CN107227764A - The mechanical digging machine of convertible walking manner - Google Patents
The mechanical digging machine of convertible walking manner Download PDFInfo
- Publication number
- CN107227764A CN107227764A CN201710602471.3A CN201710602471A CN107227764A CN 107227764 A CN107227764 A CN 107227764A CN 201710602471 A CN201710602471 A CN 201710602471A CN 107227764 A CN107227764 A CN 107227764A
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- Prior art keywords
- motor
- plate
- crawler
- scraper bowl
- walking
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/02—Travelling-gear, e.g. associated with slewing gears
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/34—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with bucket-arms, i.e. a pair of arms, e.g. manufacturing processes, form, geometry, material of bucket-arms directly pivoted on the frames of tractors or self-propelled machines
- E02F3/358—Bucket-arms pivoted on a turntable being part of a tractor frame or buckets arranged on a turntable supported by the arms
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/08—Superstructures; Supports for superstructures
- E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/08—Superstructures; Supports for superstructures
- E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
- E02F9/12—Slewing or traversing gears
- E02F9/121—Turntables, i.e. structure rotatable about 360°
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/205—Remotely operated machines, e.g. unmanned vehicles
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Earth Drilling (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The present invention provides a kind of mechanical digging machine of convertible walking manner, belongs to engineering machinery field, and single crawler travel mode is used mostly to solve current mechanical digging machine, the problem of making that its speed of travel is slow, be easily destroyed highway.Mechanical equipment and control system are above rotation table device, and Caterpillar tyre walking switching device and crawler unit are below rotation table device；Other each devices connect with control system, and rotation table device connects with Caterpillar tyre walking switching device, and Caterpillar tyre walking switching device connects with crawler unit；Control system is used to control other each device work；Rotation table device is used for the 360 degree of rotations of control machinery formula equipment；Crawler unit is used to provide crawler travel mode；Caterpillar tyre walking switching device is used to provide tire walking manner, in the presence of control system, and Caterpillar tyre walking switching device and crawler unit coordinate the switching completed between crawler travel mode and tire walking manner.
Description
Technical field
The present invention relates to technical field of engineering machinery, more particularly to a kind of mechanical digging machine of convertible walking manner.
Background technology
Excavator is a kind of important engineering machinery, is widely used in all kinds of construction workings, for example industry, traffic, the energy,
In terms of the mechanized constructions such as farmland improvement, water conservancy, civil buildings, mine excavation and modernization military engineering.Excavator is not only
The workload of people is largely reduced, and makes operating efficiency obtain greatly improving.
At present, excavator main will have fluid pressure type and mechanical two types.Because hydraulic drive possesses small volume, structure letter
It is single, lightweight, much complex action can be completed and easily the advantages of realize overload protection, hydraulic excavator is adopted extensively
With.But hydraulic crawler excavator is that, using hydraulic oil as transmission dynamic medium, its startability is poor, easily because being produced after inner member abrasion
Leakage, while overheating, the phenomenon such as powerless in work.Because the limitation of hydraulic system, hydraulic excavator is mostly medium and small
Excavator, many large excavators also have to use the mechanical digging machine of driven by power.Mechanical digging machine has had closely
Century-old history, it is using mechanically operated.Current mechanical digging machine uses single walking manner, i.e. crawler belt mostly
Walking manner.Using crawler travel mode have the advantages that bearing capacity it is big, suitable for complicated landform, but there is also one for crawler travel
A little shortcomings, for example：The speed of travel is slow, be easily destroyed highway etc., and this is the very stubborn problem of engineering machinery field one, is also
The long-term problem for failing to break through.
The content of the invention
Single crawler travel mode is used mostly present invention aim to address current mechanical digging machine, makes its row
Walk that speed is slow, being easily destroyed the technical problems such as highway, there is provided a kind of mechanical digging machine of convertible walking manner.
In order to solve the above technical problems, the technical solution adopted by the present invention is：
A kind of mechanical digging machine of convertible walking manner, including mechanical equipment, rotation table device, Caterpillar tyre
Walking switching device, crawler unit and control system；The mechanical equipment and set-up of control system are filled in turntable
Put above, Caterpillar tyre walking switching device and crawler unit are arranged at below rotation table device, and Caterpillar tyre walking is cut
Changing device is located at the underface of rotation table device, and crawler unit is located at the left and right sides of Caterpillar tyre walking switching device；Machine
Tool formula equipment, rotation table device, Caterpillar tyre walking switching device and crawler unit are connected with control system, turntable
Device is connected with Caterpillar tyre walking switching device, and Caterpillar tyre walking switching device is connected with crawler unit；
Wherein, the control system is used for control machinery formula equipment, rotation table device, Caterpillar tyre walking switching device
With crawler unit work；Rotation table device is used for control machinery formula equipment and carries out 360 degree of rotations；Crawler unit is used
In offer crawler travel mode；Caterpillar tyre walking switching device is used to provide tire walking manner, and in the work of control system
Under, Caterpillar tyre walking switching device and crawler unit coordinate between completion crawler travel mode and tire walking manner
Switching.
