avoids overload damage to key components, and significantly improves the efficiency and cost-effectiveness of the device operation.

[0028] 3. This invention monitors the torque change of the winding reel in real time through a torque force sensor. When the detected torque value exceeds the preset threshold of the controller and continues to increase, the controller immediately activates the electric cylinder to perform a protection action. It adopts an active monitoring and rapid response mechanism. Compared with the traditional passive protection method, it can intervene in the early stage of over-limit rather than reaching the critical point of failure. The electric cylinder cuts off the dangerous load transmission path through immediate drive, effectively preventing the lifting arm and slant arm from plastic deformation due to overload. At the same time, it avoids the burnout of the drive motor and hydraulic motor due to stall, which significantly improves the reliability and economy of equipment operation.

[0029] In summary, through the interaction of the above-mentioned multiple actions, firstly, when the detected torque value exceeds the controller's preset threshold and continues to increase, the electric cylinder output drives the hinge block to move to the right, and the pin moves to the right along the release slot and the inner wall of the slot to separate. At the same time, the distance between the two sleeve pins increases, and the linkage bar drives the separation shaft to synchronously pull away from the hand shovel. In summary, the hand shovel is synchronously and completely separated from the release slot and the linkage arm, preventing the lifting arm and the slant arm from continuing to be subjected to excessive force and deformation damage. At the same time, it reduces the peak load of the drive motor and hydraulic motor to avoid load damage. This not only significantly extends the durability of the slant arm and the lifting arm, but also significantly reduces maintenance costs and significantly improves the efficiency and cost-effectiveness of the device operation. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the overall structure of the electric shovel hydraulic synchronous lifting device of the present invention.

[0031] Figure 2 This is a schematic diagram of the vertical cross-section of the electric shovel hydraulic synchronous lifting device of the present invention.

[0032] Figure 3 This is a partial structural diagram of the vertical cross-section of the connection between the sleeve rod and the pulling shaft of the present invention.

[0033] Figure 4 This is a top view of a partial structure of the vertical cross-section of the electric shovel hydraulic synchronous lifting device of the present invention.

[0034] Figure 5 This is a partial structural diagram of the separation shaft and linkage arm of the present invention.

[0035] Figure 6 For the present invention Figure 1 Enlarged structural diagram at point A in the middle.

[0036] Figure 7 This is a schematic diagram of a partial section of the structure at the connection between the steel cable and the winding reel in this invention.

[0037] Figure 8 This is a rear view schematic diagram of the hydraulic synchronous lifting device for electric shovels of the present invention.

[0038] The attached diagram is labeled as follows: 1. Lifting arm; 2. Groove block; 3. Disengagement groove block; 4. Pin post; 5. Hinge block; 6. Electric cylinder; 7. Controller; 8. Hand shovel; 9. Connecting shaft; 10. Sleeve rod; 11. Pulling shaft; 12. Pressure bar; 13. Inclined pressure frame; 14. Sleeve post; 15. Linkage bar; 16. Separation shaft; 17. Linkage sleeve arm; 18. Guide rod; 19. Support frame; 20. Guide column; 21. Steel cable; 22. Positioning plate; 23. Inclined shaft arm; 24. Mounting base; 25. Rewinding reel; 26. Drive motor; 27. Torque sensor; 28. Hydraulic motor; 29. ​​Sliding sleeve; 30. Connecting arm. Detailed Implementation

[0039] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0040] like Figure 1 - Figure 8 The electric shovel hydraulic synchronous lifting device shown is equipped with a self-protection component. The self-protection component enables the hand shovel 8 to completely and synchronously separate from the release block 3 and the linkage arm 17, preventing the lifting arm 1 and the inclined shaft arm 23 from continuing to be subjected to excessive stress and deformation damage. At the same time, it reduces the peak load of the drive motor 26 and the hydraulic motor 28 to avoid load damage. This not only greatly extends the durability of the inclined shaft arm 23 and the lifting arm 1, but also significantly reduces maintenance costs and significantly improves the efficiency and cost-effectiveness of the device operation. The specific structural settings of each mechanism and component are as follows.

