CN103661662B - It is a kind of symmetrical expression multiple degrees of freedom four-wheel drive walking type excavator mobile chassis entirely - Google Patents
It is a kind of symmetrical expression multiple degrees of freedom four-wheel drive walking type excavator mobile chassis entirely Download PDFInfo
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- CN103661662B CN103661662B CN201310597182.0A CN201310597182A CN103661662B CN 103661662 B CN103661662 B CN 103661662B CN 201310597182 A CN201310597182 A CN 201310597182A CN 103661662 B CN103661662 B CN 103661662B
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- 210000001364 upper extremity Anatomy 0.000 claims abstract description 66
- 239000002828 fuel tank Substances 0.000 claims abstract description 29
- 210000004744 fore-foot Anatomy 0.000 claims description 72
- 230000007246 mechanism Effects 0.000 claims description 58
- 210000001503 joint Anatomy 0.000 claims description 44
- 238000007789 sealing Methods 0.000 claims description 34
- 230000001105 regulatory effect Effects 0.000 claims description 23
- 238000005452 bending Methods 0.000 claims description 21
- 210000003205 muscle Anatomy 0.000 claims description 12
- 230000007704 transition Effects 0.000 claims description 11
- 238000000034 method Methods 0.000 claims description 10
- 230000003014 reinforcing effect Effects 0.000 claims description 10
- 239000012530 fluid Substances 0.000 claims description 9
- 239000000203 mixture Substances 0.000 claims description 8
- 230000001681 protective effect Effects 0.000 claims description 7
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 4
- 230000008676 import Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 4
- 238000003780 insertion Methods 0.000 claims description 3
- 230000037431 insertion Effects 0.000 claims description 3
- 230000001788 irregular Effects 0.000 claims description 3
- 239000003921 oil Substances 0.000 abstract description 75
- 238000003860 storage Methods 0.000 abstract description 8
- 239000000295 fuel oil Substances 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 11
- 230000005021 gait Effects 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 6
- 230000009194 climbing Effects 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 210000002683 foot Anatomy 0.000 description 3
- 239000002689 soil Substances 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 230000003321 amplification Effects 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 239000000945 filler Substances 0.000 description 2
- 238000003199 nucleic acid amplification method Methods 0.000 description 2
- 238000005728 strengthening Methods 0.000 description 2
- 239000011885 synergistic combination Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000005267 amalgamation Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 208000020442 loss of weight Diseases 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 239000010729 system oil Substances 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Abstract
The invention discloses a kind of symmetrical multiple degrees of freedom four-wheels to drive walking type excavator mobile chassis entirely, belong to the application field of engineering machinery, including right front leg (1), rotary table (2), right rear leg (3), lifting cylinder (4), left front leg (6) and left back leg (5), right front leg and left front leg symmetrical configuration, right rear leg and left back leg symmetrical configuration；Rotary table is symmetrical structure, it is made of two side fuel tanks of the staged layout in centre tank two sides in centre tank and vertical direction, rotary table passes through a lifting cylinder (4) respectively and corresponding sleeve A is connect with right front leg, right rear leg, left front leg and left back leg.Oil stream can be mutually communicated between centre tank and side fuel tank in rotary table in the present invention, so that oil storage is no longer depended solely on the inner space of centre tank, improved at least one times of oil tankage；Under conditions of field work, when main fuel tank empty, the fuel oil on chassis can be extracted, field ability of controlling oneself is high.
Description
Technical field
The present invention relates to a kind of walking type excavator mobile chassis, specifically a kind of symmetrical expression multiple degrees of freedom four-wheel drives entirely
Walking type excavator mobile chassis belongs to the application field of engineering machinery.
Background technique
It is well known that walking type excavator be it is a kind of can be completely general in the complicated full landform area such as forest, mountainous region, marsh
Full landform, multipurpose walker excavator.If walking type excavator to be compared to " operation spider-type robot of more dwelling ",
So mobile chassis is exactly its " waist+leg foot ".The operation function feature of " waist+leg foot " requires it that can be connected body
The other parts of body realize 360 ° of rotations of " waist ", can make the anthropomorphic movement of " leg foot " etc..In a broad sense, walking
Excavator mobile chassis maximum feature is exactly " amalgamation " to physical relief.
Walking excavating machine chassis had not only been different from four-wheel drive mode, but also was different from what certain radial type engineering chassis used
Ground profiling drive mode, he has concurrently voluntarily and the characteristics of walking operation.The stability of body by least three legs support come
Guarantee, when one leg leaves ground, remaining leg at least can provide a triangle posture bearing always.The foothold of walking be from
It is scattered, it so that complete machine is in stable state to selection supporting point voluntarily optimal on the ground crossed.Abrupt slope row
Forearm is relied primarily on when walking and stretches bent mating reaction with what is struggled against, strides forward complete machine a step by a step.Due to governable freedom degree
Numerous, the movement and complete machine coordination of base apparatus are complicated, frequent up and down, swing, adjusting and rotation, in this way to whole
The promotion of machine operation efficiency plays great role.
As the important component of walking type excavator, it is following special that mobile chassis needs to meet in complicated landform operation
It is required that: 1, weight as far as possible light, to keep overall operation flexible；2, multiple groups resultant motion pair Collaborative Control coupled movements；3, conveniently
Man-machine integrative control requirement；4, the requirement of bearing capacity, it is ensured that leg mechanism intensity adapts to construction requirement；5, certain position essence
Degree, suitable speed adjustable range.
Currently, all kinds of mobile chassis of domestic and international eight tonnes of walking type excavators are foreleg telescopic underpan.Such bottom
Disk is asymmetric structure, the main problems are as follows:
1, component is more complicated, and manufacturing process requires high；
2, rear wheel drive, front-wheel do not drive, and voluntarily active drive obstacle climbing ability is not strong on mountain topography, do not have four still
Wheel drive ability, and be linked with complete machine equipment must be using rear wheel drive when carrying out gait motion, it cannot
Accomplish a11wheel drive, whole efficiency is opposite to lower half；
3, chassis fuel tank oil storage capacity is not strong, does not have extended capability, and the self-holding ability in field is not high；
4, fore paw is fixed on foreleg, can not rotate adjusting fore paw；
5, fore paw lacks to the multifarious understanding of landform, functional excessively single, only relies on lifting cylinder and stretches, on leg
Lower swing range is little；
6, eight tonnes of chassis light-weight designs are not accomplished, components complicated utilization is inefficient；
7, etc. tonnages under the conditions of, chassis allomeric function degree is not strong.
Summary of the invention
In view of the above existing problems in the prior art, the present invention provides a kind of symmetrical multiple degrees of freedom four-wheels to drive walking entirely
Excavator mobile chassis, oil storage capacity is strong, has extended capability, and the self-holding ability in field is high.