Alternatively, the mechanical equipment is dynamic including scraper bowl, left dipper, right dipper, scraper bowl front tension bar, pull bar, the right side
Arm, Rocker arm-motor fixed plate, Rocker arm-motor, rocking arm, swing arm motor fixing plate, scraper bowl rocking arm, scraper bowl Rocker arm-motor fixed plate, shovel
Struggle against Rocker arm-motor, swing arm motor, left swing arm, scraper bowl back stay and two retainers；
The scraper bowl is arranged at the rear end of mechanical equipment；One end of scraper bowl front tension bar and scraper bowl upper articulation；It is left
Dipper and right dipper are arranged at below scraper bowl front tension bar, and left dipper and right dipper one end respectively with scraper bowl lower hinge；Draw
Bar is arranged on the left of right dipper, and the other end of right dipper and one end of pull bar are hinged；Right swing arm is arranged on the right side of right dipper, and
The fraising that one end of right swing arm is set with right dipper at the other end is hinged；It is right that Rocker arm-motor fixed plate is arranged at right swing arm
Side；The Rocker arm-motor is fixed on the vertical plane on the right side of Rocker arm-motor fixed plate；The rocking arm is arranged at Rocker arm-motor and fixed
On the left of plate, and on the right side of right swing arm, one end of rocking arm and the rotating shaft of Rocker arm-motor are connected, the other end of rocking arm and pull bar it is another
One end is hinged；Two retainers are arranged on the left of pull bar, and one end one end respectively with pull bar, the right bucket of two retainer bottoms
The other end of the other end of bar and left dipper is hinged；The other end of scraper bowl front tension bar is arranged between two retainers, and with two
One end on the upper side is hinged at the top of individual retainer；One end of scraper bowl back stay is arranged between two retainers, and is kept with two
Top of the trellis one end on the lower side is hinged；Scraper bowl rocking arm is arranged on the left of scraper bowl back stay, and the other end and the scraper bowl of scraper bowl back stay shake
One end of arm is hinged；Scraper bowl Rocker arm-motor fixed plate is arranged on the left of scraper bowl rocking arm；Scraper bowl Rocker arm-motor is arranged at scraper bowl rocking arm
On perpendicular on the left of motor fixing plate；The rotating shaft of scraper bowl Rocker arm-motor and the other end of scraper bowl rocking arm are hinged；Left dipper is set
It is placed on the left of two retainers, left swing arm is arranged on the left of left dipper, swing arm motor fixing plate is arranged on the left of left swing arm；Swing arm
Motor is arranged on the vertical plane on the left of swing arm motor fixing plate；The fraising that left dipper is set at the other end and left swing arm
One end is hinged, and the rotating shaft of the other end and swing arm motor of left swing arm is hinged；The Rocker arm-motor fixed plate, swing arm motor fixing plate
It is used to be connected with control system with scraper bowl Rocker arm-motor fixed plate.
Alternatively, the rotation table device include top clip plate, bottom clip plate, top outer plate, bottom outer plate and
Turntable bearing；
The top clip plate and bottom clip plate by bolt respectively with the upper part of turntable bearing bearing inner race and under
Part is connected；The top outer plate and bottom outer plate by bolt respectively with the upper part of turntable bearing bearing outer ring and under
Part is connected；The top clip plate and bottom clip plate are used to be connected with control system；Outside the top outer plate and bottom
Pressing plate is used to be connected with Caterpillar tyre walking switching device.
Alternatively, the Caterpillar tyre walking switching device includes track support plate, turntable motor, four tire driving electricity
Machine, four tires, six narrow U-shaped frame, Tire support plate, two wide-u-shaped framves, two connecting rods, four rocking bars that rise and fall, two switchings
Crank, two switch motor fixed plates and two switch motors；
The track support plate is used to be connected with rotation table device and crawler unit；Tire support plate is arranged at crawler belt branch
Below fagging；Four tire motors are individually fixed on four angles above Tire support plate；Four tires respectively with wheel
Tire motor is connected by wheel shaft；Two wide-u-shaped framves are separately fixed on two angles on Tire support front edge of board top；Six
Two narrow U-shaped frame in narrow U-shaped frame is separately fixed on two angles of Tire support plate upper rear end, remaining four narrow U-shaped framves
It is separately fixed on four angles below track support plate；Two narrow U-shaped frame and two wide-u-shaped framves on Tire support plate
It is located at respectively on the inside of tire motor；The two narrow U of one end of four rocking bars that rise and fall respectively with being fixed on Tire support plate
Type frame and two wide-u-shaped framves are hinged, and the other ends of four rocking bars that rise and fall is respectively with being fixed on four narrow U of track support plate bottom
Type frame is hinged；Two switch motor fixed plates are fixed on track support plate bottom by bolt and nut；Two switch motor difference
On the vertical plane for being fixed on two switch motor fixed plate opposite faces；Two switching crank one end respectively with two switch motors
Axle connection, one end respectively with two connecting rods of the other end of two switching cranks is hinged, and two switching cranks are located at respectively
On the inside of two connecting rods, the other end of two connecting rods rises with the two wide-u-shaped framves and two that are fixed on Tire support front edge of board top
The one end for falling rocking bar is hinged, and two connecting rods are located at the inner side for the rocking bar that rises and falls respectively；Turntable motor is fixed on track support plate
Below, and turntable motor axle through track support plate and for being connected with rotation table device.
Alternatively, the crawler unit include two track drive motors, four L-type supports, two crawler belt side plates,
Two crawler belts, eight BOGEY WHEELs, four support wheels and two crawler driving whells；
Described two crawler belt side plates are respectively arranged at the left and right sides of Caterpillar tyre walking switching device；Two track drives
Motor is bolted on the front end in two relative faces of two crawler belt side plates respectively；Four L-type supports are with two
One group, the top in two relative faces of two crawler belt side plates is fixed on by bolt and nut respectively；Described two crawler driving whells
Axle by screw respectively with two track drive motors is connected；Eight BOGEY WHEELs with four be one group, two groups of BOGEY WHEELs
It is located at the bottom of two crawler belt side plates respectively, and is connected respectively by wheel shaft with the bottom of crawler belt side plate；Four support wheels
With two for one group, respectively positioned at the top of two crawler belt side plates, and it is connected by wheel shaft with the top of crawler belt side plate；Described two
The outer surface of bar crawler belt respectively with four BOGEY WHEELs on a crawler belt side plate, two support wheels and a crawler driving whell
Connection；Every group of L-type support and track drive motor are located at the side of crawler belt side plate, every group of crawler driving whell, BOGEY WHEEL, support wheel
It is located at the opposite side of crawler belt side plate with crawler belt；Four L-type supports are used to be connected with Caterpillar tyre walking switching device.
