CN103661662A - Walking type chassis of symmetrical type multi-freedom-degree four-wheel all-wheel-drive walking type excavator - Google Patents
Walking type chassis of symmetrical type multi-freedom-degree four-wheel all-wheel-drive walking type excavator Download PDFInfo
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- CN103661662A CN103661662A CN201310597182.0A CN201310597182A CN103661662A CN 103661662 A CN103661662 A CN 103661662A CN 201310597182 A CN201310597182 A CN 201310597182A CN 103661662 A CN103661662 A CN 103661662A
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Abstract
The invention discloses a walking type chassis of a symmetrical type multi-freedom-degree four-wheel all-wheel-drive walking type excavator and belongs to the field of application of engineering machinery. The walking type chassis comprises a front right leg (1), a rotation base (2), a rear right leg (3), a lifting oil cylinder (4), a front left leg (6) and a rear front leg (5). The structure of the front right leg and the structure of the front left leg are symmetrical. The structure of the rear right leg and the structure of the rear left leg are symmetrical. The rotation base is of a symmetrical structure and is composed of a central oil tank and two side oil tanks, wherein the two side oil tanks are located at the two sides of the central oil tank in a stepped mode in the vertical direction. The rotation base is connected with the front right leg, the rear right leg, the front left leg and the rear left leg through a lifting oil cylinder (4) and a corresponding sleeve A. According to the walking type chassis, oil streams in the rotation base can be communicated with each other between the central oil tank and the side oil tanks, so that oil storage does not only depend on the inner space of the central oil tank, and the oil storage capacity is increased by at least one time; on the condition of field operation, when fuel oil in a main oil tank is used up, fuel oil in the chassis can be extracted, and therefore the field self-sustaining capacity is high.
Description
Technical field
The present invention relates to the legged chassis of a kind of walking type excavator, specifically a kind of symmetrical expression multiple degree of freedom four-wheel drives the legged chassis of walking type excavator entirely, belongs to the application of construction machinery and equipment.
Background technology
As everyone knows, walking type excavator be a kind of can be in forest, mountain region, marsh etc. complicated full landform area general full landform, high-mobility, multipurpose, wheeled vehicle walker excavator completely.If walking type excavator is likened to " the operation spider-type robot of dwelling ", so legged chassis is exactly its " waist+leg foot " more.The operation function feature of " waist+leg foot " requires its other parts that can be connected body, realizes 360 ° of rotations of " waist ", can make the personification action of " leg foot " etc.In a broad sense, the maximum feature in the legged chassis of walking type excavator is exactly " amalgamation " to physiographic form.
Walking excavating machine chassis had both been different from four wheel drive pattern, was different from again the ground profiling drive pattern that some radial type engineering truck chassis adopts, and he has concurrently voluntarily and the feature of walking operation.The stability of body supports to guarantee by least three legs, and when one leg built on stilts, all the other legs can provide a triangle posture supporting at least all the time.The foothold of walking is discrete, can be on the ground that may be the optimum selection strong point voluntarily, finally make complete machine in stabilized conditions.Abrupt slope mainly relies on the bent mating reaction of stretching of forearm and bucket while walking, and complete machine is striden forward a step by a step.Because governable degree of freedom is numerous, the action of base apparatus and complete machine coordination are complicated, often rise, decline, swing, regulate and rotation, like this lifting of complete machine operating efficiency are played to great role.
As the vitals of walking type excavator, legged chassis need to meet following specific (special) requirements when complex-terrain operation: 1, weight is light as far as possible, to keep complete machine operating flexibility; 2, the secondary Collaborative Control coupled movements of many aggregate motions; 3, facilitate man-machine integrative control requirement; 4, the requirement of load-carrying capacity, guarantees that leg mechanism intensity adapts to construction requirement; 5, certain positional precision, applicable speed adjustable range.
At present, all kinds of legged chassis of domestic and international eight tonnes of walking type excavators are foreleg telescopic underpan.Such chassis is asymmetric structure, mainly has following problem:
1, member more complicated, manufacture process requirement is high;
2, back-wheel drive, front-wheel does not drive, on mountain topography, active drive obstacle climbing ability is not strong voluntarily, still do not possess four wheel drive ability, and be linked while carrying out gait motion and must adopt back-wheel drive with complete machine equipment, can not accomplish full wheel drive, whole efficiency lowers half relatively;
3, chassis fuel tank oil storage capacity is not strong, does not possess extended capability, and the self-holding ability in field is not high;
4, fore paw is fixed on foreleg, cannot rotate adjusting fore paw;
5, fore paw lacks the multifarious understanding of landform, functional too single, only relies on hoist cylinder flexible, and it is little that shank swings up and down scope;
6, do not accomplish eight tonnes of chassis light-weight design, the compound utilization ratio of parts is not high;
7, waiting under tonnage condition, chassis whole function degree is not strong.
Summary of the invention
The problem existing for above-mentioned prior art, the invention provides a kind of symmetrical expression multiple degree of freedom four-wheel and entirely drives the legged chassis of walking type excavator, and its oil storage capacity is strong, possesses extended capability, and the self-holding ability in field is high.
To achieve these goals, the technical solution used in the present invention is: a kind of symmetrical expression multiple degree of freedom four-wheel drives the legged chassis of walking type excavator entirely, comprise RAT, rotary table, right rear leg, hoist cylinder, left front leg and left back leg, described RAT and left front leg symmetrical configuration, right rear leg and left back leg symmetrical configuration; Described left front leg than left back leg many a set of foreleg fore paw regulating mechanism; Described rotary table is symmetrical structure, and two side fuel tanks by staged layout in centre tank and vertical direction in centre tank both sides form, and described centre tank is surrounded by base plate, seat ring, two upper cover plate A and two blocks of coaming plates; Described seat ring and two blocks of coaming plates are fixed on base plate, and two blocks of coaming plates are trapped among the outside of seat ring; Two upper cover plate A are fixed on the top in the space being surrounded by base plate, seat ring and two blocks of coaming plates; Two described side fuel tanks are surrounded by base plate, coaming plate, two side top boards and four the transition muscle, four sleeve A and two the cant board A that are fixed on coaming plate outside, base plate; The two ends of each cant board A respectively with vertical connection of one end of a sleeve A, the other end of sleeve A is connected with the outside of coaming plate by transition muscle; Side top board is fixed on the top in the space being surrounded by cant board A, sleeve A and transition muscle; Two supporting base A are installed, a hoist cylinder of the upper installation of each supporting seat A on each side top board; The bottom of described coaming plate has the hydraulic fluid port A excessively that centre tank and side fuel tank are communicated; Described rotary table is connected with RAT, right rear leg, left front leg and left back leg with corresponding sleeve A by a hoist cylinder respectively.