To achieve the goals above, the technical solution adopted by the present invention is that: it is a kind of symmetrical expression multiple degrees of freedom four-wheel drive step entirely
Shoe formula excavator mobile chassis, including right front leg, rotary table, right rear leg, lifting cylinder, left front leg and left back leg, it is described
Right front leg and left front leg symmetrical configuration, right rear leg and left back leg symmetrical configuration；Before the left front leg is a set of more than the left back leg
Leg fore paw regulating mechanism；The rotary table is symmetrical structure, is existed by staged layout in centre tank and vertical direction
Two side fuel tanks of centre tank two sides form, and the centre tank is by bottom plate, seat ring, two pieces of upper cover plate A and two blocks of coaming plates
It surrounds；The seat ring and two blocks of coaming plates are fixed on bottom plate, and two blocks of coaming plates are trapped among the outside of seat ring；Two pieces of upper cover plate A are fixed on
By the top in the space that bottom plate, seat ring and two blocks of coaming plates surround；Two side fuel tanks are by bottom plate, coaming plate, two sides top
It plate and is fixed on coaming plate outside, four transition muscle on bottom plate, four sleeve A and two cant board A and surrounds；Each cant board
The both ends of A are vertical with one end of a sleeve A respectively to be connect, and the other end of sleeve A is connected by transition muscle with the outside of coaming plate；
Side top plate be fixed on by cant board A, sleeve A and transition muscle enclose at space top；On each side top plate there are two installations
One lifting cylinder is installed on fulcrum bearing A, each support base A；The bottom of the coaming plate, which is provided with, makes centre tank and side fuel tank phase
Logical crosses hydraulic fluid port A；The rotary table passes through a lifting cylinder and corresponding sleeve A and right front leg, right rear leg, a left side respectively
Foreleg is connected with left back leg.
Further, the cant board B that side fuel tank is divided into two parts is equipped between the coaming plate and cant board A, it is edge-on
The both ends of plate B are connect with the sleeve A of two sides respectively；The bottom of the cant board B was provided with hydraulic fluid port B.
Further, it is symmetrically laid in the central mailbox and wears oiled-plate method, the bottom for each wearing oiled-plate method, which offers, wears oil
Hole.
Further, the outside of fulcrum bearing A outer on the side top plate is equipped with the backplate for protecting lifting cylinder, described
Backplate connect with side top plate by connecting plate A.
Preferably, the side top plate two sides and the junction sleeve A downward bending, the quadrangle of the bottom plate and sleeve A
The upward bending in junction, and the relationship between the bending angle α of side top plate and the bending angle beta of bottom plate are as follows:+5 ° of α > β.
Preferably, L A of length of the rotary table upper bush A are greater than upper two lifting cylinders 4 of the same side top plate 2-20
Shared width L lifting.
Preferably, the left front leg a set of foreleg fore paw regulating mechanism, left front leg more than left back leg includes
Articulated body, oscillating oil cylinder, steering cylinder, leg joint, wheel hub, tire and foreleg fore paw regulating mechanism；The articulated body is that have
The articulated body of five rotary freedoms, and respectively on rotary table sleeve A, lifting cylinder, oscillating oil cylinder one end, turn to
One end of oil cylinder and one end connection of leg joint；The oscillating oil cylinder and steering cylinder are arranged in parallel in leg joint, are swung
The connection of the other end of the oil cylinder other end and leg joint；The other end of steering cylinder is connect with wheel hub；The leg joint and wheel hub connect
It connects；There are six rotary freedoms for the foreleg fore paw regulating mechanism tool；The tire and foreleg fore paw regulating mechanism are mounted on wheel
On hub.The articulated body, oscillating oil cylinder and leg joint constitute a set of three-link mechanism in the same plane, pass through oscillating oil cylinder
The flexible swing realized inside and outside leg joint；The articulated body, steering cylinder, leg joint and wheel hub constitute one in the same plane
Four-bar mechanism is covered, is swung by the flexible realization tire of steering cylinder；This Liang Tao mechanism is parallel, has in this way at leg joint position
Jointed connecting rod mechanism realizes leg swing, rear-axle steering, front-wheel steer, all-wheel steering, the various turning functions of crab row turn signal.
Since three-link mechanism and four-bar mechanism form linkage inside leg joint 6-8, deposited between two sets of link mechanisms
In coupled relation, in order to reach total tune, oscillating oil cylinder 6-1 and steering cylinder 6-2 should meet following relationship:
A puts+100 < A and turns；
2L turns < L turns；
A pendulum < LCE < A pendulum+L pendulum；
A turns < LCG < A turns+L turns；
Wherein, A pendulum indicates oscillating oil cylinder 6-1 mounting distance；A turns to indicate steering cylinder 6-2 mounting distance；L pendulum indicates pendulum
Dynamic oil cylinder 6-1 stroke；L turns to indicate steering cylinder 6-2 stroke；LCE indicates distance between axis C 6-6 and axis E 6-9；LCG is indicated
Distance between axis C 6-6 and axis G 6-11.
Preferably, the tetrahedral framework knot that the articulated body is made of lower plate, side plate A, upper plate and side plate B
Structure, hang down on upper plate the vertical plate A and vertical plate B for being equipped with and being placed in parallel；It is horizontal between vertical plate A and vertical plate B to there is axis D, axis D to be equipped with axis
Cover B；It is horizontal between side plate A and side plate B to have axis A；Between upper plate and lower plate, the front of axis A be equipped with the axis B that places vertically and
The axle sleeve A being connect there are three being set on axis C, axis B with side plate A；The axis A sequentially passes through side plate A, sleeve A and side plate B and will cut with scissors
Junctor is connect with rotary table；The articulated body is connect by axis D with lifting cylinder, is connect by axis C with leg joint, is passed through axis
B is connect with oscillating oil cylinder and steering cylinder.
Preferably, the leg joint is sleeved on two sleeve B and is welded together by upper sealing plate and lower sealing plate
Core structure；Horizontal positioned sealing plate C is equipped between upper sealing plate and lower sealing plate；Be fixed between sealing plate C and lower sealing plate vertical plate F and
Vertical plate C is welded with axle sleeve C between vertical plate F and vertical plate C and sealing plate C or lower sealing plate；The leg joint is by being located in sleeve B
Axis G and hub hinged；Oscillating oil cylinder is hinged by the axis E and leg joint being located in axle sleeve C, and steering cylinder passes through axis F and wheel hub
Hingedly.
Preferably, the wheel hub includes cylinder, support plate A, vertical plate G, vertical plate H, reinforcing rib C, gusset B, gusset C and envelope
Oralia B, vertical plate G, vertical plate H and two horizontal positioned support plate A are located on the outside of cylinder；By reinforcing rib C, gusset B and gusset C
The cantilever beam of composition passes across vertical plate G and vertical plate H, and welds together with vertical plate G and vertical plate H；Cylinder is equipped with oil pipe import A
It is exported with oil pipe, is fixed with hush panel B at the port of cylinder one end.
Preferably, the cylinder is irregular cylinder.
Preferably, the foreleg fore paw regulating mechanism includes support oil cylinder, supporting leg, fore paw, connecting rod, rocking bar and is in
90 ° of fulcrum bearing C and fulcrum bearing B being arranged on wheel hub, wheel hub, rocking bar, connecting rod and supporting leg form four-bar mechanism；The rocking bar
One end connect with fulcrum bearing C by axis H, the other end passes through one end connection of axis M and connecting rod；The other end of connecting rod passes through axis L
It is connect with the rear end of supporting leg；It is connect on supporting leg, with the lower section of connecting rod junction by axis I with fulcrum bearing B；The tail portion of support oil cylinder
It is connected by the middle part of axis K and connecting rod, the head of support oil cylinder is connected by the rear end of axis J and supporting leg；The rear end of the supporting leg
Equipped with sleeve C；In the fore paw insertion sleeve C, and fixed with bolt.