Alternatively, the control system includes equipment bottom plate, wireless signal transceiver module, master controller and motor drive
Dynamic device；
The equipment bottom plate is used to be connected with mechanical equipment and rotation table device connection；Wireless signal receives and dispatches mould
Block and master controller are fixed on equipment pan front position to the right by bolt and nut, and wireless signal transceiver module
Above the master controller；The motor driver is fixed on equipment pan front position to the left by bolt and nut
Put；The signal output part of wireless signal transceiver module and the signal input part of master controller are connected, and the signal of master controller is defeated
Go out end to be connected with the signal input part of motor driver, the signal output part of motor driver and mechanical equipment, crawler belt
Take turns each motor connection in tyre walking switching device and crawler unit；
The wireless signal transceiver module is used to receive the signal that operating personnel are sent by wireless signal transmitter, and will
The signal of reception is sent to master controller；The master controller is used to receive the signal that the transmission of wireless signal transceiver module comes, and
After being analyzed and processed to the signal of reception, the signal after analyzing and processing is sent to motor driver；The motor driver
For after the signal after receiving the analyzing and processing of master controller transmission, driving mechanical equipment, Caterpillar tyre walking
Corresponding motor in switching device and crawler unit is rotated.
Alternatively, the control system also includes gyroscope；The gyroscope is fixed on equipment by bolt and nut
In the middle part of bottom plate on position to the right；The signal output part of gyroscope and the signal input part of master controller are connected；The gyroscope
Posture for detecting complete machine, to obtain the angle of inclination of complete machine in real time, and the angle of inclination got is sent to main control
Device；When the angle of inclination that master controller detects the complete machine that gyroscope is sent reaches predetermined angle, master controller sends and cut
Instruction is changed to motor driver, motor driver is received after switching command, control Caterpillar tyre walking switching device and crawler belt row
Walking apparatus is worked, and the walking manner of complete machine is switched into crawler travel mode.
Alternatively, the control system also includes two ultrasonic wave modules；Described two ultrasonic wave modules pass through screw point
It is not fixed on the front end vertical plane and rear end vertical plane of equipment bottom plate；The signal output part of the ultrasonic wave module and master
The signal input part connection of controller；The ultrasonic wave module is used for detecting distance, and the distance detected is sent to master control
Device processed；When master controller, which detects the distance that ultrasonic wave module sends, is less than predetermined threshold value, master controller drives to motor
Device sends halt instruction, and motor driver is controlled in Caterpillar tyre walking switching device, crawler unit according to halt instruction
Each motor stop current action immediately, to avoid colliding.
Alternatively, mechanical equipment also includes camera, and the camera is arranged on scraper bowl front tension bar；It is described to take the photograph
As the signal input part connection of the signal output part and master controller of head, and camera to working environment residing for complete machine for carrying out
Monitoring, and the data got are sent to master controller, master controller sends it to behaviour by wireless signal transceiver module
On the display of work person, so as to the work of operator's distant surveillance complete machine.
The beneficial effects of the invention are as follows：
By setting control system and the Caterpillar tyre walking switching device of tire walking manner can be provided, and pass through
It is arranged in the presence of control system, Caterpillar tyre walking switching device and crawler unit coordinate completion crawler travel mode
With the switching between tire walking manner so that the walking of the mechanical digging machine for the convertible walking manner that the present embodiment is provided
Mode both includes crawler travel mode, and also including tire walking manner, walking manner is flexible and changeable, can be selected according to lineament
Walking manner is selected, the problems such as can avoiding that the single crawler travel mode speed of travel of mechanical digging machine is slow, be easily destroyed highway
Occur.In addition, controlling other component workings by control system by setting so that the convertible walking manner that the present embodiment is provided
Mechanical digging machine can realize it is unmanned, so as to can not only save human cost, and when can improve work
Security.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the structural representation of mechanical equipment in Fig. 1.
Fig. 3 is the partial enlarged drawing in A portions in Fig. 2.
Fig. 4 is the partial enlarged drawing in B portions in Fig. 2.
Fig. 5 is the structural representation of Fig. 1 transfer table apparatus.
Fig. 6 is the structural representation of Caterpillar tyre walking switching device in Fig. 1.
Fig. 7 is the structural representation of crawler unit in Fig. 1.
Fig. 8 is the structural representation of control system in Fig. 1.
Fig. 9 is the block diagram of the present invention.
Embodiment
Below in conjunction with drawings and examples, the present invention is described in further detail.
As shown in figure 1, the mechanical digging machine of the convertible walking manner in the present embodiment includes mechanical equipment
1st, rotation table device 2, Caterpillar tyre walking switching device 3, crawler unit 4 and control system 5；The mechanical equipment
1 and control system 5 be arranged above rotation table device 2, Caterpillar tyre walking switching device 3 and crawler unit 4 be arranged at turn
Below table apparatus 2, and Caterpillar tyre walking switching device 3 is located at the underface of rotation table device 2, and crawler unit 4, which is located at, to be carried out
The left and right sides of belt wheel tyre walking switching device 3；Mechanical equipment 1, rotation table device 2, Caterpillar tyre walking switching device 3
It is connected with crawler unit 4 with control system 5, rotation table device 2 is connected with Caterpillar tyre walking switching device 3, Athey wheel
Tyre walking switching device 3 is connected with crawler unit 4；Wherein, the control system 5 be used for control machinery formula equipment 1,
Rotation table device 2, Caterpillar tyre walking switching device 3 and crawler unit 4 work；Rotation table device 2 is used for control machinery formula work
Make device 1 and carry out 360 degree of rotations；Crawler unit 4 is used to provide crawler travel mode；Caterpillar tyre walking switching device 3
For providing tire walking manner, and in the presence of control system 5, Caterpillar tyre walking switching device 3 and crawler travel dress
Put the switching between 4 cooperations completion crawler travel mode and tire walking manner.
