A center of gravity servoed grabber

Abstract

The application discloses a gravity center follow-up grab, which comprises a bucket rod, a movable arm, one end of the bucket rod is connected with one end of an upper connecting rod through a third pin shaft, the other end of the upper connecting rod is connected with the upper part of a counterweight through a fifteenth pin shaft, the lower part of the counterweight is connected with an extension section through a sixteenth pin shaft, the extension section is a complete welded part which is extended backward from the movable arm, and the front end of the movable arm is connected with the bucket rod through a first pin shaft. In the process of lowering the movable arm, the counterweight is lifted, the upper movable arm oil cylinder is extended, and the potential energy of the movable arm is absorbed; in the process of lifting the movable arm, the counterweight is lowered, the upper movable arm oil cylinder is actively retracted, the potential energy absorbed before is released, the thrust demand of the movable arm oil cylinder is reduced, and the power demand of the whole machine is reduced; the upper movable arm oil cylinder directly drives the front end of the movable arm to lift through a connecting frame and a lower pull rod, the load bearing capacity of the movable arm is greatly enhanced, the weight demand of the movable arm itself is reduced, and the operation performance of the whole machine is improved.

Description

Technical Field

[0001] This invention relates to a center-of-gravity shifting material handling machine, belonging to the technical field of material handling machine counterweight systems. Background Technology

[0002] As material handling machines gradually become larger, the weight of counterweights is often increased to improve the overall stability of the machine, which has the negative impact of increasing the overall weight. Depending on the working conditions, the diversification of working devices also leads to diverse requirements for the specifications of the counterweights.

[0003] The prior art, disclosed in CN116220139A, describes a counterweight for a split-type material handling machine with adjustable mass and center of gravity, and its usage method. The technical solution includes a fixed counterweight and a movable counterweight. The fixed counterweight is installed at the rear of the turntable. The movable counterweight is hinged to the fixed counterweight via a pin I. An adjusting cylinder I is provided between the movable and fixed counterweights, with its two ends hinged to the movable and fixed counterweights respectively. The movable counterweight has several movable and fixed counterweight blocks, and a lifting device for hoisting the movable counterweight blocks is also included. This invention, with its adjustable mass and center of gravity, allows for adjustment of the counterweight's center of gravity by changing the angle of the adjusted cylinder. The counterweight has an internal counterweight block installation and removal system. By controlling the number of counterweight blocks inside the counterweight, the counterweight mass can be changed, thereby altering the overall machine's center of gravity and adapting to various operating conditions.

[0004] The prior art, disclosed in CN117699679A, describes a counterweight adjustment system for a material grabber, which presents the following technical solution: The counterweight is installed at the rear of the turntable. When the grabbing boom lifts material, the counterweight moves backward, increasing the torque of the counterweight on the rotation center, providing greater stability to the entire machine and enabling it to grab more material. When the boom cylinder lifts material, it provides lifting force to the boom, and the counterweight is in a raised state. The counterweight pulls the boom through a hinged bracket and a traction rope. At this time, the counterweight uses its own weight to provide an upward pulling force to the boom, reducing the lifting force required by the boom cylinder during boom lifting and reducing the load on the boom cylinder. Therefore, the demand on engine power, pumps, valves, and motors is reduced. When the grabbing boom lowers, the boom uses its own weight to lift the counterweight through the traction rope, and the lifting of the counterweight plays a certain energy storage role.

[0005] Existing counterweight technology for material handling machines often has the following shortcomings:

[0006] 1. The counterweight of CN116220139A is installed at the rear of the turntable. The center of gravity of the counterweight is adjusted by adjusting the oil cylinder, which requires the intervention of the hydraulic system.

[0007] 2. The counterweight of CN117699679A is installed at the rear of the turntable, with the rotation hinge point 4 suspended high. During the adjustment of the counterweight's center of gravity, the load-bearing capacity of the turntable is required to be high. The boom cylinder is installed at the lower part of the boom. Due to structural size limitations, a maximum of 3 boom cylinders are generally installed.

[0008] 3. The boom cylinder of a conventional grabber is located at the bottom of the boom. Due to structural size limitations, a maximum of two boom cylinders are usually installed. Summary of the Invention

[0009] Objective: In order to overcome the shortcomings of the existing technology, the present invention provides a material gripper with a center of gravity following movement.