Further, be provided with the cant board B that side fuel tank is divided into two parts between described coaming plate and cant board A, the two ends of cant board B are connected with the sleeve A of both sides respectively; The bottom of described cant board B had hydraulic fluid port B.
Further, in described central mailbox, symmetry is laid with and wears oiled-plate method, and each bottom of wearing oiled-plate method all offers wears oilhole.
Further, on described side top board, the outside of outer supporting base A is provided with the backplate for the protection of hoist cylinder, and described backplate is connected with side top board by connecting panel A.
Preferably, described side top board both sides, with sleeve A junction downward bending, four jiaos of described base plate, with the bending that makes progress of sleeve A junction, and the pass between the bending angle β of the bending angle α of side top board and base plate is: α > β+5 °.
Preferably, the length L of described rotary table upper bush A
cylinder Abe greater than the shared width L of upper two hoist cylinders 4 of the same side top board 2-20
lifting.
Preferably, described left front leg than left back leg many a set of foreleg fore paw regulating mechanism, described left front leg comprises articulated body, oscillating oil cylinder, steering cylinder, leg joint, wheel hub, tire and foreleg fore paw regulating mechanism; Described articulated body is the articulated body with five rotary freedoms, and is connected with sleeve A, hoist cylinder, one end of oscillating oil cylinder, one end of one end of steering cylinder and leg joint on rotary table respectively; Described oscillating oil cylinder and steering cylinder are arranged in parallel in leg joint, and the oscillating oil cylinder other end is connected with the other end of leg joint; The other end of steering cylinder is connected with wheel hub; Described leg joint is connected with wheel hub; Described foreleg fore paw regulating mechanism has six rotary freedoms; Described tire and foreleg fore paw regulating mechanism are arranged on wheel hub.Described articulated body, oscillating oil cylinder and leg joint form a set of three-link mechanism at grade, by oscillating oil cylinder flexible realize inside and outside leg joint swing; Described articulated body, steering cylinder, leg joint and wheel hub form a set of four-bar linkage at grade, and the flexible tire of realizing by steering cylinder swings; Zhe Liangtao mechanism is parallel, has like this swing of jointed connecting rod winding machine leg, rear-axle steering, front-wheel steering, four-wheel steering, the various turning functions of crab row steering indicating light at leg joint position.
Because three-link mechanism and four-bar linkage form interlock leg joint 6-8 is inner, between two cover connecting rod mechanisms, there is coupled relation, in order to reach total tune, oscillating oil cylinder 6-1 and steering cylinder 6-2 should meet following relation:
A
pendulum+ 100<A
turn;
2L
turn<L
turn;
A
pendulum<L
cE<A
pendulum+ L
pendulum;
A
turn<L
cG<A
turn+ L
turn;
Wherein, A
pendulumrepresent oscillating oil cylinder 6-1 mounting distance; A
turnrepresent steering cylinder 6-2 mounting distance; L
pendulumrepresent oscillating oil cylinder 6-1 stroke; L
turnrepresent steering cylinder 6-2 stroke; L
cErepresent distance between axle C 6-6 and axle E 6-9; L
cGrepresent distance between axle C 6-6 and axle G 6-11.
Preferably, the tetrahedron framed structure that described articulated body is comprised of lower shoe, side plate A, upper plate and side plate B, hangs down on upper plate and is provided with riser A and the riser B of parallel placement; Horizontal between riser A and riser B have an axle D, and axle D is provided with axle sleeve B; Horizontal between side plate A and side plate B have an axle A; Between upper plate and lower shoe, the place ahead of axle A is provided with axle B and the axle C of vertical placement, axle B is provided with three axle sleeve A that are connected with side plate A; Described axle A is connected articulated body through side plate A, sleeve A and side plate B successively with rotary table; Described articulated body is connected with hoist cylinder by axle D, by axle C, is connected with leg joint, by axle B, is connected with steering cylinder with oscillating oil cylinder.
Preferably, described leg joint is to be sleeved on two sleeve B above and the core structure of weld together by upper sealing plate and lower shrouding; Between upper sealing plate and lower shrouding, be provided with the shrouding C of horizontal positioned; Between shrouding C and lower shrouding, be fixed with riser F and riser C, between riser F and riser C and shrouding C or lower shrouding, be welded with axle sleeve C; Described leg joint is by being located at axle G and the hub hinged in sleeve B; Oscillating oil cylinder is hinged by the axle E and the leg joint that are located in axle sleeve C, and steering cylinder is by axle F and hub hinged.
Preferably, described wheel hub comprises cylinder, back plate A, riser G, riser H, reinforced rib C, gusset B, gusset C and hush panel B, and two back plate A of riser G, riser H and horizontal positioned are located at cylinder outside; The cantilever beam being comprised of reinforced rib C, gusset B and gusset C passes across riser G and riser H, and with riser G and riser H weld together; Cylinder is provided with oil pipe import A and oil pipe outlet, and the port of cylinder one end is fixed with hush panel B.
Preferably, described cylinder is irregular cylinder.
Preferably, described foreleg fore paw regulating mechanism comprises support oil cylinder, supporting leg, fore paw, connecting rod, rocking bar and is 90 ° of supporting base C and supporting base B that are arranged on wheel hub, wheel hub, rocking bar, connecting rod and supporting leg composition four-bar linkage; One end of described rocking bar is connected with supporting base C by axle H, and the other end is connected with one end of connecting rod by axle M; The other end of connecting rod is connected with the rear end of supporting leg by axle L; On supporting leg, be connected with supporting base B by axle I with the below of connecting rod junction; The afterbody of support oil cylinder is connected with the middle part of connecting rod by axle K, and the head of support oil cylinder is connected with the rear end of supporting leg by axle J; The rear end of described supporting leg is provided with sleeve C; Described fore paw inserts in sleeve C, and fixes with latch.
Further, the top of described support oil cylinder is also provided with guar plate, between guar plate and support oil cylinder, supporting leg, by axle J, is connected.
Preferably, described fore paw changes the bionical fore paw of knockdown many landform for joining, and comprises latch assembly, connecting shaft component, fore paw base and support column assembly; Described support column assembly is comprised of four support columns; Described support column is support column A, support column B or the support column C that structure is different; Described fore paw base comprises fore paw base plate, is evenly distributed on four sleeve D at place, four angles of fore paw base plate and is arranged on fore paw base plate, for connecting side plate B, side plate C and the bent plate of four sleeve D; Latch assembly passes across bent plate, and is connected with connecting shaft component; Described sleeve D is a cannulated sleeve, and top is provided with air extractor vent, and inner side is provided with screw thread and is connected with support column.
Preferably, described support column A is the cylinder with sharp-pointed head; Described support column B is the cylinder that end is provided with serration circle configurations; Support column C is the cylinder that end is provided with L shaped bending plate, and the two ends of L shaped bending plate bending place are welded with stay bearing plate.