The present embodiment is by setting control system 5 and can provide the Caterpillar tyre walking switching device of tire walking manner
3, and by being arranged in the presence of control system 5, Caterpillar tyre walking switching device 3 and crawler unit 4 have coordinated
Switching between crawler travel mode and tire walking manner so that the machinery for the convertible walking manner that the present embodiment is provided
The walking manner of formula excavator both includes crawler travel mode, and also including tire walking manner, walking manner is flexible and changeable, can
Walking manner is selected according to lineament, the single crawler travel mode speed of travel of mechanical digging machine can be avoided slow, easy
The problems such as destruction highway, occurs.In addition, controlling other component workings by control system 5 by setting so that the present embodiment is provided
Convertible walking manner mechanical digging machine can realize it is unmanned, so as to can not only save human cost, and
Security during work can be improved.
Alternatively, as shown in Figures 2 to 4, the mechanical equipment 1 includes scraper bowl 101, left dipper 118, right dipper
102nd, scraper bowl front tension bar 103, pull bar 104, right swing arm 105, Rocker arm-motor fixed plate 106, Rocker arm-motor 107, rocking arm 108, dynamic
Arm motor fixing plate 109, scraper bowl rocking arm 110, scraper bowl Rocker arm-motor fixed plate 111, scraper bowl Rocker arm-motor 112, swing arm motor
113rd, left swing arm 114, scraper bowl back stay 115 and two retainers 116；The scraper bowl 101 is arranged at mechanical equipment 1
Rear end；One end of scraper bowl front tension bar 103 and the upper articulation of scraper bowl 101；Left dipper 118 and right dipper 102 are arranged at before scraper bowl and drawn
The lower section of bar 103, and left dipper 118 and right dipper 102 one end respectively with the lower hinge of scraper bowl 101；Pull bar 104 is arranged at right bucket
On the left of bar 102, and one end of the other end and pull bar 104 of right dipper 102 is hinged；It is right that right swing arm 105 is arranged at right dipper 102
Side, and the fraising that one end of right swing arm 105 is set with right dipper 102 at the other end is hinged；Rocker arm-motor fixed plate 106 is set
It is placed in the right right side of swing arm 105；The Rocker arm-motor 107 is fixed on the vertical plane on the right side of Rocker arm-motor fixed plate 106；It is described to shake
Arm 108 is arranged at the left side of Rocker arm-motor fixed plate 106, and positioned at the right right side of swing arm 105, one end of rocking arm 108 and Rocker arm-motor
107 rotating shaft connection, the other end of the other end and pull bar 104 of rocking arm 108 is hinged；Two retainers 116 are arranged at pull bar 104
Left side, and one end one end, the other end of right dipper 102 and left dipper respectively with pull bar 104 of two bottoms of retainer 116
118 other end is hinged；The other end of scraper bowl front tension bar 103 is arranged between two retainers 116, and with two retainers
116 tops one end on the upper side is hinged；One end of scraper bowl back stay 115 is arranged between two retainers 116, and is kept with two
The top of frame 116 one end on the lower side is hinged；Scraper bowl rocking arm 110 is arranged at the left side of scraper bowl back stay 115, scraper bowl back stay 115 it is another
One end and one end of scraper bowl rocking arm 110 are hinged；Scraper bowl Rocker arm-motor fixed plate 111 is arranged at the left side of scraper bowl rocking arm 110；Scraper bowl shakes
Arm motor 112 is arranged on the perpendicular in the left side of scraper bowl Rocker arm-motor fixed plate 111；The rotating shaft of scraper bowl Rocker arm-motor 112 with
The other end of scraper bowl rocking arm 110 is hinged；Left dipper 118 is arranged at two left sides of retainer 116, and left swing arm 114 is arranged at left bucket
The left side of bar 118, swing arm motor fixing plate 109 is arranged at the left left side of swing arm 114；Swing arm motor 113 is arranged at swing arm motor and fixed
On the vertical plane in the left side of plate 109；The fraising and one end of left swing arm 114 that left dipper 118 is set at the other end are hinged, and a left side is dynamic
The rotating shaft of the other end of arm 114 and swing arm motor 113 is hinged；The Rocker arm-motor fixed plate 106, swing arm motor fixing plate 109
It is used to be connected with control system 5 with scraper bowl Rocker arm-motor fixed plate 111.
By setting mechanical equipment 1 to be the structure shown in Fig. 2 to Fig. 4, i.e., by setting mechanical equipment 1
The cooperation of part including Rocker arm-motor 107, scraper bowl Rocker arm-motor 112, swing arm motor 113 and its surrounding so that the present embodiment
The mechanical digging machine of the convertible walking manner provided is Three Degree Of Freedom controlled architecture, can realize work by computer control
Make the output of the mining track flexible, complicated and changeable in space, so as to suitable for a variety of operative scenarios.
It should be noted that the definition method of the position relationship all around occurred in the present embodiment is：Convertible walking
When the mechanical digging machine of mode is walked and is not in working condition, its scraper bowl 101 is located at behind complete machine, and this orientation is determined
Justice is " rear ", its to orientation be " preceding ", the orientation vertical with " rear " with " preceding " is " left side " and " right side ".With reference to Fig. 1, scraper bowl
101 opening directions are the rear in the present embodiment.
Alternatively, as shown in figure 5, the rotation table device 2 includes top clip plate 201, bottom clip plate 205, outside top
Pressing plate 202, bottom outer plate 204 and turntable bearing 203；The top clip plate 201 and bottom clip plate 205 pass through bolt point
Upper and bottom section not with the bearing inner race of turntable bearing 203 is connected；The top outer plate 202 and bottom outer plate 204
Upper and bottom section by bolt respectively with the bearing outer ring of turntable bearing 203 is connected；The top clip plate 201 and bottom
Clip plate 205 is used to be connected with control system 5；The top outer plate 202 and bottom outer plate 204 are used for and Caterpillar tyre row
Switching device 3 is walked to connect.
By setting rotation table device 2 so that can by the flexible rotating of the control machinery formula equipment 1 of rotation table device 2,
The axle of turntable motor 302 that mechanical equipment 1 is put in following Caterpillar tyre walking switching devices 3 can be reduced simultaneously
Power.