[0010] Technical solution: To solve the above technical problems, the technical solution adopted by the present invention is as follows:

[0011] A center-of-gravity shifting material grabber includes: a stick and a boom. One end of the stick is connected to one end of an upper connecting rod via a third pin. The other end of the upper connecting rod is connected to the upper part of a counterweight via a fifteenth pin. The lower part of the counterweight is connected to an extension section via a sixteenth pin. The extension section is a portion of the boom that extends backward. The extension section and the boom are a complete welded part. The front end of the boom is connected to the stick via a first pin.

[0012] The center of gravity follow-up system of the present invention consists of a newly added upper connecting rod, a counterweight, an extension section, a boom, and a stick, which are connected by a first pin, a third pin, a fifteenth pin, and a sixteenth pin to form a parallelogram mechanism. Through this parallelogram mechanism, the counterweight absorbs the potential energy of the boom descending and releases energy when the boom is raised, thereby improving the overall power performance of the machine. When the stick swings outward, the counterweight moves backward, and the center of gravity of the machine is always near the center, increasing the stability of the machine.

[0013] Optionally, it also includes a turntable assembly, which includes a right-side component and a left-side component, wherein the engine assembly is arranged on the right-side component, the valve and pump assembly is arranged in the left-side component, the hydraulic oil tank, the fuel tank, and the cab assembly are arranged in sequence at the front of the left-side component, and a middle section is provided between the right-side component and the left-side component.

[0014] Optionally, no counterweight is placed in the middle section.

[0015] Optionally, a first bracket is provided on the top of the boom, and a second bracket is provided on the turntable assembly. The first bracket is connected to the lower rear end of the connecting frame via a thirteenth pin. The front end of the connecting frame is connected to the rear ends of two lower connecting rods via a twelfth pin, and the front ends of the two lower connecting rods are connected to both sides of the boom via a fourteenth pin. The upper rear end of the connecting frame is connected to the front end of the piston rod of the upper boom cylinder via a tenth pin, and the rear end of the cylinder of the upper boom cylinder is connected to the second bracket via an eleventh pin. The side of the boom is connected to the front end of the piston rod of the lower boom cylinder via an eighth pin, and the rear end of the cylinder of the lower boom cylinder is connected to the turntable assembly via a ninth pin.

[0016] Optionally, the upper boom cylinder can be configured as a plurality of cylinders.

[0017] Optionally, a third bracket is provided at the top of the boom, and the third bracket is connected to the rear end of the cylinder of the upper boom cylinder via a seventh pin. The piston rod of the upper boom cylinder is connected to the boom via a second pin. The side of the boom is connected to the rear end of the cylinder of the lower boom cylinder via a sixth pin, and the front end of the piston rod of the lower boom cylinder is connected to the side of the boom via a fifth pin.

[0018] Optionally, the stick is connected to the implement via a fourth pin.

[0019] Optionally, the turntable assembly is connected to the chassis via a slewing bearing.

[0020] Optionally, the first bracket is welded to the top of the boom. The second bracket is welded to the turntable assembly.

[0021] Optionally, the third bracket is welded to the top of the boom.

[0022] Beneficial Effects: This invention provides a center-of-gravity-driven material handling machine. The invention adds an upper and lower connecting rod, an upper boom cylinder, and an upper stick cylinder, and extends the stick and boom tail. A counterweight is hinged to the upper connecting rod and boom tail, forming a parallelogram mechanism from the upper connecting rod, stick, boom, and counterweight. One end of the lower connecting rod is hinged to the boom front end, and the other end is connected to the upper boom cylinder via a connecting frame. During boom descent, the counterweight rises accordingly, and the upper boom cylinder extends accordingly, absorbing the potential energy of the boom's descent. During boom lifting, the counterweight descends accordingly, and the upper boom cylinder retracts actively, releasing the previously absorbed potential energy, reducing the thrust requirement on the boom cylinder, and thus reducing the overall machine power requirement. The upper boom cylinder directly drives the boom front end to lift via the connecting frame and pull rod, greatly enhancing the boom's load-bearing capacity, reducing the boom's own weight requirement, and improving the overall machine's operating performance.