Compared with prior art, the present invention uses the secondary technology in joint, the construction machinery and equipment Roboticses such as connecting rod mechanism technology, combination mechanism control technology, chassis Lightweight Technology, one of final design can be realized the symmetrical expression rotary table of oil storage function and linkage function parts, the side fuel tank that its centre tank and both sides are offered forms plural serial stage, oil stream can mutually connect between centre tank and side fuel tank, make oil storage depend on no longer separately the inner space of centre tank, improved the oil tankage of at least one times; Under the condition of chaufeur operation in the wild, when main oil tank fuel oil exhausts situation, can extract the fuel oil on chassis, apparent, be so extremely beneficial to and extend the complete machine actual job time, its oil storage capacity is strong, possesses extended capability, and the self-holding ability in field is high; Designed the leg mechanism of realizing inside and outside swing and lifting being formed by the secondary coupling of two cover four-bar linkages and joint simultaneously, the foreleg fore paw regulating mechanism of one four-bar linkage and the combination of a set of joint vice mechanism, one can join and changes the bionical fore paw of many landform of compound type engineering, multiple full landform gait planning form and these joints are secondary, the connecting rod mechanism synergistic combination legged chassis that can be used for eight tonnes of walking type excavators together; Finally not only realized four wheel drive; And fore paw is hinged on supporting leg, can realize the rotation angle range of 0 °～46 °, make foreleg in actual job can realize three grades of vertical direction angular transposition adjustable with amplify; Also can be adapted to multiple landform by combination; Meanwhile, it is large that shank swings up and down scope, can satisfy the demands; In addition, by the cooperation of various parts, realized eight tonnes of chassis light-weight design, the compound utilization ratio of parts is high, and allomeric function is strong.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
The legged chassis of Fig. 2 walking type excavator mode of operation fore paw end points trajectory diagram;
The legged chassis of Fig. 3 walking type excavator adjustment state fore paw end points trajectory diagram;
Fig. 4 rotary table axonometric drawing;
The legged chassis of Fig. 5 partial view;
Fig. 6 rotary table lateral plan;
Fig. 7 left front leg axonometric drawing;
The left articulated body of Fig. 8 front axonometric drawing;
Axonometric drawing after the left articulated body of Fig. 9;
Figure 10 left front leg joint shaft view;
Figure 11 left wheel hub is local plane view axially;
Figure 12 foreleg fore paw regulating mechanism decomposes axonometric drawing;
Figure 13 fore paw axonometric drawing 1;
Figure 14 fore paw axonometric drawing 2;
Figure 15 fore paw axonometric drawing 3;
Figure 16 fore paw axonometric drawing 4;
Figure 17 fore paw axonometric drawing 5;
Figure 18 chassis crab row gait;
Figure 19 chassis turns entirely to gait;
Gait is raised on Figure 20 chassis all day;
The stepless full pacing state of Figure 21 chassis wheelspan;
In figure: 1, RAT, 2, rotary table, 3, right rear leg, 4, hoist cylinder, 5, left back leg, 6, left front leg, 2-1, cross hydraulic fluid port A, 2-2, cross hydraulic fluid port B, 2-3, wear oiled-plate method, 2-4, cant board A, 2-5, coaming plate, 2-6, base plate, 2-7, cant board B, 2-8, sleeve A, 2-9, transition muscle, 2-10, suspension hook, 2-11, cross oily passage, 2-12, pivoting support, 2-13, bolt A, 2-14, hush panel A, 2-15, seat ring, 2-16, bolt B, 2-17, supporting base A, 2-18, backplate, 2-19, connecting panel A, 2-20, side top board, 2-21, fuel lid, 2-22, upper cover plate A, 2-23, wear oilhole, 6-1, oscillating oil cylinder, 6-2, steering cylinder, 6-3, axle A, 6-4, articulated body, 6-5, axle B, 6-6, axle C, 6-7, axle D, 6-8, leg joint, 6-9, axle E, 6-10, axle F, 6-11, axle G, 6-12, wheel hub, 6-13, axle H, 6-14, foreleg fore paw regulating mechanism, 6-15, support oil cylinder, 6-16, latch, 6-17, supporting leg, 6-18, fore paw, 6-19, tire, 6-20, axle I, 6-4-1, lower shoe, 6-4-2, axle sleeve A, 6-4-3, gusset A, 6-4-4, side plate A, 6-4-5, upper plate, 6-4-6, shrouding A, 6-4-7, riser A, 6-4-8, connecting panel B, 6-4-9, axle sleeve B, 6-4-10, riser B, 6-4-11, shrouding B, 6-4-12, side plate B, 6-4-13, gusset A, 6-4-14, reinforced rib A, 6-4-15, reinforced rib B, 6-8-1, axle sleeve C, 6-8-2, riser C, 6-8-3, lower shrouding, 6-8-4, shrouding C, 6-8-5, upper sealing plate, 6-8-6, sleeve B, 6-8-7, riser D, 6-8-8, riser E, 6-8-9, the axis of guide, 6-8-10, riser F, 6-12-1, supporting base B, 6-12-2, bolt C, 6-12-3, hush panel B, 6-12-4, reinforced rib C, 6-12-5, gusset B, 6-12-6, oil pipe import A, 6-12-7, gusset C, 6-12-8, back plate A, 6-12-9, riser G, 6-12-10, riser H, 6-12-11, cylinder, 6-12-12, supporting base C, 6-12-13, oil pipe outlet, 6-14-1, guar plate, 6-14-2, axle J, 6-14-3, connecting rod, 6-14-4, axle K, 6-14-5, axle L, 6-14-6, axle M, 6-14-7, rocking bar, 6-14-8, sleeve C, 6-18-1, latch assembly, 6-18-2, support column, 6-18-2-1, support column A, 6-18-2-2, support column B, 6-18-2-3, support column C, 6-18-3, sleeve D, 6-18-4, fore paw base plate, 6-18-5, angle bar A, 6-18-6, side plate B, 6-18-7, connecting shaft component, 6-18-8, side plate C, 6-18-9, bent plate, 6-18-10, angle bar B, 6-18-11, bolt D, 6-18-12, pad A, 6-18-13, air extractor vent, B1, mode of operation track S
1, C1, adjustment state track S
2.