Alternatively, as shown in fig. 6, Caterpillar tyre walking switching device 3 includes track support plate 301, turntable motor
302nd, four tire motors 303, four tires 304, six narrow U-shaped frame 305, Tire support plate 306, two wide-u-shaped framves
307th, two connecting rods 308, four rocking bars 309 that rise and fall, two switching cranks 310, two switch motor fixed plates 311 and two cut
Change motor 312；The track support plate 301 is used to be connected with rotation table device 2 and crawler unit 4；Tire support plate 306 is set
It is placed in the lower section of track support plate 301；Four tire motors 303 are individually fixed in four angles above Tire support plate 306
On；Four tires 304 are connected with tire motor 303 by wheel shaft respectively；Two wide-u-shaped framves 307 are separately fixed at tire
On two angles of the upper front end of supporting plate 306；Two narrow U-shaped frame 305 in six narrow U-shaped frame 305 is separately fixed at tire branch
On two angles of the upper rear end of fagging 306, remaining four narrow U-shaped frame 305 is separately fixed at four below track support plate 301
On angle；Two narrow U-shaped frame 305 and two wide-u-shaped framves 307 on Tire support plate 306 are located at tire motor respectively
303 inner sides；The two narrow U-shaped frame 305 and two of one end of four rocking bars 309 that rise and fall respectively with being fixed on Tire support plate 306
Individual wide-u-shaped frame 307 is hinged, the other ends of four rocking bars 309 that rise and fall respectively with to be fixed on four of the bottom of track support plate 301 narrow
U-shaped frame 305 is hinged；Two switch motor fixed plates 311 are fixed on the bottom of track support plate 301 by bolt and nut；Two are cut
Motor 312 is changed to be separately fixed on the vertical plane of two opposite faces of switch motor fixed plate 311；The one of two switching cranks 310
Hold axle respectively with two switch motors 312 be connected, two switch crank 310 the other end respectively with two connecting rods 308 one
End is hinged, and two switching cranks 310 are located at two inner sides of connecting rod 308 respectively, and the other end of two connecting rods 308 is with being fixed on wheel
One end of two wide-u-shaped framves 307 of the upper front end of tire supporting plate 306 and two rocking bars 309 that rise and fall is hinged, and two connecting rods 308
It is located at the inner side for the rocking bar 309 that rises and falls respectively；Turntable motor 302 is fixed on below track support plate 301, and turntable motor 302
Axle through track support plate 301 and for being connected with rotation table device 2.
With reference to the concrete structure of above-mentioned rotation table device 2, the tool between Caterpillar tyre walking switching device 3 and rotation table device 2
Body annexation is：Track support plate 301 is connected with top outer plate 202 and bottom outer plate 204, and bottom outer plate 204
Positioned at the top of track support plate 301.
By setting Caterpillar tyre walking switching device 3, tire walking manner is provide not only, and can be in control system
In the presence of 5, the switching between crawler travel mode and tire walking manner is realized, solving traditional mechanical digging machine is
During crawler travel mode, there are problems that walking manner is single, the speed of travel is slow, be easily destroyed.
Alternatively, as shown in fig. 7, the crawler unit 4 includes two track drive motors 401, four L-type supports
402nd, two crawler belt side plates 403, two crawler belts 404, eight BOGEY WHEELs 405, four support wheels 406 and two crawler driving whells
407；Described two crawler belt side plates 403 are respectively arranged at the left and right sides of Caterpillar tyre walking switching device 3；Two track drives
Motor 401 is bolted on the front end in two relative faces of two crawler belt side plates 403 respectively；Four L-type supports 402
With two for one group, the top in two relative faces of two crawler belt side plates 403 is fixed on by bolt and nut respectively；It is described two
Axle of the crawler driving whell 407 by screw respectively with two track drive motors 401 is connected；Eight BOGEY WHEELs 405 are with four
Individual is one group, and two groups of BOGEY WHEELs 405 are located at the bottom of two crawler belt side plates 403 respectively, and pass through wheel shaft and crawler belt side plate respectively
403 bottom connection；Four support wheels 406 with two be one group, respectively positioned at the top of two crawler belt side plates 403, and
It is connected by wheel shaft with the top of crawler belt side plate 403；Two crawler belts 404 respectively with a crawler belt side plate 403
The outer surface connection of four BOGEY WHEELs 405, two support wheels 406 and a crawler driving whell 407；Every group of L-type support 402 and shoe
It is located at the side of crawler belt side plate 403 with motor 401, every group of crawler driving whell 407, BOGEY WHEEL 405, support wheel 406 and carries out
With 404 opposite sides for being located at crawler belt side plate 403；Four L-type supports 402 are used to connect with Caterpillar tyre walking switching device 3
Connect.
The concrete structure for switching device 3 of being walked with reference to above-mentioned Caterpillar tyre, crawler unit 4 is cut with Caterpillar tyre walking
Annexation between changing device 3 is：Four L-type supports 402 are connected with track support plate 301 respectively, and L-type support 402
In the lower section of track support plate 301.
By setting the mechanical digging machine of convertible walking manner both to include Caterpillar tyre walking switching device 3, wrap again
Include crawler unit 4 so that the mechanical digging machine of the convertible walking manner in the present embodiment is applicable not only to intricately
The walking of shape, and when can improve work complete machine stability and the speed of travel, so as to reduce the destruction to highway.