Further, it is additionally provided with protective plate above the support oil cylinder, passes through axis between protective plate and support oil cylinder, supporting leg
J connection.
Preferably, the fore paw is that can match to change the knockdown bionical fore paw of more landform, including latch assembly, connecting shaft group
Part, fore paw pedestal and bearing column assembly；The bearing column assembly is made of four support columns；The support column is that structure is different
Support column A, support column B or support column C；The fore paw pedestal includes fore paw bottom plate, is evenly distributed at four angles of fore paw bottom plate
Four sleeve D and be mounted on fore paw bottom plate, the side plate B for connecting four sleeve D, side plate C and bent plate；Latch assembly
Bent plate is passed across, and is connect with connecting shaft component；The sleeve D is a cannulated sleeve, and top is equipped with venthole, and inside is equipped with spiral shell
Line is simultaneously connect with support column.
Preferably, the support column A is the cylinder with sharp head；The support column B is end equipped with zigzag circle
The cylinder of all structures；Support column C is the cylinder that end is equipped with L shape bending plate, and the both ends of L shape bending plate bending place are welded with support
Plate.
Compared with prior art, the present invention uses joint pair technology, link mechanism technology, combined mechanism control technology, bottom
The engineering machinery robot technology such as disk Lightweight Technology, final design one can be realized oil storage function and linkage function component
Symmetrical rotary table, the side fuel tank that centre tank and two sides open up constitute plural serial stage, oil stream can centre tank with
It is mutually communicated between the fuel tank of side, so that oil storage no longer depends solely on the inner space of centre tank, improves at least one times
Oil tankage；Driver, when main fuel tank empty situation, can extract the combustion on chassis under conditions of field work
Oil, it is therefore apparent that be extremely conducive to extend the complete machine actual job time in this way, i.e. its oil storage capacity is strong, has extended capability, field
The ability of controlling oneself is high；It devises simultaneously and couples the achievable inside and outside swing and lifting formed with joint pair by two sets of four-bar mechanisms
Leg mechanism, the foreleg fore paw regulating mechanism that a four-bar mechanism is combined with a set of joint vice mechanism, one can be with changing the more ground of combined type
The bionical fore paw of shape engineering, a variety of full landform gait planning forms and secondary, link mechanism synergistic combination is together by these joints
It can be used for the mobile chassis of eight tonnes of walking type excavators；Finally not only realize four-wheel drive；Moreover, fore paw is hinged on branch
On leg, 0 °~46 ° of rotation angle range can be realized, so that foreleg can realize the three of vertical direction angular displacement in actual job
Grade is adjustable and amplification；A variety of landform can also be adapted to by combination；Meanwhile to swing up and down range big for leg, can satisfy demand；
In addition, realizing eight tonnes of chassis light-weight designs by the cooperation of various parts, components complicated utilization is high-efficient, whole
Function is strong.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 walking type excavator mobile chassis working condition fore paw endpoint trace figure；
Fig. 3 walking type excavator mobile chassis adjustment state fore paw endpoint trace figure；
Fig. 4 rotary table axonometric drawing；
Fig. 5 mobile chassis partial view；
Fig. 6 rotary table side view；
Fig. 7 left front leg axonometric drawing；
The left articulated body front axonometric drawing of Fig. 8；
Axonometric drawing behind the left articulated body of Fig. 9；
Figure 10 left front leg joint axonometric drawing；
The axial part plane view of Figure 11 left wheel hub；
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；
The chassis Figure 18 crab row gait；
The chassis Figure 19 is turned entirely to gait；
Raise gait all day in the chassis Figure 20；
The stepless full pacing state of the chassis Figure 21 wheelspan；
In figure: 1, right front leg, 2, rotary table, 3, right rear leg, 4, lifting cylinder, 5, left back leg, 6, left front leg, 2-1, mistake
Hydraulic fluid port A, 2-2, hydraulic fluid port B is crossed, 2-3, wears oiled-plate method, 2-4, cant board A, 2-5, coaming plate, 2-6, bottom plate, 2-7, cant board B, 2-8, set
Cylinder A, 2-9, transition muscle, 2-10, suspension hook, 2-11, oil passage, 2-12, pivoting support, 2-13, bolt A, 2-14, hush panel A,
2-15, seat ring, 2-16, bolt B, 2-17, fulcrum bearing A, 2-18, backplate, 2-19, connecting plate A, 2-20, side top plate, 2-21, oil
2-22, upper cover plate A, 2-23, case lid wears oilhole, 6-1, oscillating oil cylinder, 6-2, steering cylinder, 6-3, axis A, 6-4, articulated body, 6-
5, axis B, 6-6, axis C, 6-7, axis D, 6-8, leg joint, 6-9, axis E, 6-10, axis F, 6-11, axis G, 6-12, wheel hub, 6-13, axis
H, 6-14, foreleg fore paw regulating mechanism, 6-15, support oil cylinder, 6-16, bolt, 6-17, supporting leg, 6-18, fore paw, 6-19, wheel
Tire, 6-20, axis I, 6-4-1, lower plate, 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, sealing plate A, 6-4-7, vertical plate A, 6-4-8, connecting plate B, 6-4-9, axle sleeve B, 6-4-10, vertical plate B, 6-4-11, sealing plate B, 6-
4-12, side plate B, 6-4-13, gusset A, 6-4-14, reinforcing rib A, 6-4-15, reinforcing rib B, 6-8-1, axle sleeve C, 6-8-2, vertical plate
C, 6-8-3, lower sealing plate, 6-8-4, sealing plate C, 6-8-5, upper sealing plate, 6-8-6, sleeve B, 6-8-7, vertical plate D, 6-8-8, vertical plate E,
6-8-9, guiding axis, 6-8-10, vertical plate F, 6-12-1, fulcrum bearing B, 6-12-2, bolt C, 6-12-3, hush panel B, 6-12-4,
Reinforcing rib C, 6-12-5, gusset B, 6-12-6, oil pipe import A, 6-12-7, gusset C, 6-12-8, support plate A, 6-12-9, vertical plate
G, 6-12-10, vertical plate H, 6-12-11, cylinder, 6-12-12, fulcrum bearing C, 6-12-13, oil pipe outlet, 6-14-1, protective plate,
6-14-2, axis J, 6-14-3, connecting rod, 6-14-4, axis K, 6-14-5, axis L, 6-14-6, axis M, 6-14-7, rocking bar, 6-14-8, set
Cylinder 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 bottom 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, gasket A, 6-18-
13, venthole, B1, working condition track S1, C1, adjustment state track S2.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings.