The specific embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
As shown in Figures 1 to 7, this symmetrical expression multiple degree of freedom four-wheel entirely drives the legged chassis of walking type excavator and comprises RAT 1, rotary table 2, right rear leg 3, hoist cylinder 4, left front leg 6 and left back leg 5, described RAT 1 and left front leg 6 symmetrical configuration, right rear leg 3 and left back leg 5 symmetrical configuration; Described left front leg 6 than left back leg more than 5 a set of foreleg fore paw regulating mechanism 6-14; Described rotary table 2 is symmetrical structure, two side fuel tanks by staged layout in centre tank and vertical direction in centre tank both sides form, and described centre tank is surrounded by base plate 2-6, seat ring 2-15, two upper cover plate A2-22 and two coaming plate 2-5; Described seat ring 2-15 and two coaming plate 2-5 are fixed on base plate 2-6 above, and two coaming plate 2-5 are trapped among the outside of seat ring 2-15; Two upper cover plate A2-22 are fixed on the top in the space being surrounded by base plate 2-6, seat ring 2-15 and two coaming plate 2-5;
Two described side fuel tanks are surrounded by base plate 2-6, coaming plate 2-5, two side top board 2-20 and four transition muscle 2-9, four the sleeve A2-8 and two the cant board A2-4 that are fixed on coaming plate 2-5 outside, base plate 2-6; The two ends of each cant board A2-4 respectively with vertical connection of one end of a sleeve A2-8, the other end of sleeve A2-8 is connected with the outside of coaming plate 2-5 by transition muscle 2-9; Side top board 2-20 is fixed on the top in the space being surrounded by cant board A2-4, sleeve A2-8 and transition muscle 2-9; On each side top board 2-20, two supporting base A2-17 are installed, a hoist cylinder 4 of the upper installation of each supporting seat A2-17; The bottom of described coaming plate 2-5 has the hydraulic fluid port A2-1 excessively that centre tank and side fuel tank are communicated;
Described rotary table 2 is connected with RAT 1, right rear leg 3, left front leg 6 and left back leg 5 with corresponding sleeve A2-8 by a hoist cylinder 4 respectively.
During use, because of rotary table 2, by staged layout in centre tank and vertical direction, two side fuel tanks in its both sides form, the bottom of while coaming plate 2-5 offered hydraulic fluid port A2-1 side fuel tank and centre tank is connected as one, form plural serial stage, oil stream can mutually connect between centre tank and side fuel tank, make oil storage depend on no longer separately the inner space of centre tank, improved the oil tankage of at least one times.Under the condition of chaufeur operation in the wild, when main oil tank fuel oil exhausts situation, can extract the fuel oil on chassis, apparent, be so extremely beneficial to and extend the complete machine actual job time.Meanwhile, centre tank and both sides side fuel tank staged layout are in vertical direction also for hoist cylinder 4 provides upper and lower extendable room.In addition, symmetrical prominent four sleeve A2-8 that put at 2 four angle points of rotary table are as unique strong point of rotary table 2, because of its be sealing cantilever beam structure like " unsettled " be horizontally placed on outside rotary table 2, and be connected with shank, utilize cantilever beam free end to there is flexible principle, make sleeve A2-8 when meeting rigidity, there is certain amount of deflection, and then make whole rotary table 2 there is certain rigidity shock-absorbing function, be beneficial to the lifting of rotary table overall performance.Also transition muscle 2-9 bending can be connected between centre tank and side fuel tank, cause four gap, these four gap formula layouts are conducive to the optimization of alleviating of rotary table 2 weight and assembly space.On its upper cover plate A2-22, can offer for adding oily oil hole to its inside, oil hole is provided with fuel lid 2-21.
Further, as shown in Figure 4, can between coaming plate 2-5 and cant board A2-4, be provided with the cant board B2-7 that side fuel tank is divided into two parts, the two ends of cant board B2-7 are connected with the sleeve A2-8 of both sides respectively; The bottom of described cant board B2-7 had hydraulic fluid port B2-2; By setting up this cant board B2-7, increase the intensity of whole side fuel tank, increase the pressure that side top board 2-20 can bear, prevent that the supporting seat A2-17 that is positioned at side top board 2-20 top from deforming, such topology layout can reduce side fuel tank internal for increasing the quantity of the gusset of its intensity, make the weight of rotary table 2 lighter, space utilization efficiency is higher, and fabrication technology is more simplified.
Further, can be in centre tank symmetry be laid with and wear oiled-plate method 2-3, each bottom of wearing oiled-plate method 2-3 all offers wears oilhole 2-23; On the one hand, wear oiled-plate method 2-3 and can weaken with coordinating of coaming plate 2-5 the external impact energy going up in any direction centre tank peripheral frame, and impact energy is dissipated along even circumferential; On the other hand, the oilhole 2-23 that wears of bottom flows in order to connect centre tank interior oil, formation cross between seat ring 2-15 and coaming plate 2-5 in order to form the oily passage 2-11 of mistake of the hydraulic efficiency pressure system oil pipe guiding channel of getting off, crossing oily passage 2-11 is opened in outside coaming plate 2-5 from the inside prolongation of seat ring 2-15, and be positioned on the side top board 2-20 of additional fuel tank, opening surface is to the sleeve A2-8 of four jiaos; Cross oily passage 2-11 and wear oiled-plate method 2-3 and in seat ring 2-15 and coaming plate 2-5, forms solid and seal integral frame-type centre tank, increased rigidity and the intensity of the pivoting support 2-12 being connected on seat ring 2-15.
Further, the outside of supporting base A2-17 that can be outer on each side top board 2-20 is equipped with the backplate 2-18 for the protection of hoist cylinder 4, and described backplate 2-18 is connected with side top board 2-20 by connecting panel A2-19; Arranging of backplate 2-18 can avoid hoist cylinder 4 in use to be collided,
Preferably, as shown in Figure 6, side top board 2-20 both sides, with sleeve A2-8 junction downward bending, four jiaos of described base plate 2-6, with the bending that makes progress of sleeve A2-8 junction, and the pass between the bending angle β of the bending angle α of side top board 2-20 and base plate 2-6 is: α > β+5 °, when the relationship of the two meets this condition, can make the junction of rotary table 2 and shank obtain the larger anglec of rotation, can drive supporting leg significantly to swing up and down, further promote the adjusting function on whole chassis.
Preferably, as shown in Figure 5, for take eight tonnes of rotary tables 2 that loss of weight is target, guaranteeing to settle two hoist cylinders 4 simultaneously, should make the length L of sleeve A2-8
cylinder Ashort as far as possible, and meet relation: L
cylinder A>L
lifting, wherein, L
liftingrepresent upper two width that hoist cylinder 4 is shared of the same side top board 2-20.