Alternatively, as shown in figure 8, the control system 5 includes equipment bottom plate 501, wireless signal transceiver module
503rd, master controller 504 and motor driver 506；The equipment bottom plate 501 be used for be connected with mechanical equipment 1 and
Rotation table device 2 is connected；Wireless signal transceiver module 503 and master controller 504 are fixed on equipment bottom plate by bolt and nut
On 501 anterior positions to the right, and wireless signal transceiver module 503 is located above the master controller 504；The motor driving
Device 506 is fixed on the anterior position to the left of equipment bottom plate 501 by bolt and nut；Wireless signal transceiver module 503
Signal output part is connected with the signal input part of master controller 504, the signal output part and motor driver of master controller 504
506 signal input part connection, the signal output part of motor driver 506 is cut with mechanical equipment 1, Caterpillar tyre walking
Each motor connection in changing device 3 and crawler unit 4；The wireless signal transceiver module 503 is used to receive operating personnel
The signal sent by wireless signal transmitter, and the signal of reception is sent to master controller 504；The master controller 504
For receiving the signal that the transmission of wireless signal transceiver module 503 comes, and after being analyzed and processed to the signal of reception, at analysis
Signal after reason is sent to motor driver 506；The motor driver 506 is used to receive the transmission of master controller 504
After signal after analyzing and processing, drive in mechanical equipment 1, Caterpillar tyre walking switching device 3 and crawler unit 4
Corresponding motor rotate.
With reference to above-mentioned mechanical equipment 1, rotation table device 2, Caterpillar tyre walking switching device 3 and crawler unit
4 concrete structure, the annexation between control system 5 and mechanical equipment 1 is：Rocker arm-motor fixed plate 106, swing arm
Motor fixing plate 109, the horizontal plane of scraper bowl Rocker arm-motor fixed plate 111 are connected with the rear portion of equipment bottom plate 501, and described
Rocker arm-motor fixed plate 106, swing arm motor fixing plate 109, scraper bowl Rocker arm-motor fixed plate 111 are located at the equipment bottom plate
501 top.In addition, the output end of motor driver 506 and swing arm motor 113, scraper bowl Rocker arm-motor 112 and Rocker arm-motor
107 input is connected by control line.Annexation between control system 5 and rotation table device 2 is：Top clip plate 201
It is connected with bottom clip plate 205 with equipment bottom plate 501, and the equipment bottom plate 501 is located on top clip plate 201
Side.In addition, the output end of motor driver 506 is connected with the input of turntable motor 302 by control line.Control system 5 with
Caterpillar tyre walking switching device 3 between annexation be：Motor driver 506 and two switch motors 312 and four wheels
Tire motor 303 passes through control line respectively.Annexation between control system 5 and crawler unit 4 is：Motor drives
Device 506 is connected by control line respectively with two track drive motors 401.Between the part being connected with each other above by control line
Connected mode, can also be radio connection.
Wherein, master controller 504 can be single-chip microcomputer, PLC etc., and the present embodiment is not especially limited to this.
By setting control system to include these structures so that the mechanical digging of the convertible walking manner in the present embodiment
Pick machine can realize unmanned operation, and then can ensure the personal safety of operating personnel.Variable line feed in the present embodiment
The mechanical digging machine of mode is walked, can be received and dispatched and instructed by wireless signal transceiver module 503 under control of the computer, and
By the controlled motor driver 506 of master controller 504, and then control by motor driver switch motor motor 312, crawler belt
Motor 401, wheel drive motors 303, turntable motor 302, swing arm motor 113, scraper bowl Rocker arm-motor 112 and Rocker arm-motor
One or more of 107 work.
It should be noted that " being hinged " described in the present embodiment refers to be respectively arranged with two parts being hinged
Fraising, two parts are by being hinged.
Alternatively, as shown in figure 8, the control system 5 also includes gyroscope 502；The gyroscope 502 passes through bolt spiral shell
Mother is fixed on the position to the right of the middle part of equipment bottom plate 501；The signal output part of gyroscope 502 and master controller 504
Signal input part is connected；The gyroscope 502 is used for the posture for detecting complete machine, to obtain the angle of inclination of complete machine in real time, and will
The angle of inclination got is sent to master controller 504；When master controller 504 detects the complete machine that gyroscope 502 is sent
When angle of inclination reaches predetermined angle, master controller 504 sends switching command to motor driver 506, and motor driver 506 connects
Receive after switching command, control Caterpillar tyre walking switching device 3 and crawler unit 4 work, by the walking manner of complete machine
Switch to crawler travel mode.
Specifically, motor driver 506 is received after switching command, and four tire motors 303 of control are stopped, and control
System two switch motors 312, two track drive motors 401 are started working, and the walking manner of complete machine is automatically switched into crawler belt
Walking manner.By setting gyroscope 502, it can avoid under unmanned pattern, the mechanical digging of convertible walking manner
Rollover event occurs for pick machine complete machine.
, can be according to presetting on the concrete numerical value of predetermined angle, the present embodiment is not especially limited to this.
Alternatively, as shown in figure 8, the control system 5 also includes two ultrasonic wave modules 505；Described two ultrasonic waves
Module 505 is separately fixed on the front end vertical plane and rear end vertical plane of equipment bottom plate 501 by screw；The ultrasonic wave
The signal output part of module 505 is connected with the signal input part of master controller 504；The ultrasonic wave module is used for detecting distance,
And send the distance detected to master controller 504；When master controller 504 detect that ultrasonic wave module 505 sends away from
During from less than predetermined threshold value, master controller 504 sends halt instruction to motor driver 506, and motor driver 506 is according to stopping
Each motor in instruction control Caterpillar tyre walking switching device 3, crawler unit 4 stops current action immediately, to avoid
Collide.
, can be according to presetting on the concrete numerical value of predetermined threshold value, the present embodiment is not especially limited to this.
Specifically, when the current walking manner of the mechanical digging machine of convertible walking manner is crawler travel, motor
Driver 506 is received after switching command, and two track drive motors 401 of control stop current action.When convertible walking manner
The current walking manner of mechanical digging machine for wheel tyre walking when, motor driver 506 is received after switching command, controls four
Tire motor 303 stops current action.By setting ultrasonic wave module 505, the machine of convertible walking manner can be avoided
Tool formula excavator collides under unmanned pattern with barrier, realizes automatic obstacle-avoiding.
Alternatively, as shown in Fig. 2 mechanical equipment 1 also includes camera 117, the camera is arranged at scraper bowl
On front tension bar 103；The signal output part of the camera 117 is connected with the signal input part of master controller 504, and camera
117 are used to monitor working environment residing for complete machine, and the data got are sent to master controller 504, master controller
504 are sent it on the display of operator by wireless signal transceiver module 503, so that operator's distant surveillance is variable
Change the work of the mechanical digging machine complete machine of walking manner.
