EP0229205B1 - Pelle excavatrice - Google Patents

Pelle excavatrice Download PDF

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Publication number
EP0229205B1
EP0229205B1 EP86100316A EP86100316A EP0229205B1 EP 0229205 B1 EP0229205 B1 EP 0229205B1 EP 86100316 A EP86100316 A EP 86100316A EP 86100316 A EP86100316 A EP 86100316A EP 0229205 B1 EP0229205 B1 EP 0229205B1
Authority
EP
European Patent Office
Prior art keywords
arm
traction
dipper
dipper arm
traction means
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
EP86100316A
Other languages
German (de)
English (en)
Other versions
EP0229205A1 (fr
Inventor
Wilfried Güthoff
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Friedrich Wilhelm Schwing GmbH
Original Assignee
Friedrich Wilhelm Schwing GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Friedrich Wilhelm Schwing GmbH filed Critical Friedrich Wilhelm Schwing GmbH
Priority to EP86100316A priority Critical patent/EP0229205B1/fr
Priority to DE8686100316T priority patent/DE3661746D1/de
Priority to AT86100316T priority patent/ATE39958T1/de
Publication of EP0229205A1 publication Critical patent/EP0229205A1/fr
Application granted granted Critical
Publication of EP0229205B1 publication Critical patent/EP0229205B1/fr
Expired legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
    • E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/427—Drives for dippers, buckets, dipper-arms or bucket-arms with mechanical drives