As shown in Figures 1 to 7, before this symmetrical expression multiple degrees of freedom four-wheel drives walking type excavator mobile chassis including the right side entirely
Leg 1, rotary table 2, right rear leg 3, lifting cylinder 4, left front leg 6 and left back leg 5, the right front leg 1 and 6 structure pair of left front leg
Claim, right rear leg 3 and left back 5 symmetrical configuration of leg；The left front leg 6 is than a set of foreleg fore paw regulating mechanism 6- of left back leg more than 5
14；The rotary table 2 is symmetrical structure, by staged layout in centre tank and vertical direction in centre tank two sides
Two side fuel tanks composition, the centre tank is by bottom plate 2-6, seat ring 2-15, two pieces of upper cover plate A2-22 and two pieces of coaming plate 2-
5 surround；The seat ring 2-15 and two pieces of coaming plate 2-5 are fixed on bottom plate 2-6, and two pieces of coaming plate 2-5 are trapped among the outside of seat ring 2-15；
Two pieces of upper cover plate A2-22 are fixed on by the top in the space surrounded bottom plate 2-6, seat ring 2-15 and two pieces of coaming plate 2-5；
Two side fuel tanks are by bottom plate 2-6, coaming plate 2-5, two side top plate 2-20 and are fixed on outside coaming plate 2-5
Four transition muscle 2-9, four sleeve A2-8 and two cant board A2-4 on side, bottom plate 2-6 are surrounded；Each cant board A2-4's
Both ends are vertical with one end of a sleeve A2-8 respectively to be connect, and the other end of sleeve A2-8 passes through transition muscle 2-9's and coaming plate 2-5
Outside is connected；Side top plate 2-20 is fixed on by the top in the space surrounded cant board A2-4, sleeve A2-8 and transition muscle 2-9；
A lifting cylinder 4 is installed on fulcrum bearing A2-17 there are two installations on each side top plate 2-20, each support base A2-17；It is described
The bottom of coaming plate 2-5 is provided with the hydraulic fluid port A2-1 excessively for communicating centre tank and side fuel tank；
The rotary table 2 passes through a lifting cylinder 4 and corresponding sleeve A2-8 and right front leg 1, right rear leg respectively
3, left front leg 6 and left back leg 5 connect.
In use, because rotary table 2 by centre tank and vertical direction staged layout its two sides two side oil
Case composition, while the bottom of coaming plate 2-5 offered hydraulic fluid port A2-1 and side fuel tank is connected as one with centre tank, constituted more
Grade series connection, oil stream can be mutually communicated between centre tank and side fuel tank, so that oil storage no longer depends solely on centre tank
Inner space, improve at least one times of oil tankage.Driver is under conditions of field work, when main fuel tank empty
When situation, the fuel oil on chassis can be extracted, it is therefore apparent that be extremely conducive to extend the complete machine actual job time in this way.In meanwhile
The staged layout of centre fuel tank and two sides side fuel tank in vertical direction also provides extendable room up and down for lifting cylinder 4.This
Outside, sole support point of the symmetrical prominent four sleeve A2-8 set in 2 four angle points of rotary table as rotary table 2, because it is in
" hanging " is horizontally placed on except rotary table 2 as closing cantilever beam structure, and connect with leg, has using cantilever beam free end
Flexible principle so that sleeve A2-8 while meeting rigidity with certain amount of deflection so that entire rotary table 2 has
There is certain rigid shock-absorbing function, conducive to the promotion of rotary table overall performance.Also transition muscle 2-9 bending can be connected to center
Between fuel tank and side fuel tank, four gap are caused, this four gap formula layouts are conducive to the mitigation and assembly of 2 weight of rotary table
The optimization in space.It can be offered on its upper cover plate A2-22 for the oil filler point for adding oil inside it, oil filler point to be equipped with oil
Case lid 2-21.
Further, side fuel tank is divided into two parts as shown in figure 4, can be equipped between coaming plate 2-5 and cant board A2-4
Cant board B2-7, the both ends of cant board B2-7 are connect with the sleeve A2-8 of two sides respectively；It opens the bottom of the cant board B2-7
There is hydraulic fluid port B2-2；Increase the intensity of entire side fuel tank by adding cant board B2-7, increasing side top plate 2-20 can hold
The pressure received prevents the support base A2-17 being located above side top plate 2-20 from deforming, and such topology layout can reduce side
Fuel tank internal is used to increase the quantity of the gusset of its intensity, keeps the weight of rotary table 2 lighter, and space efficiency utilization is higher, system
It is more simplified to make assembly technology.
Further, it can be symmetrically laid in centre tank and wear oiled-plate method 2-3, the bottom for each wearing oiled-plate method 2-3 offers
Wear oilhole 2-23；On the one hand, the cooperation for wearing oiled-plate method 2-3 and coaming plate 2-5 can weaken in any direction to centre tank periphery
The external impact energy of frame, and make impact energy circumferentially even dissipation；On the other hand, oilhole 2-23 is worn to pass through in bottom
Oil stream inside logical centre tank, formed cross between seat ring 2-15 and coaming plate 2-5 to form hydraulic system oil pipe of getting off
The oil passage 2-11 of guiding channel, oil passage 2-11 is opened in except coaming plate 2-5 from the Inner elongate of seat ring 2-15, and position
On the side top plate 2-20 of auxiliary fuel tank, be open the sleeve A2-8 towards quadrangle；Oil passage 2-11 and oiled-plate method 2-3 is worn in seat ring
Three-dimensional closing integral frame-type centre tank is constituted in 2-15 and coaming plate 2-5, increases the revolution branch being connected on seat ring 2-15
Hold the rigidity and intensity of 2-12.
Further, it is equipped on the outside of fulcrum bearing A2-17 that can be outer on each side top plate 2-20 for protecting lifting
The backplate 2-18, the backplate 2-18 of oil cylinder 4 are connect by connecting plate A2-19 with side top plate 2-20；The setting of backplate 2-18
It can be collided in use to avoid lifting cylinder 4,
Preferably, as shown in fig. 6, the side two sides top plate 2-20 and the junction sleeve A2-8 downward bending, the bottom plate 2-6
Quadrangle, with the upward bending in the junction sleeve A2-8, and the pass between the bending angle beta of the bending angle α and bottom plate 2-6 of side top plate 2-20
System are as follows:+5 ° of α > β, when the relationship of the two meets this condition, the junction of rotary table 2 and leg can be made to obtain bigger rotation
Gyration, can drive supporting leg significantly to swing up and down, and further improve the regulation performance on entire chassis.
Preferably, as shown in figure 5, to for eight tonnes of rotary tables 2 of target, guaranteeing placement two using loss of weight
A lifting cylinder 4 simultaneously, should make L A of length of sleeve A2-8 as short as possible, and meet relationship: L A > L liftings, wherein L liter
The petition of surrender shows width shared by upper two lifting cylinders 4 of the same side top plate 2-20.