The course of work and principle of the present invention is as follows：
The mechanical digging machine of convertible walking manner is during work, because of the different corresponding walkings of walking landform
Mode is different, so carrying out the selection of walking manner first before operation is carried out.Crawler travel mode is usually to adapt to
Compare rugged road environment, to improve the operating efficiency and service behaviour of complete machine, and tire walking manner is mainly used
In landform such as relatively flat and easily impaired highways.
When selecting tire walking manner, operating personnel send corresponding signal to being consolidated in machine by communicator in hand
The signal of reception is sent to master control by the wireless signal transceiver module 503 in body control system 5, wireless signal transceiver module 503
Device 504 processed, master controller 504 retransmits corresponding control signal to motor driver 506, and the last driving of motor driver 506 is solid
Rotated due to the forwards/reverse of switch motor 312 in switch motor fixed plate 311, the rotating shaft of switch motor 312 drives switching bent
Handle 310 is rotated, and the switching rotation drivening rod 308 of crank 310 is moved, and the mobile drive of connecting rod 308 rises and falls rocking bar 309 around being fixed on
Four narrow U-shaped frame 305 below track support plate 301 is rotated, and then drives tire supporting plate 306 and four tires 304 downward
Translation.It is now, bent by the rocking bar 309 that rises and falls, connecting rod 308, switching until switching crank 310 is on same straight line with connecting rod 308
Now mechanism is in dead-centre position to the four-bar linkage of handle 310 and frame composition if being drive rod with the rocking bar 309 that rises and falls.
Just whole Tire support plate 306 can so be supported, the tire 304 being fixed on Tire support plate 306 is also stretched therewith
Go out to support complete machine, propped vacantly under the supporting role of tire 304 and then by crawler belt 404, crawler belt 404 is vacantly left behind ground,
Operating personnel control four tire motors 303 to rotate, and the rotation driven wheel of tire motor 303 tire 304 is rotated, and just can be carried out
Band tire on the drive wheels 304 is walked.
When selecting crawler travel mode, same operating personnel send corresponding signal to consolidation by the communicator in hand
With the wireless signal transceiver module 503 on fuselage, the signal of reception is sent to master controller by wireless signal transceiver module 503
504, master controller 504 retransmits corresponding control signal to motor driver 506, and the last driving of motor driver 506 is fixed on
Switch motor 312 in switch motor fixed plate 311 reversely/rotate forward, the rotating shaft of switch motor 312 drives switching crank
310 are rotated, and the switching rotation drivening rod 308 of crank 310 is moved, and the mobile drive of connecting rod 308 rises and falls rocking bar 309 around being fixed on shoe
Rotated with the narrow U-shaped frame 305 of four below supporting plate 301, now by the rocking bar 309 that rises and falls, connecting rod 308, switching crank 310 and
The dead-centre position of the four-bar linkage of frame composition is destroyed.The tire branch in the presence of complete machine gravity and switch motor 312
Fagging 306 and the tire 304 being fixed on Tire support plate 306 are withdrawn gradually, until tire 304 is in together with crawler belt 404
During one horizontal plane, switch motor 312 is rotated further, by Tire support plate 306 and the tire being fixed on Tire support plate 306
304 further up pack up, and then tire 304 all withdraws and has a certain distance with ground, to avoid and partial impairment
Thing is interfered, final crawler belt 404 support complete machine completely.
, it is necessary to drive complete machine to walk after the completion of walking manner selection, including advance, retrogressing, left-hand rotation, right-hand rotation.In choosing
In the case of selecting tire walking manner, operating personnel send corresponding signal to being consolidated on fuselage by communicator in hand
The signal of reception is sent to master controller 504, master controller by wireless signal transceiver module 503, wireless signal transceiver module 503
504 retransmit corresponding control signal to motor driver 506, and last motor driver 506 drives four tire motors 303
Rotate forward simultaneously, the rotating shaft of tire motor 303 drives tire 304 to rotate, and so just complete machine can be driven to advance；Operator
Four tire motors 303 of member's control tire on the drive wheels 304 rotate backward simultaneously, and the rotating shaft of tire motor 303 drives
Tire 304 rotates just driving complete machine and retreated；Two tire motors 303 on the left of operating personnel's control are rotated forward simultaneously,
Tire motor 303 drives tire 304 to rotate forward, and two, right side tire motor 303 rotates backward simultaneously, tire
Motor 303 drives tire 304 to rotate backward, and finally realizes that complete machine is turned right；Two tires on the left of operating personnel's control drive
Dynamic motor 303 rotates backward simultaneously, and tire motor 303 drives tire 304 to rotate backward, and two, right side tire driving electricity
Machine 303 is rotated forward simultaneously, and tire motor 303 drives tire 304 to rotate forward, finally realizes that complete machine is turned left.In selection
In the case of crawler travel mode, the track drive motor 401 of operating personnel's control both sides is rotated forward simultaneously, track drive electricity
Machine 401 drives crawler belt crawler driving whell 407 to rotate together, and the crawler driving whell 407 of the left and right sides is while drive each self-corresponding
Crawler belt 404 works, so as to drive complete machine to advance；The track drive motor 401 of operating personnel's control both sides rotates backward simultaneously, carries out
Band motor 401 drives crawler driving whell 407 to rotate together, and left and right sides crawler driving whell 407 drives each correspondence simultaneously
The work of crawler belt 404 so as to driving complete machine to retreat；Track drive motor 401 on the left of operating personnel's control is rotated forward, right side
Track drive motor 401 rotate backward, track drive motor 401 drives corresponding crawler driving whell 407 to rotate, last crawler belt
Driving wheel 407 drives corresponding crawler belt 404 to be worked to corresponding direction, realizes that complete machine is turned right；Shoe on the left of operating personnel's control
Band motor 401 drives crawler driving whell 407 to rotate backward, and the track drive motor 401 on right side drives crawler driving whell 407
Rotate forward, crawler driving whell 407 drives respective crawler belt 404 to be worked to respective direction, realize that complete machine is turned left.