Definitions

  • the invention relates to a backhoe with an arm system, preferably designed as a backhoe, which has an articulated arm on a swiveling boom and with the aid of a swivel drive articulated on the boom, which engages beyond the arm joint at the free end of the arm, essentially vertically Level can be folded into a transport position and can be adjusted from this into an extended position.
  • the backhoe excavator according to the invention has a base which is generally formed by the superstructure of a crawler chassis which swivels about a vertical axis.
  • the backhoe of the backhoe is generally vertical, apart from skew, so that the arm system, which buckles and extends perpendicular to the base, executes its movements essentially in a vertical plane.
  • Such an excavator can dig with a backhoe on the level of its undercarriage, but also in parallel levels above and below the level, as well as slopes running up and down.
  • the arm pivots down from the extended position of the arm system, while the boom turns upwards around its linkage at the base; in the transport position the arm system is most kinked, generally the work tool in front of the caterpillars, the two front ends of which connect a line around which the excavator tilts when the arm system is overloaded or even supported on the standing level between the front caterpillars.
  • the front end of the mostly angled boom is aligned with the dipper stick, generally considering the center lines of these parts.
  • the pivot drive of the dipper arm must therefore be effective over a relatively large path of the dipper arm pivot joint in order to be able to bring about the extreme positions of the arm system.
  • the digging leave flat surfaces in the various planes. In this way, e.g. dig up a trench or sewer base or a rising embankment without reworking.
  • the swivel drives of the work tool and the boom which are still present on the excavator according to the invention in addition to the swivel drive of the dipper stick, at the same time and in mutual dependence by hand so that the required level is maintained by parallel guidance of the work tool. Therefore, the backhoe according to the invention preferably has a semi or fully automatic parallel guidance of its work tool.
  • the arm system is designed so that a hydraulic cylinder used to pivot the spoon engages the boom on the one hand in the vicinity of the pivot axis of the dipper arm and on the other hand on a triangular deflection lever mounted on the dipper arm in the vicinity of the pivot axis and the deflection lever is connected to the bucket via a short link so that the dipper stick, the bellcrank and the hydraulic cylinder together with the front end of the boom form a large articulated quadrilateral; this quadrilateral joint is coupled via a triangle-shaped bellcrank with a small triangle formed by the bellcrank, the end of the arm, the arm and the short link; for a given length of the boom and for a given length of the dipper arm, the dimensions of the four-bar linkage and the deflecting triangle are so coordinated with one another, and the large four-bar linkage can be changed with the help of the hydraulic cylinder when adjusting the cutting angle of the bucket to the slope of a slope to be
  • the excavator according to the invention is preferably provided with an electronic parallel guide, in which the boom has a signal generator, the measured variable of which is the changes made during the digging with the manual control of the boom drive of the swivel angle enclosed by the boom and the base and the output signal of which with the swivel device reproducing sign is provided; a corresponding, further signal generator is attached to the dipper arm, the measured variable of which represents the changes in the swivel angle between the boom and dipper arm caused by manual control of the dipper arm drive; the signed output signals of the signal generators described are converted into a control signal by an adder, which forms the input of an automatic control of the swivel drive of the working tool, the controlled variable of which is measured by a third signal generator is the change in the angle between the working tool and the dipper stick, with which without the intervention the work tool is held parallel to itself in the manual control, the output signal of an actuator which can be adjusted manually at the beginning, during and after the excavation movement of the arm system being used as the
  • the invention is based on a previously known excavator with the features described at the outset, which is provided with the mechanical parallel guide explained above, which, however, can also be omitted according to the invention (DE-A 1 800 045).
  • the pivot drive of the dipper arm consists of a double-acting hydraulic working cylinder which is articulated with its piston rod to the free end of the dipper arm and even to the boom.
  • Such hydraulic cylinders are relatively heavy. This is based on the one hand on the wall thicknesses required for the considerable working pressures of the oil-hydraulic medium, but on the other hand on the necessary length of such a cylinder and the resultant extent of the cylinder spaces filled with the oil-hydraulic medium.
  • Such cylinders restrict the possible swivel angle.
  • the invention has for its object to achieve a favorable distribution of the weights of the boom in an excavator of the type known as known and to increase the practically usable pivoting angle of the pivoting drive of the dipper stick.
  • a pair of alternately acted pull cylinder is provided as a pivot drive, one of which is used to stretch the arm and is connected to the free end of the arm using a flexible traction means
  • the other pull cylinder for kinking the Armsystems serves and is connected with its own flexible traction means between the joints of the dipper arm and the working tool to the dipper arm
  • both traction means are guided on the boom between the dipper arm joint and the boom joint, with a rocker arm fixed on the dipper arm in the extended position of the dipper arm the traction device of the pulling cylinder serving to buckle the arm system and, in the bent position of the arm system, the traction means of the pulling cylinder serving to stretch deflects via an arc around the center of the dipper arm joint.
  • a single-acting cylinder is assigned to each swivel direction by dividing the swivel drive into the two pull cylinders forming a pair. This makes it possible to transmit considerable driving forces over extended piston paths.
  • a flexible traction device to transmit the driving forces to the points of attack on the dipper stick, it is possible to move the traction cylinder with its attachment to the boom in the direction of the boom swivel joint, preferably until it snaps backwards, and thereby a significant proportion of the total weight of the Bring the swivel drive behind the tilt line of the excavator undercarriage. This significantly counteracts the tendency to tip over when the arm system is extended.
  • the guidance of the traction means and their deflection ensures that the distance between the loaded traction means and the axis of rotation of the dipper arm joint cannot drop below a minimum size and therefore the tensile strength on the working tool assumes a sufficiently high value even in the extended position; since the traction device guide and deflection also acts on the traction device of the traction cylinder used for stretching, this can generate the torque required for stretching the boom at a small angle between the dipper stick and the boom.