[0023] During the boom retraction process, the counterweight rises accordingly, reducing both the overturning moment at the load end and the stabilizing moment at the balance end, thus increasing overall machine stability and reducing the structural weight of the turntable assembly. During the boom outward swing process, the counterweight moves backward accordingly, increasing both the overturning moment at the load end and the stabilizing moment at the balance end, further enhancing overall machine stability and reducing the structural weight of the turntable assembly. The inclusion of lower and upper boom cylinders reduces localized stress on the boom, lowering the boom's own weight requirements and improving overall machine performance. Compared to existing technologies, the advantages of this invention are as follows:

[0024] (1) The turntable is arranged on the left and right sides, and the counterweight is no longer installed at the rear of the turntable; the root of the boom extends backward and is hinged to the lower end of the counterweight; the upper end of the counterweight is hinged to the upper connecting rod; the root of the stick extends backward and is hinged to the upper connecting rod; the upper connecting rod, counterweight, boom, and stick form a parallelogram mechanism. Through this parallelogram mechanism, the counterweight absorbs the potential energy of the boom descending and releases energy when the boom is raised, thereby improving the overall power performance of the machine; when the stick swings outward, the counterweight moves backward accordingly, and the center of gravity of the machine is always near the center, increasing the stability of the machine.

[0025] (2) The upper boom cylinder is connected to the front end of the boom through the lower connecting rod. When the boom descends, it absorbs the boom potential energy and when the boom rises, it releases the boom potential energy, further improving the overall power performance of the machine. At the same time, because the lower connecting rod directly pulls the front end of the boom, it greatly enhances the load-bearing capacity of the boom and reduces the weight requirement of the boom itself.

[0026] (3) When the stick swings outward, the upper stick cylinder retracts and the lower stick cylinder extends, reducing the local stress on the stick and reducing the weight of the stick itself; similarly, the same effect will occur when the stick retracts inward.

[0027] (4) In addition to being configured as a potential energy recovery cylinder, the upper boom cylinder can also be configured as a conventional hydraulic cylinder, and the number of boom cylinders is no longer limited by the structural dimensions; similarly, the number of stick cylinders is no longer limited by the structural dimensions. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the structure of a center-of-gravity-following material handling machine according to the present invention.

[0029] Figure 2 This is a top view of the turntable assembly after removing the working device and counterweight according to the present invention.

[0030] Figure 3 This is a schematic diagram of the boom structure of the present invention.

[0031] Figure 4 This is a partial schematic diagram of the boom potential energy recovery system of the present invention.

[0032] Figure 5 This is a partial schematic diagram of the boom retraction and outward swing system of the present invention.

[0033] Figure 6 This is a schematic diagram of the boom lowering operation of the present invention.

[0034] Figure 7 This is a schematic diagram of the boom raising operation of the present invention.

[0035] Figure 8 This is a schematic diagram of the boom retraction working condition of the present invention. Detailed Implementation

[0036] The technical solutions 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 protection scope of the present invention.

[0037] The present invention will be further described below with reference to specific embodiments.

[0038] Example 1:

[0039] This embodiment describes a center-of-gravity-following material handling machine, such as... Figure 1 As shown, it includes a boom 1, a boom 2, an upper boom cylinder 3, a lower connecting rod 4, an upper connecting rod 5, a connecting frame 6, an upper boom cylinder 7, a second support 8, a counterweight 9, a tool 10, a lower boom cylinder 11, a lower boom cylinder 12, a turntable assembly 13, a slewing bearing 14, and a chassis 15.

[0040] One end of the boom 1 is connected to one end of the upper connecting rod 5 via the third pin D. The other end of the upper connecting rod 5 is connected to the upper part of the counterweight 9 via the fifteenth pin L. The lower part of the counterweight 9 is connected to the extension section 2' via the sixteenth pin M. The extension section 2' is connected to the rear end of the boom 2. The front end of the boom 2 is connected to the boom 1 via the first pin B.

[0041] The center of gravity follow-up system of the present invention consists of a newly added upper connecting rod 5, a counterweight 9, an extension section 2', a boom 2, and a stick 1, which are connected by a first pin B, a third pin D, a fifteenth pin L, and a sixteenth pin M to form a parallelogram mechanism. Through this parallelogram mechanism, the counterweight absorbs the potential energy of the boom descending and releases energy when the boom is raised, thereby improving the overall power performance of the machine. When the stick swings outward, the counterweight moves backward, and the center of gravity of the machine is always near the center, increasing the stability of the machine.

[0042] Furthermore, in one embodiment, the turntable assembly 13, as... Figure 2As shown, it includes: a right component 13-1 and a left component 13-3, wherein the engine assembly is arranged on the right component 13-1, the valve and pump group is arranged in the left component 13-3, the hydraulic oil tank 13-4, the fuel tank 13-5, and the cab assembly 13-6 are arranged in sequence at the front of the left component 13-3, and a middle part 13-2 is provided between the right component 13-1 and the left component 13-3.