Preferably, as shown in fig. 7, the left front leg 6 is than a set of foreleg fore paw regulating mechanism 6-14 of left back leg more than 5,
I.e. foreleg (left front leg 6 or right front leg 1) is in addition to mostly than back leg (left back leg 5 or right rear leg 3) a set of foreleg fore paw regulating mechanism
Except 6-14, remaining equal structure is similar with back leg (left back leg 5 or right rear leg 3), is illustrated by taking left front leg 6 as an example below: institute
The left front leg 6 stated includes articulated body 6-4, oscillating oil cylinder 6-1, steering cylinder 6-2, leg joint 6-8, wheel hub 6-12, tire 6-19
With foreleg fore paw regulating mechanism 6-14；The articulated body 6-4 is the articulated body having there are five rotary freedom, and by across set
The axis A6-3 of cylinder A2-8 is connect with rotary table 2, is connect by axis D6-7 with lifting cylinder 4, is passed through axis B6-5 and oscillating oil cylinder
6-1 is connected with one end of steering cylinder 6-2, is connect by axis C6-6 with one end of leg joint 6-8；The oscillating oil cylinder 6-1 and
Steering cylinder 6-2 is arranged in parallel in leg joint 6-8, and the oscillating oil cylinder 6-1 other end is another by axis E6-9 and leg joint 6-8's
End connection；The other end of steering cylinder 6-2 is connect by axis F6-10 with wheel hub 6-12；The leg joint 6-8 passes through axis G6-11
It is connect with wheel hub 6-12；There are six rotary freedoms for the foreleg fore paw regulating mechanism 6-14 tool；The tire 6-19 and foreleg
Fore paw regulating mechanism 6-14 is mounted on wheel hub 6-12；The articulated body 6-4, oscillating oil cylinder 6-1 and leg joint 6-8 are same flat
A set of three-link mechanism is constituted on face, axis B6-5, axis C6-6 and axis E6-9 constitute three articulated shafts of three-link mechanism, pass through pendulum
Swing inside and outside the flexible realization leg joint of dynamic oil cylinder 6-1；The articulated body 6-4, steering cylinder 6-2, leg joint 6-8 and wheel
Hub 6-12 constitutes a set of four-bar mechanism in the same plane, and axis B6-5, axis C6-6, axis F6-10 and axis G6-11 constitute double leval jib
Four articulated shafts of mechanism are swung by the flexible realization tire 6-19 of steering cylinder 6-2, and specifically: steering cylinder 6-2's stretches
Contracting makes wheel hub 6-12 is inside and outside to swing, since tire 6-19 is on the driving speed reducer being connected in wheel hub 6-12, with wheel hub
The inside and outside swing of 6-12, tire 6-19 are turned to accordingly；This Liang Tao mechanism is parallel, has combination to connect at leg joint position in this way
Linkage realizes leg swing, rear-axle steering, front-wheel steer, all-wheel steering, the various turning functions of crab row turn signal.
Since three-link mechanism and four-bar mechanism form linkage inside leg joint 6-8, deposited between two sets of link mechanisms
In coupled relation, in order to reach total tune, oscillating oil cylinder 6-1 and steering cylinder 6-2 should meet following relationship:
A puts+100 < A and turns；
2L turns < L turns；
A pendulum < LCE < A pendulum+L pendulum；
A turns < LCG < A turns+L turns；
Wherein, A pendulum indicates oscillating oil cylinder 6-1 mounting distance；A turns to indicate steering cylinder 6-2 mounting distance；L pendulum indicates pendulum
Dynamic oil cylinder 6-1 stroke；L turns to indicate steering cylinder 6-2 stroke；LCE indicates distance between axis C 6-6 and axis E 6-9；LCG is indicated
Distance between axis C 6-6 and axis G 6-11.
Preferably, as shown in Figure 8 and Figure 9, the articulated body 6-14 is by lower plate 6-4-1, side plate A6-4-4, upper top
The tetrahedral framework structure of plate 6-4-5 and side plate B6-4-12 composition, hang down on upper plate 6-4-5 the vertical plate A6- for being equipped with and being placed in parallel
4-7 and vertical plate B6-4-10；The axis D6-7 is horizontal vertical plate A6-4-7 and vertical plate B6-4-10 across axle sleeve B6-4-9, is
Enhancing lifting cylinder 4 is stability here, also can be used sealing plate A 6-4-6, connecting plate B 6-4-8 and sealing plate B 6-4-11 couple
Local strengthening is carried out herein, with the reinforcing rib B 6-4-15 of oblique preferred arrangement to side plate A 6-4- below upper plate 6-4-5
4, side plate B 6-4-12 and upper plate 6-4-5 is carried out affixed；Axis A6-3 is horizontal between side plate A6-4-4 and side plate B6-4-12；
Axis B6-5 and axis C6-6 it is vertical be arranged between upper plate 6-4-5 and lower plate 6-4-1, the front of axis A6-3, on axis B6-5
If there are three the axle sleeve A6-4-2 connecting with side plate A6-4-4；The axis A6-3 sequentially passes through side plate A6-4-4, sleeve A2-8
And articulated body 6-4 is connect by side plate B6-4-12 with rotary table 2.
Preferably, concave design can be carried out to upper plate 6-4-5 and lower plate 6-4-1 in order to reduce the weight.Due to three axle sleeve A
Oscillating oil cylinder 6-1 and steering cylinder 6-2 are installed between 6-4-2, in order to keep the rigidity and intensity at this, two gussets can be used
A 6-4-3 carries out local strengthening welding to the axle sleeve A 6-4-2 being located among axis B 6-5.In order to weaken side plate A 6-4-4 and side
Two gusset A 6-4-13 are arranged in two plates and lower plate 6-4-1 corner in the trend that plate B 6-4-12 is torn outward.
Preferably, as shown in Figure 10, the leg joint 6-8 is to be sleeved on two by upper sealing plate 6-8-5 and lower sealing plate 6-8-3
On a sleeve B6-8-6 and the core structure that welds together；It is put between upper sealing plate 6-8-5 and lower sealing plate 6-8-3 equipped with level
The sealing plate C6-8-4 set；Vertical plate F6-8-10 and vertical plate C6-8-2, vertical plate are fixed between sealing plate C6-8-4 and lower sealing plate 6-8-3
Axle sleeve C6-8-1 is welded between F6-8-10 and vertical plate C6-8-2 and sealing plate C6-8-4 or lower sealing plate 6-8-3；The leg joint 6-
8 is hinged by the axis G6-11 and wheel hub 6-12 that are located in sleeve B6-8-6；Oscillating oil cylinder 6-1 is by being located in axle sleeve C6-8-1
Axis E6-9 and leg joint 6-8 it is hinged, steering cylinder 6-2 by axis F6-10 and wheel hub 6-12 it is hinged.This structure can make to put
Dynamic oil cylinder 6-1 and steering cylinder 6-2 can stretch mutually in the channel in core structure, and prevent two cylinder blocks from hitting.
The guiding axis 6-8-9 for preventing steering cylinder 6-2 too close to sleeve B6-8-6 can be also welded in leg joint 6-8, avoided
It directly impinges the generation of the case where sleeve B6-8-6.