  • the invention has the advantage that it creates the conditions for a considerable extension of the boom in the extended position, which results in ranges of approximately 20 m and more, without the excavator executing uncontrollable movements around the tilting line explained at the beginning. Since the invention changes the swivel drive of the dipper stick, which consists of a hydraulic cylinder, but retains its cylinder design, the hydraulic parallel guides, in particular those of the electronic version described at the outset, can be easily maintained with only a slight change. Because of the large arch around the hinge axis of the dipper arm that can be used for the work area, which is made possible by such a dipper arm drive, on the one hand the initial tear forces can be chosen large enough and can be exploited via an extended scraper path. On the other hand, the maximum folding position of the arm system can be dimensioned such that the usual transport position can be reached even with a very long dipper stick.
  • the rocker arm has a convexly curved traction element support, the radius of which is perpendicular to the axis of the dipper arm joint stands and is chosen so that the distance of the line of the traction means of the articulated cylinder from the extended excavator level remains essentially constant during the excavation.
  • This adjustment takes into account the fact that when digging from the extended position of the arm system the dipper arm moves due to the buckling of the arm system, that is to say when moving on a horizontal plane it moves upwards, and on the other hand the line of the traction means of the articulating cylinder which generates the digging forces must, in the extended position of the arm system, be closer to the dipper arm joint and move away from it during the digging, provided that it is not corrected with the swing arm.
  • a particularly compact and light design is used for the traction means and their guidance, in that according to the invention a wire rope is used as the traction means and one or one pulley assigned to a traction means on a common axis.
  • the non-pressurized spaces of the pull cylinder are used for the oil hydraulics. This is done according to the invention in that the spaces of the pull cylinders delimited by the piston ring surfaces can be acted upon by the oil-hydraulic working fluid and the spaces of the pull cylinders delimited by the piston surfaces serve as leakage oil receiving spaces.
  • the backhoe generally designated 1
  • the front end 4 of the contact surface 5 of the crawler chassis 2 lies on a straight line around which the excavator tilts, provided that its arm system, generally designated 6, generates a correspondingly large torque.
  • An uppercarriage 8 is mounted on the undercarriage 3 via a rotating ring 7 about a vertical axis.
  • the superstructure accommodates the oil-hydraulic pressure generator 9 and a driver's cabin 10. It serves to displace the bent end 11 of a boom 12 in a swivel joint which is not visible in both figures and whose hinge axis is horizontal, i.e. runs parallel to the horizontal standing plane 13 of the backhoe 1 and is mounted on the superstructure 8.
  • the bent end 11 of the boom 12 encloses a constant angle with the longer front end 14 of the boom.
  • the free end of the boom 12 carries a dipper arm joint 15 with a horizontal axis of rotation.
  • the point of penetration 16 of the axis of rotation lies at the root of a short arm 17, which projects toward the rear in the direction of the boom 12.
  • the short arm 17 is aligned with a much longer arm 18, at the end of which the pivot joint 19 of a working tool 21 designed as a backhoe 20 is articulated.
  • the axis of the joint is also horizontal.
  • a deflection triangle 24 consisting of a straight lever 22 and a curved lever 23 is connected at the apex to the piston rod of a hydraulic working cylinder 26 which serves to drive the swivel joint 19.
  • the cylinder is in turn connected to a triangular bracket 27, the angled arms of which form a structural unit and which is articulated at 28 and 29 to the longer arm 18 of the dipper stick, generally designated 30.
  • a pull cylinder 32, 33 forming a pair 31 are used, which are actuated alternately.
  • the piston rod 34 of the pulling cylinder 32 serving for buckling is extended. It is connected with its head 35 to the fork 36 of a vertebra 37 which is attached to the end of a traction cable 38.
  • the other end of the traction cable is connected via a swivel 39 and a fork head 40 to a bracket 41 which is attached at 42 to the longer arm 18 of the dipper arm 30 in such a way that the articulation 43 lies under the dipper arm.
  • On a common axis 44 sit two together with 45 pulley pulleys, one of which is assigned to the traction means designated 38.
  • the other pull cylinder 33 is used to stretch the arm system 6 and the head 46 of its piston rod is also connected via a fork head 47 and a swivel 48 to a pull cable 49 which is guided over the second deflection roller 45.
  • the other end of the rope 49 is articulated via a swivel 50 and a fork head 51 at 52 to the free end of the shorter arm 17 of the dipper stick 30.
  • the articulation points 43 and 52 of the traction ropes 38 and 49 sit at the same distance from the dipper arm joint 15 on the dipper arm 30.
  • a rocker arm 53 forms a structural unit with the dipper arm 30 and is arranged in the root 54 of the two dipper arm arms 17 and 18.
  • the rocker arm has an arcuate cable deflection 55 which has a cable groove 56.
  • the radius r of the rope guide 55 is perpendicular to the axis of the swivel joint 15.
  • the arrangement is selected so that the tensile force in the line of action of the cable 38 when the piston rod 34 is moved into the cylinder 32 generates a sufficiently high end torque that remains constant in the approach area.
  • This approach range is ended when the center of the axis of the articulation point 43 lies on a straight line with the line of action of the rope 38.
  • the work tool 21 is guided in parallel on the digging plane 13 by an electronic control (not shown). This means that the cylinder 26 of the working tool 21 is readjusted in accordance with the buckling of the arm system 6 during the digging in such a way that the working tool 21 is held parallel to itself.
  • the cylinder 32 serves to buckle, the cable 38 transmitting the driving force around the swivel joint 15 to the arm 13 of the dipper stick 30.
  • the cable guide 45 ensures that the cable 49, which is moving at the same time, is kept at a distance from the cable 38 and the piston rod of the pulling cylinder 33 used for stretching pulls out of the latter.
  • the piston ring spaces of the pull cylinders 32 and 33 are then alternately acted upon by the oil-hydraulic working medium.
  • the opposite cylinder spaces, which are delimited by the piston surfaces, are empty and only serve to accommodate the leakage oil quantities.
  • the dipper arm 30 In the transport position shown in FIG. 2, the dipper arm 30 is pivoted so far counterclockwise that there is an acute angle a, which is enclosed by the longer arm 18 of the dipper arm and the front arm 14 of the boom 12.
  • the shorter arm 17 of the dipper stick 30 is essentially aligned with the center line of the arm 14.
  • the rocker 53 receives in its cable guide 55 the cable 49 of the pulling cylinder 33 used for stretching.
  • the cable 38 ensures that there is a sufficiently large torque when the cylinder 32 is acted upon by the dipper arm joint 15, so that the working tool deposited between the two caterpillars of the undercarriage 3 in the transport position is raised and pivoted forward until the arm system 6 is in the extended position can.
  • the apex of the kinking of the two arms 11, 14 of the arm 12 described at the outset is 60.
  • the articulation of the pull cylinders 32, 33, generally designated 61, is also fastened there. This is attached approximately at the end of the front third of these cylinders, so that the two pull cylinders 32, 33 protrude over the bend 60 with approximately two thirds of their length. This creates a counterweight that counteracts the weight moment of the arm system 6.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Jib Cranes (AREA)
  • Earth Drilling (AREA)
  • Shovels (AREA)