Preferably, as shown in Figure 7, described left front leg 6 than left back leg more than 5 a set of foreleg fore paw regulating mechanism 6-14, be foreleg (left front leg 6 or RAT 1) except than back leg (left back leg 5 or right rear leg 3) many a set of foreleg fore paw regulating mechanism 6-14, all the other equal structures and back leg (left back leg 5 or right rear leg 3) are similar, below take left front leg 6 and describe as example: described left front leg 6 comprises articulated body 6-4, oscillating oil cylinder 6-1, steering cylinder 6-2, leg joint 6-8, wheel hub 6-12, tire 6-19 and foreleg fore paw regulating mechanism 6-14; Described articulated body 6-4 is the articulated body with five rotary freedoms, and be connected with rotary table 2 by the axle A6-3 through sleeve A2-8, by axle D6-7, be connected with lifting hydraulic cylinder 4, by axle B6-5, be connected with one end of steering cylinder 6-2 with oscillating oil cylinder 6-1, by axle C6-6, be connected with one end of leg joint 6-8; Described oscillating oil cylinder 6-1 and steering cylinder 6-2 are arranged in parallel in leg joint 6-8, and the oscillating oil cylinder 6-1 other end is connected with the other end of leg joint 6-8 by axle E6-9; The other end of steering cylinder 6-2 is connected with wheel hub 6-12 by axle F6-10; Described leg joint 6-8 is connected with wheel hub 6-12 by axle G6-11; Described foreleg fore paw regulating mechanism 6-14 has six rotary freedoms; Described tire 6-19 and foreleg fore paw regulating mechanism 6-14 are arranged on wheel hub 6-12; Described articulated body 6-4, oscillating oil cylinder 6-1 and leg joint 6-8 form a set of three-link mechanism at grade, axle B6-5, axle C6-6 and axle E6-9 form three jointed shafts of three-link mechanism, by oscillating oil cylinder 6-1 flexible realize inside and outside leg joint swing; Described articulated body 6-4, steering cylinder 6-2, leg joint 6-8 and wheel hub 6-12 form a set of four-bar linkage at grade, axle B6-5, axle C6-6, axle F6-10 and axle G6-11 form four jointed shafts of four-bar linkage, the flexible tire 6-19 that realizes by steering cylinder 6-2 swings, specifically: flexible the making of steering cylinder 6-2 swings inside and outside wheel hub 6-12, because tire 6-19 is on the driving speed reducer being connected in wheel hub 6-12, along with the inside and outside swing of wheel hub 6-12, tire 6-19 turns to accordingly; Zhe Liangtao mechanism is parallel, has like this swing of jointed connecting rod winding machine leg, rear-axle steering, front-wheel steering, four-wheel steering, the various turning functions of crab row steering indicating light at leg joint position.
Because three-link mechanism and four-bar linkage form interlock leg joint 6-8 is inner, between two cover connecting rod mechanisms, there is coupled relation, in order to reach total tune, oscillating oil cylinder 6-1 and steering cylinder 6-2 should meet following relation:
A
pendulum+ 100<A
turn;
2L
turn<L
turn;
A
pendulum<L
cE<A
pendulum+ L
pendulum;
A
turn<L
cG<A
turn+ L
turn;
Wherein, A
pendulumrepresent oscillating oil cylinder 6-1 mounting distance; A
turnrepresent steering cylinder 6-2 mounting distance; L
pendulumrepresent oscillating oil cylinder 6-1 stroke; L
turnrepresent steering cylinder 6-2 stroke; L
cErepresent distance between axle C 6-6 and axle E 6-9; L
cGrepresent distance between axle C 6-6 and axle G 6-11.
Preferably, as shown in Figure 8 and Figure 9, the tetrahedron framed structure that described articulated body 6-14 is comprised of lower shoe 6-4-1, side plate A6-4-4, upper plate 6-4-5 and side plate B6-4-12, upper the hanging down of upper plate 6-4-5 is provided with riser A6-4-7 and the riser B6-4-10 of parallel placement; Described axle D6-7 is horizontal between riser A6-4-7 and riser B6-4-10 through axle sleeve B6-4-9, in order to strengthen hoist cylinder 4, be stability herein, also available shrouding A 6-4-6, connecting panel B 6-4-8 and shrouding B 6-4-11 strengthen carrying out part herein, and the reinforced rib B 6-4-15 by oblique preferred arrangement below upper plate 6-4-5 carries out affixed to side plate A 6-4-4, side plate B 6-4-12 and upper plate 6-4-5; Axle A6-3 is horizontal between side plate A6-4-4 and side plate B6-4-12; Axle B6-5 and axle C6-6 are vertical is arranged between upper plate 6-4-5 and lower shoe 6-4-1, the place ahead of axle A6-3, and axle B6-5 is provided with three axle sleeve A6-4-2 that are connected with side plate A6-4-4; Described axle A6-3 is connected articulated body 6-4 through side plate A6-4-4, sleeve A2-8 and side plate B6-4-12 successively with rotary table 2.
Preferably, for loss of weight can carry out concave design to upper plate 6-4-5 and lower shoe 6-4-1.Due to oscillating oil cylinder 6-1 and steering cylinder 6-2 being installed between three axle sleeve A6-4-2, in order to keep rigidity and the intensity at this place, available two gusset A 6-4-3 carry out part and add strong weld being positioned at axle sleeve A 6-4-2 in the middle of axle B 6-5.The trend of tearing laterally in order to weaken side plate A 6-4-4 and side plate B 6-4-12, arranges two gusset A 6-4-13 at two plates and lower shoe 6-4-1 corner.
Preferably, as shown in figure 10, described leg joint 6-8 is sleeved on two sleeve B6-8-6 above and the core structure of weld together by upper sealing plate 6-8-5 and lower shrouding 6-8-3; Between upper sealing plate 6-8-5 and lower shrouding 6-8-3, be provided with the shrouding C6-8-4 of horizontal positioned; Between shrouding C6-8-4 and lower shrouding 6-8-3, be fixed with riser F6-8-10 and riser C6-8-2, between riser F6-8-10 and riser C6-8-2 and shrouding C6-8-4 or lower shrouding 6-8-3, be welded with axle sleeve C6-8-1; Described leg joint 6-8 is hinged by the axle G6-11 and the wheel hub 6-12 that are located in sleeve B6-8-6; Oscillating oil cylinder 6-1 is hinged by the axle E6-9 and the leg joint 6-8 that are located in axle sleeve C6-8-1, and steering cylinder 6-2 is hinged by axle F6-10 and wheel hub 6-12.This structure, can make oscillating oil cylinder 6-1 and steering cylinder 6-2 stretch mutually by the passage in core structure, and prevent that two cylinder blocks from clashing into.Also can in leg joint 6-8, weld for stoping steering cylinder 6-2 too near the axis of guide 6-8-9 of sleeve B6-8-6, avoid its situation that directly strikes sleeve B6-8-6 to occur.
Preferably, as shown in figure 11, described wheel hub 6-12 comprises cylinder 6-12-11, back plate A6-12-8, riser G6-12-9, riser H6-12-10, reinforced rib C6-12-4, gusset B6-12-5, gusset C6-12-7 and hush panel B6-12-3, and two back plate A6-12-8 of riser G6-12-9, riser H6-12-10 and horizontal positioned are located at cylinder 6-12-11 outside; The cantilever beam being comprised of reinforced rib C6-12-4, gusset B6-12-5 and gusset C6-12-7 passes across riser G6-12-9 and riser H6-12-10, and with riser G6-12-9 and riser H6-12-10 weld together; Cylinder 6-12-11 is provided with oil pipe import A6-12-6 and oil pipe outlet 6-12-13, and the port of cylinder 6-12-11 one end is fixed with hush panel B6-12-3; Axle G6-11 vertical through between two back plate A6-12-8, make the wheel hub 6-12 can be hinged with leg joint 6-8; Axle F6-10 is connected with steering cylinder 6-2 through gusset B6-12-5 and gusset C6-12-7.Can select bolt C6-12-2 that hush panel B6-12-3 is fixed on to cylinder 6-12-1 port, cylinder 6-12-11 the inside is used for arranging driving speed reducer and motor.As shown in figure 11, for lightweight, described cylinder 6-12-11 can be designed to irregular cylinder.