[0043] In this section, no components such as counterweights are arranged in the middle part 13-2.

[0044] The turntable assembly structure of the present invention is used to avoid interference between the boom rear extension 2' or the counterweight and the turntable assembly during the descent of the counterweight.

[0045] Furthermore, in one embodiment, such as Figure 3 , Figure 4 As shown, a first bracket 2-1 is provided on the top of the boom 2, and a second bracket 8 is provided on the turntable assembly 13. The first bracket 2-1 is connected to the lower rear end of the connecting frame 6 via the thirteenth pin H. The front end of the connecting frame 6 is connected to the rear ends of the two lower connecting rods 4 via the twelfth pin G. The front ends of the two lower connecting rods 4 are connected to the two sides of the boom 2 via the fourteenth pin E. The upper rear end of the connecting frame 6 is connected to the front end of the piston rod of the upper boom cylinder 7 via the tenth pin J. The rear end of the cylinder of the upper boom cylinder 7 is connected to the second bracket 8 via the eleventh pin K. The side of the boom 2 is connected to the front end of the piston rod of the lower boom cylinder 12 via the eighth pin Q. The rear end of the cylinder of the lower boom cylinder 12 is connected to the turntable assembly 13 via the ninth pin R.

[0046] In another embodiment, the first bracket 2-1 is welded to the top of the boom 2.

[0047] In another embodiment, the second bracket 8 is welded to the turntable assembly 13.

[0048] Furthermore, in one embodiment, the upper boom cylinder 7 is configured as two.

[0049] The boom potential energy recovery system of the present invention includes an upper boom cylinder, a connecting frame, a support, a lower connecting rod, a boom, a lower boom cylinder, and a turntable assembly. The stick chamber of the upper boom cylinder is filled with an energy storage medium. The upper boom cylinder is connected to the front end of the boom through the lower connecting rod. When the boom descends, it absorbs the boom potential energy and when the boom rises, it releases the boom potential energy, further improving the overall power performance of the machine. At the same time, because the lower connecting rod directly pulls the front end of the boom, it greatly enhances the load-bearing capacity of the boom and reduces the weight requirement of the boom itself.

[0050] Furthermore, in one embodiment, such as Figure 5As shown, a third support 2-2 is provided at the top of the boom 2. The third support 2-2 is connected to the rear end of the cylinder of the upper boom cylinder 3 via a seventh pin F. The piston rod of the upper boom cylinder 3 is connected to the boom 1 via a second pin C. The side of the boom 2 is connected to the rear end of the cylinder of the lower boom cylinder 11 via a sixth pin P. The front end of the piston rod of the lower boom cylinder 11 is connected to the side of the boom 1 via a fifth pin A.

[0051] Furthermore, the third bracket 2-2 is welded to the top of the boom 2.

[0052] The boom retraction and outward swing system of the present invention includes a boom, a boom cylinder, an upper boom cylinder, and a lower boom cylinder. During the boom retraction process, the lower boom cylinder retracts and the upper boom cylinder extends, reducing the local stress on the boom and lowering the weight requirement of the boom itself, which is beneficial to improving the overall machine operation performance.

[0053] Furthermore, the boom 1 is connected to the tool 10 via a fourth pin N.

[0054] Furthermore, the turntable assembly 13 is connected to the chassis 15 via a slewing bearing 14.

[0055] Example 2:

[0056] This embodiment describes the working principle of a gravity-following material handling machine, specifically including:

[0057] like Figure 6 As shown, the lower boom cylinder 12 retracts, driving the boom to descend, which in turn lowers the stick and implements; during the boom descent, relative to... Figure 1 The boom and upper connecting rod work together to drive the counterweight to rise, the center of gravity of the counterweight moves upward, the upper boom cylinder extends accordingly, compressing the energy storage medium in the stick chamber and absorbing the potential energy of the boom descending.

[0058] like Figure 7 As shown, the lower boom cylinder 12 extends, driving the boom to lift, which in turn lifts the stick and implements; during the boom lifting process, relative to... Figure 6 As the counterweight descends under gravity, the upper boom cylinder retracts, and the energy storage medium in the stick chamber releases energy. This energy is then used to lift the front end of the boom via the connecting frame and lower connecting rod, converting the potential energy of the counterweight into the lifting capacity of the boom, stick, and implements, further reducing the overall machine's power requirements. The upper boom cylinder directly lifts the front end of the boom through the connecting frame and lower connecting rod, greatly enhancing the boom's load-bearing capacity, reducing the boom's own weight requirements, and improving the overall machine's operating performance.