Claims (6)

1. Pelle excavatrice (1), comportant un système de bras (6) muni d'un outil de travail (21) constitué de préférence par une cuillère d'excavation travaillant en fouille rétro (20); ce système de bras comportant un bras principal articulé d'inclinaison variable (12), sur lequel est monté un avant-bras (30) portant la cuillère, et un système de manoeuvre monté sur le bras principal (12) et agissant sur l'extrémité libre de l'avant-bras (30), au-delà de l'articulation (15) de l'avant-bras, afin de déformer le système de bras (6) sensiblement dans un plan vertical, pour le replier jusqu'à une position de transport et le déployer ensuite en une position d'extension; caractérisé en ce que le système de manoeuvre est constitué par une paire (31) de vérins de traction (32, 33) pouvant être actionnés à tour de rôle, l'un de ces vérins servant à déployer l'avant-bras (30) en position d'extension et étant relié à cet effet à l'extrémité libre (17) de l'avant-bras par l'intermédiaire d'un organe de traction souple (49), tandis que l'autre vérin de traction (32) sert à replier le système de bras (6) et se trouve relié à l'avant-bras (30), en un point situé entre l'articulation (15) de cet avant-bras (30) et l'articulation (19) de l'outil de travail (21), par un autre organe de traction souple (38); et en ce que les deux organes de traction (38, 49) sont associés à un organe de guidage disposé sur le bras principal (12) entre l'articulation de celui-ci et l'articulation (15) de l'avant-bras (30); ce dernier portant en outre un bossage fixe de renvoi (53), muni d'un secteur d'appui et de guidage (55), qui agit en position d'extension de l'avant-bras (30), pour assurer autour de l'axe (16) de l'articulation (15) de l'avant-bras (30), une déviation de l'organe de traction (38) associé au vérin de traction (32) qui commande le repliement du système de bras articulé (6); le bossage fixe de renvoi (53) agissant également en position repliée du système de bras (6), pour assurer une déviation analogue de l'organe de traction (49) associé au vérin de traction (33) qui commande l'extension de l'avant-bras (30).
2. Pelle excavatrice conforme à la revendication 1, caractérisée en ce que le bossage de renvoi (53) comporte un secteur d'appui convexe (55, 56) pour recevoir chacun des organes de traction (38, 49), ce secteur d'appui présentant un rayon (r), perpendiculaire à l'axe (16) de l'articulation (15) de l'avant-bras (30) et d'une valeur choisie pour que la distance (A) de la ligne d'action de l'organe de traction (38) associé au vérin de repliement (32) reste sensiblement constante par rapport au prolongement du plan d'assise (13) de l'engin, au début et à la fin de l'opération de fouille.
3. Pelle excavatrice conforme à l'une des revendications 1 ou 2, caractérisée en ce que chacun des organes de traction (38, 49) est constitué par un câble en fils d'acier, et en ce que l'organe de guidage disposé sur le bras principal (12) pour les câbles de traction (38, 49) est constitué par une poulie (45), ou par deux poulies montées sur un axe commun (44) et associées chacune à l'un des câbles de traction.
4. Pelle excavatrice conforme à l'une des revendications 1 à 3, caractérisée en ce que la fixation des corps des vérins de traction (32, 33) est disposée sensiblement à l'endroit du sommet d'un coude du bras principal (12), les corps des vérins (32, 33) étant montés de manière à déborder en porte-à-faux au-delà du coude.
5. Pelle excavatrice conforme à l'une des revendications 1 à 4, caractérisée en ce que le volume interne de chacun des corps des vérins de traction (32, 33), limité par le piston correspondant, peut être alimenté en fluide hydraulique sous pression, le volume interne du corps de chaque vérin de traction (32, 33) situé au-delà du piston correspondant servant à recueillir les fuites de liquide hydraulique.
6. Pelle excavatrice conforme à l'une des revendications 1 à 6, caractérisée en ce que le bossage de renvoi (53) forme une pièce unitaire avec un appendice (17) de l'avant-bras (30) et avec une partie principale plus longue (18) de cet avant-bras, et en ce que les points d'accrochage (42, 52) des organes de traction (38, 49) à l'extrémité de l'appendice (17) et sur la partie principale (18) de l'avant-bras (30) sont
situés sensiblement à la même distance de l'axe (16) de l'articulation (15) de l'avant-bras (30).
EP86100316A 1986-01-11 1986-01-11 Pelle excavatrice Expired EP0229205B1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP86100316A EP0229205B1 (fr) 1986-01-11 1986-01-11 Pelle excavatrice
DE8686100316T DE3661746D1 (en) 1986-01-11 1986-01-11 Bucket excavator
AT86100316T ATE39958T1 (de) 1986-01-11 1986-01-11 Loeffelbagger.