Preferably, as shown in figure 12, described foreleg fore paw regulating mechanism 6-14 comprises support oil cylinder 6-15, supporting leg 6-17, fore paw 6-18, connecting rod 6-14-3, rocking bar 6-14-7 and is 90 ° of supporting base C6-12-12 and supporting base B6-12-1 that are arranged on wheel hub 6-12, wheel hub 6-12, rocking bar 6-14-7, connecting rod 6-14-3 and supporting leg 6-17 composition four-bar linkage; One end of described rocking bar 6-14-7 is connected with supporting base C6-12-12 by axle H6-13, and the other end is connected with one end of connecting rod 6-14-3 by axle M6-14-6; The other end of connecting rod 6-14-3 is connected with the rear end of supporting leg 6-17 by axle L6-14-5; Supporting leg 6-17 goes up, is connected with supporting base B6-12-1 by axle I6-20 with the below of connecting rod 6-14-3 junction; The afterbody of support oil cylinder 6-15 is connected with the middle part of connecting rod 6-14-3 by axle K6-14-4, and the head of support oil cylinder 6-15 is connected with the rear end of supporting leg 6-17 by axle J6-14-2; The rear end of described supporting leg 6-17 is provided with sleeve C 6-14-8; Described fore paw 6-18 inserts in sleeve C 6-14-8, and fixes with latch 6-16.Now, foreleg fore paw regulating mechanism 6-14 has six rotary freedoms, with four-bar linkage, as guide, with support oil cylinder 6-15, as pivot angle drive element, can make the swing of four connecting rods in connecting rod 6-14-3 tween drive shaft position realize certain angular transposition; By the flexible amplification again that realizes pivot angle scope of support oil cylinder 6-15, the angle of obliquity that acts on connecting rod 6-14-3 tween drive shaft position is realized and being changed from small to big in the course of the work, and variation range is between 10 °～70 ° again.Structurally, support oil cylinder 6-15, supporting leg 6-17 and connecting rod 6-14-3 can form stable triangle in operation random time.For lightweight, the structure of described supporting leg 6-17 can form the thick middle thin wedge single supported beam in two.
Preferably, the top of described support oil cylinder 6-15 is also provided with guar plate 6-14-1, between guar plate 6-14-1 and support oil cylinder 6-15, supporting leg 6-17, by axle J6-14-2, is connected, and can prevent that support oil cylinder 6-15 is knocked in the course of the work.
Preferably, as shown in Figure 13 to Figure 17, described fore paw 6-18 changes the bionical fore paw of knockdown many landform for joining, and comprises latch assembly 6-18-1, connecting shaft component 6-18-7, fore paw base and support column assembly; Described support column assembly is comprised of four support column 6-18-2; Described support column 6-18-2 is support column A 6-18-2-1, support column B6-18-2-2 or the support column C6-18-2-3 that structure is different; Described fore paw base comprises fore paw base plate 6-18-4, is evenly distributed on four sleeve D6-18-3 at place, tetra-angles of fore paw base plate 6-18-4 and is arranged on fore paw base plate 6-18-4, for connecting side plate B6-18-6, side plate C6-18-8 and the bent plate 6-18-9 of four sleeve D6-18-3; Latch assembly 6-18-1 passes across bent plate 6-18-9, and is connected with connecting shaft component 6-18-7; Described sleeve D6-18-3 is a cannulated sleeve, and top is provided with air extractor vent 6-18-13, and inner side is provided with screw thread and is connected with support column 6-18-2.
Described fore paw 6-18 and supporting leg 6-17 are hinged, when digging operation or climbing, before, 6-18 must support to increase traction, it is subjoint that latch assembly 6-18-1 on fore paw 6-18 and connecting shaft component 6-18-7 formation have a rotary freedom, under the effect of supporting power, fore paw 6-18 can realize the rotation angle range of 0 °～46 ° like this, like this in actual job foreleg can realize three grades of vertical direction angular transposition adjustable with amplify.
Because different terrain has otherness to the requirement of fore paw 6-18, so fore paw 6-18 and ground contacting part position are that support column 6-18-2 should have various engineering bionic function.Preferably, described support column A 6-18-2-1 is the cylinder with sharp-pointed head, more easily adapts to the forest floor that soil property is softer; Described support column B6-18-2-2 is the cylinder that end is provided with serration circle configurations, adapts in large level land such as the marsh of soil property friction force, mud ground work; Support column C6-18-2-3 is the cylinder that end is provided with L shaped bending plate, and the two ends of L shaped bending plate bending place are welded with stay bearing plate, adapts in the work of surface, rugged hard place soil property such as mountain region; Obviously, above-mentioned three kinds of support columns are combinations matches flexibly, and compound type fore paw has the adaptive capacity of shape more, and the optional matched form of this fore paw adds up 12 kinds; Its interchangeability is strong, and maintainability is good, relative fixed type fore paw, and functional adaptation space is more extensive.
In view of foregoing invention, as shown in Figure 2, this symmetrical expression multiple degree of freedom four-wheel entirely drives the legged chassis of walking type excavator and offers walking type excavator one mode of operation track S
1, i.e. B1 in figure.
In view of foregoing invention, as shown in Figure 3, this symmetrical expression multiple degree of freedom four-wheel entirely drives the legged chassis of walking type excavator and also offers walking type excavator one adjustment state track S
2, i.e. C1 in figure.
The present invention uses the secondary technology in joint, connecting rod mechanism technology, combination mechanism control technology, the construction machinery and equipment Roboticses such as chassis Lightweight Technology, one of final design can be realized the symmetrical expression rotary table 2 of oil storage function and linkage function parts, the leg mechanism of realizing inside and outside swing and lifting being formed by the secondary coupling of two cover four-bar linkages and joint, foreleg fore paw regulating mechanism 6-14 with a four-bar linkage and the combination of a set of joint vice mechanism, one can join and changes the bionical fore paw 6-18 of many landform of compound type engineering, multiple full landform gait planning form and these joints are secondary, the connecting rod mechanism synergistic combination legged chassis that can be used for eight tonnes of walking type excavators together.As shown in Figure 18 to Figure 21, independent control separately between four tire 6-19, left front leg 6, RAT 1, left back leg 5 and right rear leg 3, each leg combination can realize powerful full landform carrying capacity, obstacle climbing ability, under the control of each mechanism and oil cylinder, each other without interfering, finally can realize crab row, entirely turn to peculiar gait forms such as, rotary table integral raising, the stepless full tune of wheelspan.