Preferably, as shown in figure 11, the wheel hub 6-12 includes cylinder 6-12-11, support plate A6-12-8, vertical plate G6-
12-9, vertical plate H6-12-10, reinforcing rib C6-12-4, gusset B6-12-5, gusset C6-12-7 and hush panel B6-12-3, vertical plate
G6-12-9, vertical plate H6-12-10 and two horizontal positioned support plate A6-12-8 are located on the outside of cylinder 6-12-11；By reinforcing
The cantilever beam of muscle C6-12-4, gusset B6-12-5 and gusset C6-12-7 composition passes across vertical plate G6-12-9 and vertical plate H6-12-
10, and weld together with vertical plate G6-12-9 and vertical plate H6-12-10；Cylinder 6-12-11 be equipped with oil pipe import A6-12-6 and
Oil pipe exports 6-12-13, is fixed with hush panel B6-12-3 at the port of the one end cylinder 6-12-11；Axis G6-11 is vertical to be passed through
Between two support plate A6-12-8, keep wheel hub 6-12 and leg joint 6-8 hinged；Axis F6-10 passes through gusset B6-
12-5 and gusset C6-12-7 are connect with steering cylinder 6-2.It can select bolt C6-12-2 that hush panel B6-12-3 is fixed on circle
At the port cylinder 6-12-1, for arranging driving speed reducer and motor inside cylinder 6-12-11.As shown in figure 11, for lightweight,
The cylinder 6-12-11 can be designed to irregular cylinder.
Preferably, as shown in figure 12, the foreleg fore paw regulating mechanism 6-14 includes support oil cylinder 6-15, supporting leg 6-
17, fore paw 6-18, connecting rod 6-14-3, rocking bar 6-14-7 and the fulcrum bearing C6-12-12 being arranged on wheel hub 6-12 in 90 ° and
Fulcrum bearing B6-12-1, wheel hub 6-12, rocking bar 6-14-7, connecting rod 6-14-3 and supporting leg 6-17 form four-bar mechanism；The rocking bar
One end of 6-14-7 is connect by axis H6-13 with fulcrum bearing C6-12-12, and the other end passes through axis M6-14-6's and connecting rod 6-14-3
One end connection；The other end of connecting rod 6-14-3 is connect by axis L6-14-5 with the rear end of supporting leg 6-17；On supporting leg 6-17 and even
The lower section of the junction bar 6-14-3 is connect by axis I6-20 with fulcrum bearing B6-12-1；The tail portion of support oil cylinder 6-15 passes through axis
K6-14-4 is connect with the middle part of connecting rod 6-14-3, and the head of support oil cylinder 6-15 passes through the rear end of axis J6-14-2 and supporting leg 6-17
Connection；The rear end of the supporting leg 6-17 is equipped with sleeve C 6-14-8；In the fore paw 6-18 insertion sleeve C 6-14-8, and use bolt
6-16 is fixed.At this point, there are six rotary freedoms for foreleg fore paw regulating mechanism 6-14 tool, use four-bar mechanism as vectoring aircraft
Structure uses support oil cylinder 6-15 as pivot angle driving part, the swing of double leval jib shaft position among connecting rod 6-14-3 can be made real
Now certain angular displacement；Again by the amplification again of the flexible realization pivot angle range of support oil cylinder 6-15, connecting rod 6-14- is acted on
The pressure angle of 3 intermediate shaft positions is realized during the work time to change from small to big, and variation range is between 10 °~70 °.In structure
On, support oil cylinder 6-15, supporting leg 6-17 and connecting rod 6-14-3 can constitute stable triangle in operation any time.In order to
Lightweight, the structure of the supporting leg 6-17 can form the thick intermediate thin wedge simply supported beam in both ends.
Preferably, protective plate 6-14-1, protective plate 6-14-1 and supporting leg oil are additionally provided with above the support oil cylinder 6-15
It is connected between cylinder 6-15, supporting leg 6-17 by axis J6-14-2, support oil cylinder 6-15 can be prevented to be knocked during the work time.
Preferably, as shown in Figure 13 to Figure 17, the fore paw 6-18 is that can match to change the knockdown bionical fore paw of more landform,
Including latch assembly 6-18-1, connecting shaft component 6-18-7, fore paw pedestal and bearing column assembly；The bearing column assembly is by four
Support column 6-18-2 composition；The support column 6-18-2 is different support column A 6-18-2-1, the support column B6-18-2-2 of structure
Or support column C6-18-2-3；The fore paw pedestal includes fore paw bottom plate 6-18-4, is evenly distributed on fore paw bottom plate 6-18-4 tetra-
It four sleeve D6-18-3 at angle and is mounted on fore paw bottom plate 6-18-4, the side plate for connecting four sleeve D6-18-3
B6-18-6, side plate C6-18-8 and bent plate 6-18-9；Latch assembly 6-18-1 passes across bent plate 6-18-9, and and connecting shaft component
6-18-7 connection；The sleeve D6-18-3 be a cannulated sleeve, top be equipped with venthole 6-18-13, inside be equipped with screw thread and with
Support column 6-18-2 connection.
The fore paw 6-18 and supporting leg 6-17 be it is hinged, preceding in digging operation or climbing, 6-18 must be with supportting to increase
Traction, latch assembly 6-18-1 and connecting shaft component 6-18-7 on fore paw 6-18, which are constituted, has a rotary freedom
It is subjoint, in this way under the action of supporting force, fore paw 6-18 can be realized 0 °~46 ° of rotation angle range, in this way in reality
Foreleg can realize that the three-level of vertical direction angular displacement is adjustable and amplifies in the operation of border.
Since different terrain is to the otherness that requires of fore paw 6-18, fore paw 6-18 and ground contacting part position i.e. branch
Bearing column 6-18-2 should have various engineering bionic function.Preferably, the support column A 6-18-2-1 is that have sharp head
Cylinder, be easier to adapt to the relatively soft forest floor of soil property；The support column B6-18-2-2 is that end is equipped with zigzag circumference knot
The cylinder of structure works compared with adaptation in the big level land of soil property frictional force such as marsh, muddy ground；Support column C6-18-2-3 is that end is set
There is the cylinder of L shape bending plate, the both ends of L shape bending plate bending place are welded with support plate, relatively adapt in rugged hard place soil
Matter such as mountainous region surface works；It is clear that above-mentioned three kinds of support columns can flexible combinations matches, combined type fore paw have more
The adaptability of more landform, the optional matched form of this fore paw add up 12 kinds；Its interchangeability is strong, and maintainability is good, relatively fixed formula
For fore paw, functional adaptation space is more extensive.
In view of foregoing invention, as shown in Fig. 2, this symmetrical expression multiple degrees of freedom four-wheel drives walking type excavator mobile chassis entirely
It is supplied to one working condition track S1 of walking type excavator, i.e. B1 in figure.
In view of foregoing invention, as shown in figure 3, this symmetrical expression multiple degrees of freedom four-wheel drives walking type excavator mobile chassis entirely
It is also provided to one adjustment state track S2 of walking type excavator, i.e. C1 in figure.
The present invention uses joint pair technology, the works such as link mechanism technology, combined mechanism control technology, chassis Lightweight Technology
Journey mechanical robot's technology, final design one can be realized the symmetrical rotary table 2 of oil storage function Yu linkage function component,
The leg mechanism that inside and outside swing and lifting can be achieved formed is coupled with joint pair by two sets of four-bar mechanisms, has a double leval jib machine
The foreleg fore paw regulating mechanism 6-14 that structure is combined with a set of joint vice mechanism, one can be with changing the more bionical fore paws of landform engineering of combined type
6-18, a variety of full landform gait planning forms and by these joints secondary, link mechanism synergistic combination together can be used for eight tons
The mobile chassis of grade walking type excavator.It is four tire 6-19, left front leg 6, right front leg 1, left back as shown in Figure 18 to Figure 21
Respective independent control, the combination of each leg can be realized powerful full landform handling capacity, obstacle climbing ability between leg 5 and right rear leg 3,
Between each other without interference under the control of each mechanism and oil cylinder, it finally can be realized crab row, turn and integrally lifted to, rotary table entirely
The peculiar gaits forms such as high, the stepless full tune of wheelspan.