[0041] In this embodiment, as Figure 1 - Figure 3 As shown, the inner wall of the trough block 2 is equipped with a self-protection component, which includes: a detachable trough block 3, slidably mounted on the inner wall of the trough block 2, with a pin 4 inserted into the inner wall of the detachable trough block 3, and the pin 4 slidably connected to the trough block 2; a hinge block 5, fixedly located at one end of the pin 4, with an electric cylinder 6 mounted on one side of the hinge block 5, and a controller 7 electrically connected to the electric cylinder 6, the output end of the electric cylinder 6 being used to drive the hinge block 5 to move; and a hand shovel 8, fixedly located on one side of the detachable trough block 3, with a connecting shaft 9 fixedly connected to one side of the inner wall of the hinge block 5, and a sleeve rod 10 rotatably mounted on the outer wall of the connecting shaft 9. The outer wall of the electric cylinder 6 is fixedly connected to the trough block 2, and there is a gap between the electric cylinder 6 and the detachable trough block 3; there is also a gap between the hand shovel 8 and the trough block 2. So that the output end of the electric cylinder 6 can drive the hinge block 5 to move to the right, the hinge block 5 can drive the pin 4 to move to the right, so that the pin 4 moves to the right along the inner wall of the release slot 3 and separates. The pin 4 moves to the right along the inner wall of the slot 2 and separates. The hand shovel 8 drives the release slot 3 to move down, and the release slot 3 moves down along the inner wall of the slot 2 and separates. In this way, the hand shovel 8 is no longer under load.

[0042] In this embodiment, as Figure 3 - Figure 6As shown, a pulling shaft 11 is rotatably connected to the inner wall of the sleeve rod 10, away from the position of the slot block 2, and the slot block 2 is fixedly connected to the lifting arm 1; a pressure strip 12 is fixedly located at one end of the pulling shaft 11, and symmetrically arranged inclined pressure frames 13 are fixedly connected to both ends of the pressure strip 12; a sleeve post 14 is slidably installed on the inner wall of the inclined pressure frame 13, and a linkage bar 15 is fixedly connected to one end of each sleeve post 14, and a separation shaft 16 is fixedly installed on one side of the inner wall of the linkage bar 15; a linkage sleeve arm 17 is rotatably installed between the hand shovel 8 and the linkage bar 15, and both the hand shovel 8 and the linkage sleeve arm 17 are slidably connected to the separation shaft 16; a guide rod 18 is slidably installed on the inner wall of the sleeve post 14, and the guide rod 18 is used to guide the movement of the two sleeve posts 14, and the same support frame 19 is fixedly connected to both ends of the guide rod 18. Both inclined pressure frames 13 are slidably connected to the support frame 19, and the outer walls of both sleeve posts 14 are slidably connected to the inner wall of the support frame 19. So that the rightward movement of the hinge block 5 will cause the connecting shaft 9 to move to the right, causing the top of the sleeve rod 10 to drive the pulling shaft 11 to move down, and the pressure strip 12 to drive the two inclined pressure frames 13 to move down. In this way, the sleeve post 14 moves to the right along the inner wall of the support frame 19, making the distance between the two sleeve posts 14 larger. As a result, the sleeve post 14 drives the linkage bar 15 to move to the right, and the separation shaft 16 separates from the inside of the hand shovel 8. The other separation shaft 16 moves to the left and also separates from the hand shovel 8. The contact part between the hand shovel 8 and the linkage arm 17 slides down and separates.

[0043] In this embodiment, as Figure 6 As shown, a guide post 20 is slidably connected to the inner wall of the pressure strip 12, and the bottom end of the guide post 20 is fixedly connected to the groove block 2; a connecting arm 30 is fixedly connected to the upper surface of the support frame 19, and the bottom end of the connecting arm 30 is fixedly connected to the groove block 2. This allows the pressure strip 12 to slide down along the outer wall of the guide post 20, and the groove block 2 supports the connecting arm 30, which in turn supports the support frame 19, increasing the stability of the support frame 19.

[0044] In this embodiment, as Figure 1 - Figure 7As shown, a steel cable 21 is fixedly installed on one side of the outer wall of the linkage arm 17, and a positioning disc 22 is rolled on the outer wall of the steel cable 21. An inclined shaft arm 23 is installed on the inner wall of the positioning disc 22, used to position the rotation of the positioning disc 22. A take-up reel 25 is wound around the top of the positioning disc 22. A drive motor 26 is installed at one end of the take-up reel 25, electrically connected to the controller 7, and used to drive the take-up reel 25 to rotate. A mounting base 24 is fixedly connected to the lower surface of the take-up reel 25, and the mounting base 24 is fixedly connected to the inclined shaft arm 23. A torque sensor 27 is installed at the other end of the take-up reel 25, with its lower surface fixedly connected to the mounting base 24 and its sensing end coaxially fixedly connected to the take-up reel 25. The torque sensor 27 is electrically connected to the controller 7. An angle is formed between the inclined shaft arm 23 and the mounting base 24, and the inclined shaft arm 23 is tilted. In order to start the drive motor 26 to drive the winding reel 25 to rotate, the steel cable 21 drives the positioning plate 22 to rotate on the inclined shaft arm 23, and the steel cable 21 drives the linkage sleeve arm 17 to move upward, so that the separation shaft 16 drives the hand shovel 8 to move upward.