By above-mentioned explanation, this domain can accomplish that full wheel drive combines with walking movement; Its whole height, center of gravity is adjustable, and each leg is upper and lower, inside and outside adjustable, and whole transverse and longitudinal wheelspan is electrodeless adjustable, can adapt to operation on the slope that maximum grade is 45 degree, and its job platform can be realized full circle swinging in the situation that of maximum oblique angle 20 degree.
Claims (15)
1. a symmetrical expression multiple degree of freedom four-wheel drives the legged chassis of walking type excavator entirely, comprise RAT (1), rotary table (2), right rear leg (3), hoist cylinder (4), left front leg (6) and left back leg (5), it is characterized in that, described RAT (1) and left front leg (6) symmetrical configuration, right rear leg (3) and left back leg (5) symmetrical configuration; Described left front leg (6) than left back leg (5) many a set of foreleg fore paw regulating mechanism (6-14);
Described rotary table (2) is symmetrical structure, two side fuel tanks by staged layout in centre tank and vertical direction in centre tank both sides form, and described centre tank is by base plate (2-6), seat ring (2-15), two upper cover plate A(2-22) and two blocks of coaming plates (2-5) surround; It is upper that described seat ring (2-15) and two blocks of coaming plates (2-5) are fixed on base plate (2-6), and two blocks of coaming plates (2-5) are trapped among the outside of seat ring (2-15); Two upper cover plate A(2-22) be fixed on the top in the space being surrounded by base plate (2-6), seat ring (2-15) and two blocks of coaming plates (2-5);
Two described side fuel tanks are by base plate (2-6), coaming plate (2-5), two side top boards (2-20) and be fixed on four transition muscle (2-9), four the sleeve A(2-8 on coaming plate (2-5) outside, base plate (2-6)) and two cant board A(2-4) surround; Each cant board A(2-4) two ends respectively with a sleeve A(2-8) vertical connection of one end, sleeve A(2-8) the other end by transition muscle (2-9), be connected with the outside of coaming plate (2-5); Side top board (2-20) is fixed on by cant board A(2-4), sleeve A(2-8) and the top in the space that surrounds of transition muscle (2-9); On each side top board (2-20), two supporting base A(2-17 are installed), each supporting seat A(2-17) the upper hoist cylinder (4) of installing; The bottom of described coaming plate (2-5) has the hydraulic fluid port A(2-1 excessively that centre tank and side fuel tank are communicated);
Described rotary table (2) is respectively by a hoist cylinder (4) and corresponding sleeve A(2-8) be connected with RAT (1), right rear leg (3), left front leg (6) and left back leg (5).
2. a kind of symmetrical expression multiple degree of freedom four-wheel according to claim 1 drives the legged chassis of walking type excavator entirely, it is characterized in that, described coaming plate (2-5) and cant board A(2-4) between be provided with the cant board B(2-7 that side fuel tank is divided into two parts), cant board B(2-7) two ends respectively with the sleeve A(2-8 of both sides) be connected; Described cant board B(2-7) bottom had hydraulic fluid port B(2-2).
3. a kind of symmetrical expression multiple degree of freedom four-wheel according to claim 1 drives the legged chassis of walking type excavator entirely, it is characterized in that, in described central mailbox, symmetry is laid with and wears oiled-plate method (2-3), and each bottom of wearing oiled-plate method (2-3) all offers wears oilhole (2-23).
4. a kind of symmetrical expression multiple degree of freedom four-wheel according to claim 1 drives the legged chassis of walking type excavator entirely; it is characterized in that; the upper outer supporting base A(2-17 of described side top board (2-20)) outside is provided with the backplate (2-18) for the protection of hoist cylinder (4), and described backplate (2-18) is by connecting panel A(2-19) be connected with side top board (2-20).
5. a kind of symmetrical expression multiple degree of freedom four-wheel according to claim 1 drives the legged chassis of walking type excavator entirely, it is characterized in that, described side top board (2-20) both sides, with sleeve A(2-8) junction downward bending, four jiaos of described base plate (2-6), with sleeve A(2-8) the junction bending that makes progress, and the pass between the bending angle β of the bending angle α of side top board (2-20) and base plate (2-6) is: α > β+5 °.
6. a kind of symmetrical expression multiple degree of freedom four-wheel according to claim 1 drives the legged chassis of walking type excavator entirely, it is characterized in that described rotary table (2) upper bush A(2-8) length L
cylinder Abe greater than the shared width L of upper two hoist cylinders of side top board (2-20) (4)
lifting.
7. a kind of symmetrical expression multiple degree of freedom four-wheel drives the legged chassis of walking type excavator entirely according to claim 1 or 5, it is characterized in that, described left front leg (6) comprises articulated body (6-4), oscillating oil cylinder (6-1), steering cylinder (6-2), leg joint (6-8), wheel hub (6-12), tire (6-19) and foreleg fore paw regulating mechanism (6-14); Described articulated body (6-4) is the articulated body with five rotary freedoms, and by through sleeve A(2-8) axle A(6-3) be connected with rotary table (2), by axle D(6-7) be connected with lifting hydraulic cylinder (4), by axle B(6-5) be connected with one end of steering cylinder (6-2) with oscillating oil cylinder (6-1), by axle C(6-6) be connected with one end of leg joint (6-8); Described oscillating oil cylinder (6-1) and steering cylinder (6-2) are arranged in parallel in leg joint (6-8), and oscillating oil cylinder (6-1) other end is by axle E(6-9) be connected with the other end of leg joint (6-8); The other end of steering cylinder (6-2) is by axle F(6-10) be connected with wheel hub (6-12); Described leg joint (6-8) is by axle G(6-11) be connected with wheel hub (6-12); Described foreleg fore paw regulating mechanism (6-14) has six rotary freedoms; Described tire (6-19) and foreleg fore paw regulating mechanism (6-14) are arranged on wheel hub (6-12); Described articulated body (6-4), oscillating oil cylinder (6-1) and leg joint (6-8) form a set of three-link mechanism at grade; Described articulated body (6-4), steering cylinder (6-2), leg joint (6-8) and wheel hub (6-12) form a set of four-bar linkage at grade.