By above description, local disk can accomplish that a11wheel drive is combined with walking movement；Its whole height, center of gravity can
It adjusts, each leg is upper and lower, inside and outside adjustable, and whole transverse and longitudinal wheelspan is electrodeless adjustable, operation on the slope that ruling grade is 45 degree is adapted to,
Job platform can realize full circle swinging in the case where 20 degree of maximum oblique angle.
Claims (15)
1. a kind of symmetrical expression multiple degrees of freedom four-wheel drives walking type excavator mobile chassis, including right front leg (1), rotary table entirely
(2), right rear leg (3), lifting cylinder (4), left front leg (6) and left back leg (5), which is characterized in that the right front leg (1) with it is left front
Leg (6) symmetrical configuration, right rear leg (3) and left back leg (5) symmetrical configuration；The left front leg (6) is much more a set of than left back leg (5)
Foreleg fore paw regulating mechanism (6-14)；
The rotary table (2) is symmetrical structure, by staged layout in centre tank and vertical direction in centre tank
Two side fuel tanks of two sides form, the centre tank by bottom plate (2-6), seat ring (2-15), two pieces of upper cover plate A (2-22) and
Two pieces of coaming plates (2-5) surround；The seat ring (2-15) and two pieces of coaming plates (2-5) are fixed on bottom plate (2-6), two pieces of coaming plate (2-
5) it is trapped among the outside of seat ring (2-15)；Two pieces of upper cover plate A (2-22) are fixed on by bottom plate (2-6), seat ring (2-15) and two pieces
The top in the space that coaming plate (2-5) surrounds；
Two side fuel tanks are by bottom plate (2-6), coaming plate (2-5), two side top plates (2-20) and are fixed on coaming plate (2-5)
Four transition muscle (2-9), four sleeve A (2-8) and two cant board A (2-4) on outside, bottom plate (2-6) surround；Each side
The both ends of vertical plate A (2-4) are vertical with one end of a sleeve A (2-8) respectively to be connect, and the other end of sleeve A (2-8) passes through transition
Muscle (2-9) is connected with the outside of coaming plate (2-5)；Side top plate (2-20) be fixed on by cant board A (2-4), sleeve A (2-8) and
The top in the space that transition muscle (2-9) surrounds；There are two fulcrum bearing A (2-17), Mei Gezhi for installation on each side top plate (2-20)
Hold one lifting cylinder (4) of installation on an A (2-17)；The bottom of the coaming plate (2-5), which is provided with, makes centre tank and side fuel tank phase
Logical crosses hydraulic fluid port A (2-1)；
The rotary table (2) passes through a lifting cylinder (4) and corresponding sleeve A (2-8) and right front leg (1), the right side respectively
Back leg (3), left front leg (6) and left back leg (5) connection.
2. a kind of symmetrical multiple degrees of freedom four-wheel according to claim 1 drives walking type excavator mobile chassis entirely,
It is characterized in that, the cant board B that side fuel tank is divided into two parts is equipped between the coaming plate (2-5) and cant board A (2-4)
(2-7), the both ends of cant board B (2-7) are connect with the sleeve A (2-8) of two sides respectively；The bottom of the cant board B (2-7) is provided with
Cross hydraulic fluid port B (2-2).
3. a kind of symmetrical multiple degrees of freedom four-wheel according to claim 1 drives walking type excavator mobile chassis entirely,
It is characterized in that, being symmetrically laid in the centre tank and wearing oiled-plate method (2-3), the bottom for each wearing oiled-plate method (2-3) offers
Wear oilhole (2-23).
4. a kind of symmetrical multiple degrees of freedom four-wheel according to claim 1 drives walking type excavator mobile chassis entirely,
It is characterized in that, the outside of outer fulcrum bearing A (2-17) is equipped with for protecting lifting cylinder (4) on the side top plate (2-20)
Backplate (2-18), the backplate (2-18) connect by connecting plate A (2-19) with side top plate (2-20).
5. a kind of symmetrical multiple degrees of freedom four-wheel according to claim 1 drives walking type excavator mobile chassis entirely,
It is characterized in that, described two sides side top plate (2-20) and the junction sleeve A (2-8) downward bending, the four of the bottom plate (2-6)
Angle and the upward bending in the junction sleeve A (2-8), and between the bending angle α of side top plate (2-20) and the bending angle beta of bottom plate (2-6)
Relationship are as follows:+5 ° of β of α >.
6. a kind of symmetrical multiple degrees of freedom four-wheel according to claim 1 drives walking type excavator mobile chassis entirely,
It is characterized in that, the length L of rotary table (2) the upper bush A (2-8)Cylinder ATwo lifting cylinders upper greater than side top plate (2-20)
(4) the width L shared byLifting。
7. a kind of symmetrical multiple degrees of freedom four-wheel drives walking type excavator mobile chassis entirely according to claim 1 or 5,
It is characterized in that, the left front leg (6) includes 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)；The articulated body (6-4) is there are five tools
The articulated body of rotary freedom, and connect by the axis A (6-3) across sleeve A (2-8) with rotary table (2), pass through axis D (6-
7) it connect with lifting cylinder (4), is connect by axis B (6-5) with one end of oscillating oil cylinder (6-1) and steering cylinder (6-2), led to
Axis C (6-6) is crossed to connect with one end of leg joint (6-8)；The oscillating oil cylinder (6-1) and steering cylinder (6-2) are arranged in parallel in
In leg joint (6-8), oscillating oil cylinder (6-1) other end is connect by axis E (6-9) with the other end of leg joint (6-8)；Steering oil
The other end of cylinder (6-2) is connect by axis F (6-10) with wheel hub (6-12)；The leg joint (6-8) passes through axis G (6-11) and wheel
Hub (6-12) connection；There are six rotary freedoms for foreleg fore paw regulating mechanism (6-14) tool；The tire (6-19) and before
Leg fore paw regulating mechanism (6-14) is mounted on wheel hub (6-12)；The articulated body (6-4), oscillating oil cylinder (6-1) and leg joint
(6-8) constitutes a set of three-link mechanism in the same plane；The articulated body (6-4), steering cylinder (6-2), leg joint (6-8)
A set of four-bar mechanism is constituted in the same plane with wheel hub (6-12).