[0045] In this embodiment, as Figure 7 As shown, a hydraulic motor 28 is fixedly mounted on the upper inclined surface of the inclined shaft arm 23. The output end of the hydraulic motor 28 is fixedly connected to a sliding sleeve 29, and the sliding sleeve 29 is slidably connected to the lifting arm 1. This allows the output end of the hydraulic motor 28 to drive the sliding sleeve 29 to rotate, which in turn drives the lifting arm 1 to rotate clockwise. The trough block 2 drives the pin 4 to rotate clockwise, and the pin 4 drives the disengaged trough block 3 to rotate clockwise, thus enabling the hand shovel 8 to shovel and load the material.

[0046] In this embodiment, as Figure 8 As shown, the controller 7 is located on one side of the slant arm 23, and the controller 7 is fixedly connected to the mounting base 24. This allows the mounting base 24 to provide support for the controller 7, increasing the stability of the controller 7.

[0047] Working principle of the electric shovel hydraulic synchronous lifting device of the present invention:

[0048] First, during the synchronous lifting of the robotic arm, the mounting base 24 is bolted onto the transport vehicle. After fixing the mounting base 24, the transport vehicle moves the mounting base 24 to the usage area. The drive motor 26 is then activated, driving the winding reel 25 to rotate. The winding reel 25 drives the steel cable 21 to wind up, thereby causing the positioning plate 22 to rotate on the inclined shaft arm 23. The steel cable 21 then drives the linkage arm 17 to move upwards, which in turn drives the separation shaft 16 to move upwards, which in turn drives the hand shovel 8 to move upwards. Simultaneously, the mounting base 24 provides firm support to the inclined shaft arm 23. The hydraulic motor 28 is driven by hydraulic pressure. The principle is that the oil pump generates high-pressure oil, and the solenoid valve controls the direction of the oil circuit. The hydraulic oil is delivered to the hydraulic motor 28, so that the output end of the hydraulic motor 28 performs hydraulic drive. This hydraulic drive is a conventional drive method in this technical field, so it will not be described in detail. The output end of the hydraulic motor 28 drives the sliding sleeve 29 to rotate. The sliding sleeve 29 drives the lifting arm 1 to rotate clockwise. The lifting arm 1 drives the groove block 2 to rotate clockwise. The groove block 2 drives the pin column 4 to rotate clockwise. The pin column 4 drives the disengagement groove block 3 to rotate clockwise. The disengagement groove block 3 drives the hand shovel 8 to rotate clockwise. The hand shovel 8 shovels and loads the material. In this way, the lifting arm 1 can achieve rotation and lifting, and the drive is achieved by electric and hydraulic synchronization.

[0049] Secondly, when the present invention performs over-limit drive, the torque force of the winding reel 25 is sensed by the sensing end of the torque force sensor 27. When the torque force of the torque force sensor 27 exceeds the torque force threshold set by the controller 7, and the torque force sensing value of the torque force sensor 27 is constantly increasing, the controller 7 immediately starts the electric cylinder 6.

[0050] Then, when the self-protection component is activated, the output end of the electric cylinder 6 drives the hinge block 5 to move to the right, the hinge block 5 drives the pin 4 to move to the right, the pin 4 moves to the right along the inner wall of the release groove block 3 and separates, and at the same time the pin 4 moves to the right along the inner wall of the groove block 2 and separates, ensuring that the pin 4 and the release groove block 3 complete the separation operation.

[0051] Simultaneously, during the linkage self-protection process, the rightward movement of the hinge block 5 causes the connecting shaft 9 to move to the right. The connecting shaft 9 then causes the bottom end of the sleeve rod 10 to move to the right, and the top end of the sleeve rod 10 causes the pulling shaft 11 to move downward. The pulling shaft 11 then causes the pressure strip 12 to move downward. The pressure strip 12 slides down along the outer wall of the guide post 20, and the pressure strip 12 causes the two inclined pressure frames 13 to move downward. The inclined surface of the inner wall of the inclined pressure frame 13 presses against the sleeve post 14, and the sleeve post 14 moves to the right along the inner wall of the support frame 19. At the same time, the sleeve post 14 moves to the right along the outer wall of the guide rod 18, while the other sleeve post 14 moves to the left. This increases the distance between the two sleeve posts 14. Meanwhile, the groove block 2 supports the connecting arm 30, the connecting arm 30 supports the support frame 19, and the support frame 19 supports the guide rod 18, increasing the stability of the guide rod 18. In this way, the connecting post 14 drives the linkage bar 15 to move to the right, and the linkage bar 15 drives the separation shaft 16 to move to the right. The separation shaft 16 separates from the inside of the hand shovel 8. Another separation shaft 16 moves to the left and also separates from the hand shovel 8. In this way, the hand shovel 8 drives the release block 3 to move down, and the release block 3 moves down along the inner wall of the block 2 and separates. At the same time, the contact part between the hand shovel 8 and the linkage arm 17 slides down and separates, completely separating the hand shovel 8 and preventing the lifting arm 1 and the inclined shaft arm 23 from being damaged by excessive force. At the same time, it also prevents the drive motor 26 and the hydraulic motor 28 from being damaged by excessive load.