8. a kind of symmetrical expression multiple degree of freedom four-wheel according to claim 7 drives the legged chassis of walking type excavator entirely, it is characterized in that, described articulated body (6-14) is by lower shoe (6-4-1), side plate A(6-4-4), upper plate (6-4-5) and side plate B(6-4-12) the tetrahedron framed structure that forms, upper the hanging down of upper plate (6-4-5) is provided with the riser A(6-4-7 of parallel placement) and riser B(6-4-10); Axle D(6-7) through axle sleeve B(6-4-9) horizontal at riser A(6-4-7) and riser B(6-4-10) between; Axle A(6-3) horizontal at side plate A(6-4-4) and side plate B(6-4-12) between; Axle B(6-5) and axle C(6-6) vertical be arranged between upper plate (6-4-5) and lower shoe (6-4-1), axle A(6-3) the place ahead be provided with, axle B(6-5) be provided with three with side plate A(6-4-4) the axle sleeve A(6-4-2 that is connected);
Described axle A(6-3) successively through side plate A(6-4-4), sleeve A(2-8) and side plate B(6-4-12) articulated body (6-4) is connected with rotary table (2); Described articulated body (6-4) is by axle D(6-7) be connected with hoist cylinder (4), by axle C(6-6) be connected with leg joint (6-8), by axle B(6-5) be connected with steering cylinder (6-2) with oscillating oil cylinder (6-1).
9. according to right, want a kind of symmetrical expression multiple degree of freedom four-wheel described in 7 entirely to drive the legged chassis of walking type excavator, it is characterized in that, described leg joint (6-8) is to be sleeved on two sleeve B(6-8-6 by upper sealing plate (6-8-5) and lower shrouding (6-8-3)) core structure of upper and weld together; Between upper sealing plate (6-8-5) and lower shrouding (6-8-3), be provided with the shrouding C(6-8-4 of horizontal positioned); Shrouding C(6-8-4) and between lower shrouding (6-8-3) be fixed with riser F(6-8-10) and riser C(6-8-2), riser F(6-8-10) and riser C(6-8-2) and shrouding C(6-8-4) or lower shrouding (6-8-3) between be welded with axle sleeve C(6-8-1);
Described leg joint (6-8) is by being located at sleeve B(6-8-6) interior axle G(6-11) hinged with wheel hub (6-12); Oscillating oil cylinder (6-1) is by being located at axle sleeve C(6-8-1) interior axle E(6-9) hinged with leg joint (6-8), steering cylinder (6-2) is by axle F(6-10) hinged with wheel hub (6-12).
10. a kind of symmetrical expression multiple degree of freedom four-wheel according to claim 7 drives the legged chassis of walking type excavator entirely, it is characterized in that, described wheel hub (6-12) comprises cylinder (6-12-11), back plate A(6-12-8), riser G(6-12-9), riser H(6-12-10), reinforced rib C(6-12-4), gusset B(6-12-5), gusset C(6-12-7) and hush panel B(6-12-3), riser G(6-12-9), riser H(6-12-10) and two back plate A(6-12-8 of horizontal positioned) be located at cylinder (6-12-11) outside; By reinforced rib C(6-12-4), gusset B(6-12-5) and gusset C(6-12-7) cantilever beam that forms passes across riser G(6-12-9) and riser H(6-12-10), and with riser G(6-12-9) and riser H(6-12-10) weld together; Cylinder (6-12-11) is provided with oil pipe import A(6-12-6) and oil pipe outlet (6-12-13), the port of cylinder (6-12-11) one end is fixed with hush panel B(6-12-3).
11. a kind of symmetrical expression multiple degree of freedom four-wheels according to claim 10 drive the legged chassis of walking type excavator entirely, it is characterized in that, described cylinder (6-12-11) is irregular cylinder.
12. a kind of symmetrical expression multiple degree of freedom four-wheels according to claim 7 drive the legged chassis of walking type excavator entirely, it is characterized in that, described foreleg fore paw regulating mechanism (6-14) comprises support oil cylinder (6-15), supporting leg (6-17), fore paw (6-18), connecting rod (6-14-3), rocking bar (6-14-7) and is 90 ° of supporting base C(6-12-12 that are arranged on wheel hub (6-12)) and supporting base B(6-12-1), wheel hub (6-12), rocking bar (6-14-7), connecting rod (6-14-3) and supporting leg (6-17) form four-bar linkage;
One end of described rocking bar (6-14-7) is by axle H(6-13) with supporting base C(6-12-12) be connected, the other end passes through axle M(6-14-6) be connected with one end of connecting rod (6-14-3); The other end of connecting rod (6-14-3) is by axle L(6-14-5) be connected with the rear end of supporting leg (6-17); Supporting leg (6-17) is upper, with the below of connecting rod (6-14-3) junction by axle I(6-20) with supporting base B(6-12-1) be connected; The afterbody of support oil cylinder (6-15) is by axle K(6-14-4) be connected with the middle part of connecting rod (6-14-3), the head of support oil cylinder (6-15) is by axle J(6-14-2) be connected with the rear end of supporting leg (6-17); The rear end of described supporting leg (6-17) is provided with sleeve C (6-14-8); Described fore paw (6-18) inserts in sleeve C (6-14-8), and fixing with latch (6-16).
13. a kind of symmetrical expression multiple degree of freedom four-wheels according to claim 12 drive the legged chassis of walking type excavator entirely, it is characterized in that, the top of described support oil cylinder (6-15) is also provided with guar plate (6-14-1), between guar plate (6-14-1) and support oil cylinder (6-15), supporting leg (6-17) by axle J(6-14-2) be connected.
14. a kind of symmetrical expression multiple degree of freedom four-wheels according to claim 7 drive the legged chassis of walking type excavator entirely, it is characterized in that, described fore paw (6-18) changes the bionical fore paw of knockdown many landform for joining, and comprises latch assembly (6-18-1), connecting shaft component (6-18-7), fore paw base and support column assembly; Described support column assembly is comprised of four support columns (6-18-2); Described support column (6-18-2) is the support column A(6-18-2-1 that structure is different), support column B(6-18-2-2) or support column C(6-18-2-3); Described fore paw base comprises fore paw base plate (6-18-4), be evenly distributed on four sleeve D(6-18-3 at place, four angles of fore paw base plate (6-18-4)) and be arranged on fore paw base plate (6-18-4) upper, for connecting four sleeve D(6-18-3) side plate B(6-18-6), side plate C(6-18-8) and bent plate (6-18-9); Latch assembly (6-18-1) passes across bent plate (6-18-9), and is connected with connecting shaft component (6-18-7); Described sleeve D(6-18-3) be a cannulated sleeve, top is provided with air extractor vent (6-18-13), and inner side is provided with screw thread and is connected with support column (6-18-2).
15. a kind of symmetrical expression multiple degree of freedom four-wheels according to claim 14 drive the legged chassis of walking type excavator entirely, it is characterized in that described support column A(6-18-2-1) be the cylinder with sharp-pointed head; Described support column B(6-18-2-2) be the cylinder that end is provided with serration circle configurations; Support column C(6-18-2-3) be the cylinder that end is provided with L shaped bending plate, the two ends of L shaped bending plate bending place are welded with stay bearing plate.
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