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP86100316A EP0229205B1 (fr) 1986-01-11 1986-01-11 Pelle excavatrice

Publications (2)

Publication Number Publication Date
EP0229205A1 EP0229205A1 (fr) 1987-07-22
EP0229205B1 true EP0229205B1 (fr) 1989-01-11

Family

ID=8194823

Family Applications (1)

Application Number Title Priority Date Filing Date
EP86100316A Expired EP0229205B1 (fr) 1986-01-11 1986-01-11 Pelle excavatrice

Country Status (3)

Country Link
EP (1) EP0229205B1 (fr)
AT (1) ATE39958T1 (fr)
DE (1) DE3661746D1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT517147B1 (de) * 2015-05-04 2017-08-15 Ing Hauer Ronald Ausleger für ein Nutzfahrzeug
CN105332396A (zh) * 2015-12-07 2016-02-17 江苏柳工机械有限公司 侧移式挖掘装载机挖掘工作装置锁定装置

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2055111A (en) * 1933-08-12 1936-09-22 Demag Ag Excavator
US2639826A (en) * 1950-04-10 1953-05-26 David P Welden Articulated boom
NL6511141A (fr) * 1964-09-25 1966-03-28
FR1429741A (fr) * 1965-04-02 1966-02-25 Landsverk Ab Dispositif hydraulique pour les excavatrices du type pour fouille profonde
AT309344B (de) * 1968-04-18 1973-08-10 Schwing Friedrich Löffelbagger
IE53963B1 (en) * 1981-10-21 1989-04-26 Priestman Brothers Earthmoving machine

Also Published As

Publication number Publication date
ATE39958T1 (de) 1989-01-15
DE3661746D1 (en) 1989-02-16
EP0229205A1 (fr) 1987-07-22

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