[0052] All contents not described in detail in the specification are existing technologies known to those skilled in the art, and the model parameters of each electrical appliance are not specifically limited; conventional equipment can be used. Electrical control components not mentioned in this technical solution are not shown in the figures because they are existing technologies, and will not be described here.

[0053] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A shoveling device comprising a lifting arm and a controller, a bottom end of the lifting arm being connected with a slot block, characterized in that: The inner wall of the groove block is provided with a self-protection assembly, and the self-protection assembly comprises: The disengagement groove block is slidably installed on the inner wall of the groove block, the inner wall of the disengagement groove block is inserted with a bolt column, and the bolt column is slidably connected with the groove block; The hinge block is fixed at one end of the bolt column, one side of the hinge block is provided with an electric cylinder, and the controller is electrically connected with the electric cylinder, and the output end of the electric cylinder is used to drive the hinge block to move; The hand shovel is fixed on one side of the disengagement groove block, the inner wall of the hinge block is fixedly connected with a connecting shaft, the outer wall of the connecting shaft is rotatably installed with a sleeve rod, the inner wall of the sleeve rod is rotatably connected with a pulling shaft away from the groove block, and the groove block is fixedly connected with the jacking arm; The pressing strip is fixed at one end of the pulling shaft, and the two ends of the pressing strip are fixedly connected with symmetrically arranged inclined pressing frames; The sleeve joint column is slidably installed in the inner wall of the inclined pressing frame, and one end of each sleeve joint column is fixedly connected with a linkage strip, and the inner wall of the linkage strip is fixedly installed with a separation shaft; The linkage sleeve arm is rotatably installed between the hand shovel and the linkage strip, and the hand shovel and the linkage sleeve arm are slidably connected with the separation shaft; The guide rod is slidably installed in the inner wall of the sleeve joint column, and the guide rod is used to guide the movement of the two sleeve joint columns, the two ends of the guide rod are fixedly connected with the same support frame, the two inclined pressing frames are slidably connected with the support frame, the outer walls of the two sleeve joint columns are slidably connected with the inner wall of the support frame, the inner wall of the pressing strip is slidably connected with a guide column, and the bottom end of the guide column is fixedly connected with the groove block; The upper surface of the support frame is fixedly connected with a connecting arm, and the bottom end of the connecting arm is fixedly connected with the groove block.

2. An apparatus as defined in claim 1, wherein: The outer wall of the electric cylinder is fixedly connected with the groove block, and a gap is formed between the electric cylinder and the disengagement groove block; A gap is formed between the hand shovel and the groove block.

3. An apparatus as defined in claim 2 wherein: One side of the outer wall of the linkage sleeve arm is fixedly installed with a steel cable, and the outer wall of the steel cable is rotatably installed with a positioning disc; The inner wall of the positioning disc is installed with an inclined shaft arm, the inclined shaft arm is used to position the rotation of the positioning disc, the top end of the positioning disc is woundly installed with a winding disc, one end of the winding disc is installed with a driving motor, the driving motor is electrically connected with the controller, and the driving motor is used to drive the winding disc to rotate; The lower surface of the winding disc is fixedly connected with a mounting seat, the mounting seat is fixedly connected with the inclined shaft arm, the other end of the winding disc is installed with a torque force sensor, the lower surface of the torque force sensor is fixedly connected with the mounting seat, the sensing end of the torque force sensor is coaxially fixedly connected with the winding disc, and the torque force sensor is electrically connected with the controller.

4. An apparatus as defined in claim 3 wherein: An included angle is formed between the inclined shaft arm and the mounting seat, and the inclined shaft arm is inclinedly arranged.

5. An apparatus as defined in claim 4 wherein: The upper inclined surface of the inclined shaft arm is fixedly installed with a hydraulic motor, the output end of the hydraulic motor is fixedly connected with a sliding sleeve, and the sliding sleeve is slidably connected with the jacking arm.

6. An apparatus as defined in claim 5 wherein: The controller is located on one side of the inclined shaft arm, and the controller is fixedly connected with the mounting seat.

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