8. a kind of symmetrical multiple degrees of freedom four-wheel according to claim 7 drives walking type excavator mobile chassis entirely,
It is characterized in that, the articulated body (6-4) is by lower plate (6-4-1), side plate A (6-4-4), upper plate (6-4-5) and side plate B
The tetrahedral framework structure of (6-4-12) composition hangs down on upper plate (6-4-5) and is equipped with the vertical plate A (6-4-7) being placed in parallel and stands
Plate B (6-4-10)；Axis D (6-7) is horizontal vertical plate A (6-4-7) and vertical plate B (6-4-10) across axle sleeve B (6-4-9)；Axis A
(6-3) is horizontal between side plate A (6-4-4) and side plate B (6-4-12)；Axis B (6-5) and axis C (6-6) it is vertical be arranged in top
Between plate (6-4-5) and lower plate (6-4-1), the front of axis A (6-3), set on axis B (6-5) there are three with side plate A (6-4-4)
The axle sleeve A (6-4-2) of connection；
The axis A (6-3) sequentially passes through side plate A (6-4-4), sleeve A (2-8) and side plate B (6-4-12) for articulated body (6-
4) it is connect with rotary table (2)；The articulated body (6-4) is connect by axis D (6-7) with lifting cylinder (4), is passed through axis C (6-6)
It connect with leg joint (6-8), is connect by axis B (6-5) with oscillating oil cylinder (6-1) and steering cylinder (6-2).
9. a kind of symmetrical multiple degrees of freedom four-wheel according to claim 7 drives walking type excavator mobile chassis entirely,
It is characterized in that, the leg joint (6-8) is to be sleeved on two sleeve B (6- by upper sealing plate (6-8-5) and lower sealing plate (6-8-3)
On 8-6) and the core structure that welds together；It is equipped between upper sealing plate (6-8-5) and lower sealing plate (6-8-3) horizontal positioned
Sealing plate C (6-8-4)；Vertical plate F (6-8-10) and vertical plate C (6-8- are fixed between sealing plate C (6-8-4) and lower sealing plate (6-8-3)
2) axle sleeve C (6-, is welded between vertical plate F (6-8-10) and vertical plate C (6-8-2) and sealing plate C (6-8-4) or lower sealing plate (6-8-3)
8-1)；
The leg joint (6-8) is hinged by the axis G (6-11) and wheel hub (6-12) being located in sleeve B (6-8-6)；Oscillating oil cylinder
(6-1) hingedly by the axis E (6-9) that is located in axle sleeve C (6-8-1) and leg joint (6-8), steering cylinder (6-2) passes through axis F
(6-10) and wheel hub (6-12) is hinged.
10. a kind of symmetrical multiple degrees of freedom four-wheel according to claim 7 drives walking type excavator mobile chassis entirely,
It is characterized in that, the wheel hub (6-12) includes cylinder (6-12-11), support plate A (6-12-8), vertical plate G (6-12-9), vertical plate
H (6-12-10), reinforcing rib C (6-12-4), gusset B (6-12-5), gusset C (6-12-7) and hush panel B (6-12-3), vertical plate G
(6-12-9), vertical plate H (6-12-10) and two horizontal positioned support plate A (6-12-8) are located at cylinder (6-12-11) outside
Side；Vertical plate G (6- is passed across by the cantilever beam that reinforcing rib C (6-12-4), gusset B (6-12-5) and gusset C (6-12-7) are formed
12-9) and vertical plate H (6-12-10), and weld together with vertical plate G (6-12-9) and vertical plate H (6-12-10)；Cylinder (6-12-
11) it is equipped with oil pipe import A (6-12-6) and oil pipe outlet (6-12-13), is fixed at the port of the one end cylinder (6-12-11)
Hush panel B (6-12-3).
11. a kind of symmetrical multiple degrees of freedom four-wheel according to claim 10 drives walking type excavator mobile chassis entirely,
It is characterized in that, the cylinder (6-12-11) is irregular cylinder.
12. a kind of symmetrical multiple degrees of freedom four-wheel according to claim 7 drives walking type excavator mobile chassis entirely,
It is characterized in that, the foreleg fore paw regulating mechanism (6-14) includes support oil cylinder (6-15), supporting leg (6-17), fore paw (6-
18), connecting rod (6-14-3), rocking bar (6-14-7) and the fulcrum bearing C (6-12-12) being arranged on wheel hub (6-12) in 90 ° and
Fulcrum bearing B (6-12-1), wheel hub (6-12), rocking bar (6-14-7), connecting rod (6-14-3) and supporting leg (6-17) form double leval jib machine
Structure；One end of the rocking bar (6-14-7) is connect by axis H (6-13) with fulcrum bearing C (6-12-12), and the other end passes through axis M (6-
14-6) it is connect with one end of connecting rod (6-14-3)；The other end of connecting rod (6-14-3) passes through axis L (6-14-5) and supporting leg (6-17)
Front end connection；Lower section on supporting leg (6-17), with the junction connecting rod (6-14-3) passes through axis I (6-20) and fulcrum bearing B (6-
12-1) connect；The tail portion of support oil cylinder (6-15) is connect by axis K (6-14-4) with the middle part of connecting rod (6-14-3), supporting leg oil
The head of cylinder (6-15) is connect by axis J (6-14-2) with the rear end of supporting leg (6-17)；The rear end of the supporting leg (6-17) is equipped with
Sleeve C (6-14-8)；In fore paw (6-18) insertion sleeve C (6-14-8), and it is fixed with bolt (6-16).
13. a kind of symmetrical multiple degrees of freedom four-wheel according to claim 12 drives walking type excavator mobile chassis entirely,
It is characterized in that, being additionally provided with protective plate (6-14-1) above the support oil cylinder (6-15), protective plate (6-14-1) and supporting leg
It is connected between oil cylinder (6-15), supporting leg (6-17) by axis J (6-14-2).
14. a kind of symmetrical multiple degrees of freedom four-wheel according to claim 12 drives walking type excavator mobile chassis entirely,
It is characterized in that, the fore paw (6-18) is that can match to change the knockdown bionical fore paw of more landform, including latch assembly (6-18-
1), connecting shaft component (6-18-7), fore paw pedestal and bearing column assembly；The bearing column assembly is by four support columns (6-18-2)
Composition；The support column (6-18-2) is structure different support column A (6-18-2-1), support column B (6-18-2-2) or bearing
Column C (6-18-2-3)；The fore paw pedestal includes fore paw bottom plate (6-18-4), is evenly distributed on fore paw bottom plate (6-18-4) four
It four sleeve D (6-18-3) at angle and is mounted on fore paw bottom plate (6-18-4), 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) it, and with connecting shaft component (6-18-7) connect；The sleeve D (6-18-3) is a cannulated sleeve, and top is equipped with venthole, interior
Side is equipped with screw thread and connect with support column (6-18-2).
15. a kind of symmetrical multiple degrees of freedom four-wheel according to claim 14 drives walking type excavator mobile chassis entirely,
It is characterized in that, the support column A (6-18-2-1) is the cylinder with sharp head；The support column B (6-18-2-2) is
End is equipped with the cylinder of zigzag circle configurations；Support column C (6-18-2-3) is the cylinder that end is equipped with L shape bending plate, L shape folding
The both ends of bent plate bending place are welded with support plate.
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| CN201310597182.0A CN103661662B (en) | 2013-11-21 | 2013-11-21 | It is a kind of symmetrical expression multiple degrees of freedom four-wheel drive walking type excavator mobile chassis entirely |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310597182.0A CN103661662B (en) | 2013-11-21 | 2013-11-21 | It is a kind of symmetrical expression multiple degrees of freedom four-wheel drive walking type excavator mobile chassis entirely |
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| CN103661662A CN103661662A (en) | 2014-03-26 |
| CN103661662B true CN103661662B (en) | 2019-01-22 |
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