[0059] like Figure 8As shown, during the boom retraction process, the counterweight rises accordingly, reducing both the overturning moment at the load end and the stabilizing moment at the balance end, thus increasing overall machine stability and reducing the structural weight of the turntable assembly. During the boom outward swing process, the counterweight moves backward accordingly, increasing both the overturning moment at the load end and the stabilizing moment at the balance end, further enhancing overall machine stability and reducing the structural weight of the turntable assembly. The inclusion of lower and upper boom cylinders reduces localized stress on the boom, lowers the boom's own weight requirements, and improves overall machine performance. Similarly, during the outward swing of the boom, the lower boom cylinder extends and the upper boom cylinder retracts, reducing the local stress on the boom and lowering the boom's own weight requirement, which is beneficial to improving the overall machine's operating performance. During the outward swing, the counterweight descends accordingly, and the counterweight's center of gravity shifts backward, reducing the counterweight's weight requirement. The outward swing of the boom increases the overturning moment at the load end, and the backward shift of the counterweight's center of gravity also increases the stabilizing moment at the balance end, increasing the overall machine's stability and reducing the bending moment borne by the turntable assembly, thereby reducing the structural weight of the turntable assembly. During the outward swing of the boom, the upper boom cylinder retracts and the lower boom cylinder extends, reducing the local stress on the boom and lowering the boom's own weight requirement.

[0060] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A material handling machine with a center of gravity that follows the movement of its center of gravity, characterized in that: include: The boom and the stick are connected in the following ways: one end of the stick is connected to one end of the upper connecting rod via a third pin; the other end of the upper connecting rod is connected to the upper part of the counterweight via a fifteenth pin; the lower part of the counterweight is connected to the extension section via a sixteenth pin; the extension section is the part of the boom that extends backward; and the front end of the boom is connected to the stick via a first pin.

2. The center-of-gravity shifting material handling machine according to claim 1, characterized in that: It also includes a turntable assembly, which includes a right-side assembly and a left-side assembly. The engine assembly is arranged on the right-side assembly, the valve and pump assembly is arranged in the left-side assembly, and the hydraulic oil tank, fuel tank and cab assembly are arranged in sequence at the front of the left-side assembly. A middle section is provided between the right-side assembly and the left-side assembly.

3. A center-of-gravity shifting material handling machine according to claim 2, characterized in that: No counterweight will be placed in the middle section.

4. A center-of-gravity shifting material handling machine according to claim 2, characterized in that: A first bracket is provided on the top of the boom, and a second bracket is provided on the turntable assembly. The first bracket is connected to the lower rear end of the connecting frame via a thirteenth pin. The front end of the connecting frame is connected to the rear ends of two lower connecting rods via a twelfth pin. The front ends of the two lower connecting rods are connected to both sides of the boom via a fourteenth pin. The upper rear end of the connecting frame is connected to the front end of the piston rod of the upper boom cylinder via a tenth pin. The rear end of the cylinder of the upper boom cylinder is connected to the second bracket via an eleventh pin. The side of the boom is connected to the front end of the piston rod of the lower boom cylinder via an eighth pin. The rear end of the cylinder of the lower boom cylinder is connected to the turntable assembly via a ninth pin.

5. A center-of-gravity shifting material handling machine according to claim 4, characterized in that: The upper boom cylinder is configured as a plurality of cylinders.

6. A center-of-gravity shifting material handling machine according to claim 1, characterized in that: The top of the boom is provided with a third bracket, which is connected to the rear end of the cylinder of the upper boom cylinder via a seventh pin. The piston rod of the upper boom cylinder is connected to the boom via a second pin. The side of the boom is connected to the rear end of the cylinder of the lower boom cylinder via a sixth pin. The front end of the piston rod of the lower boom cylinder is connected to the side of the boom via a fifth pin.

7. A center-of-gravity shifting material handling machine according to claim 1, characterized in that: The boom and the implement are connected by a fourth pin.

8. A center-of-gravity shifting material handling machine according to claim 2, characterized in that: The turntable assembly is connected to the chassis via a slewing bearing.

9. A center-of-gravity shifting material handling machine according to claim 4, characterized in that: The first bracket is welded to the top of the boom; the second bracket is welded to the turntable assembly.

10. A center-of-gravity shifting material handling machine according to claim 6, characterized in that: The third bracket is welded to the top of the boom.

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