Complete machine is moved to behind job site with corresponding walking manner, just can start excacation.During excavation,
Operating personnel send corresponding signal to the wireless signal transceiver module 503 being consolidated on fuselage, nothing by the communicator in hand
The signal of reception is sent to master controller 504 by line signal transmitting and receiving module 503, and master controller 504 retransmits corresponding control signal
To motor driver 506, the last control swing arm of motor driver 506 motor 113 is rotated, and the rotation of swing arm motor 113 drives a left side
Swing arm 114, right swing arm 105 are rotated, and left swing arm 114, right swing arm 105 are rotated on each rod member in driving mechanical formula equipment 1
Lower movement.By controlling Rocker arm-motor 107 to rotate, the rotational band motion rocker arm 108 of Rocker arm-motor 107 is rotated, the rotation of rocking arm 108
Pull bar 104 is driven to move, the left dipper 118 of mobile drive of pull bar 104 is around left swing arm 114, right dipper 102 before right swing arm 105
End is rotated, and the rotation of left dipper 118 and right dipper 102 drives scraper bowl 101 to move up and down, thus by control swing arm motor 113,
Rocker arm-motor 107 can realize the different excavation scope of mechanical equipment 1, height, depth.Similarly, motor driver 506
Control scraper bowl Rocker arm-motor 112 is rotated, and the rotation scraper bowl rocking arm 110 of scraper bowl Rocker arm-motor 112 is rotated, turn of scraper bowl rocking arm 110
Dynamic to drive scraper bowl back stay 115 to move, the mobile drive retainer 116 of scraper bowl back stay 115 is rotated around its bottom hinged place, is protected
The rotation for holding frame 116 drives scraper bowl front tension bar 103 to move, and the mobile drive scraper bowl 101 of scraper bowl front tension bar 103 is around left dipper 118
Rotated with the front end of right dipper 102, so as to complete the spading action of scraper bowl 101.
It is similar with conventional excavators in terms of station conversion is excavated, carry out excavating turning for station also with rotation table device 2
Change.Operating personnel send corresponding signal to the wireless signal transceiver module 503 being consolidated on fuselage by the communicator in hand,
The signal of reception is sent to master controller 504 by wireless signal transceiver module 503, and master controller 504 retransmits corresponding control letter
Number motor driver 506 is given, last motor driver 506 control turntable motor 302 is rotated, and the rotation of turntable motor 302 drives
Turntable top clip plate 201 and bottom clip plate 205 are rotated together, the rotational band of top clip plate 201 and bottom clip plate 205
Dynamic whole mechanical equipment 1 does the conversion for excavating station.Fill and expected and move to behind relevant position next in scraper bowl 101
It is scraper bowl discharge process, operating personnel are by controlling scraper bowl Rocker arm-motor 112 to rotate during being somebody's turn to do, scraper bowl Rocker arm-motor 112
Rotation drive scraper bowl rocking arm 110 to rotate, scraper bowl rocking arm 110, which is rotated, drives scraper bowl back stay 115 to move, scraper bowl back stay 115
Mobile drive retainer 116 rotated around its bottom hinged place, the rotation of retainer 116 drives scraper bowl front tension bar 103 to move, and shovels
The mobile drive scraper bowl 101 of bucket front tension bar 103 is rotated around one end of left dipper 118 and right dipper 102, so as to complete scraper bowl
101 discharging action；So far, whole to excavate charging, position is changed and the process of fixed-point unloading just terminates.
It is understood that the principle that embodiment of above is intended to be merely illustrative of the present and the exemplary implementation that uses
Mode, but the invention is not limited in this.For those skilled in the art, the essence of the present invention is not being departed from
In the case of refreshing and essence, various changes and modifications can be made therein, and these variations and modifications are also considered as protection scope of the present invention.
Claims (9)
1. a kind of mechanical digging machine of convertible walking manner, it is characterised in that including mechanical equipment (1), turntable
Device (2), Caterpillar tyre walking switching device (3), crawler unit (4) and control system (5)；
The mechanical equipment (1) and control system (5) are arranged at rotation table device (2) above, Caterpillar tyre walking switching
Device (3) and crawler unit (4) are arranged at rotation table device (2) below, and Caterpillar tyre walking switching device (3) be located at turn
The underface of table apparatus (2), crawler unit (4) is located at the left and right sides of Caterpillar tyre walking switching device (3)；Mechanically
Equipment (1), rotation table device (2), Caterpillar tyre walking switching device (3) and crawler unit (4) are and control system
(5) connect, rotation table device (2) is connected with Caterpillar tyre walking switching device (3), Caterpillar tyre walking switching device (3) is with carrying out
Band running gear (4) connection；
Wherein, the control system (5) is cut for control machinery formula equipment (1), rotation table device (2), Caterpillar tyre walking
Changing device (3) and crawler unit (4) work；Rotation table device (2) is used for control machinery formula equipment (1) and carries out 360 degree
Rotation；Crawler unit (4) is used to provide crawler travel mode；Caterpillar tyre walking switching device (3) is used to provide tire
Walking manner, and in the presence of control system (5), Caterpillar tyre walking switching device (3) and crawler unit (4) coordinate
Complete the switching between crawler travel mode and tire walking manner.
2. the mechanical digging machine of convertible walking manner according to claim 1, it is characterised in that the mechanical work
Make device (1) dynamic including scraper bowl (101), left dipper (118), right dipper (102), scraper bowl front tension bar (103), pull bar (104), the right side
Arm (105), Rocker arm-motor fixed plate (106), Rocker arm-motor (107), rocking arm (108), swing arm motor fixing plate (109), scraper bowl
Rocking arm (110), scraper bowl Rocker arm-motor fixed plate (111), scraper bowl Rocker arm-motor (112), swing arm motor (113), left swing arm
(114), scraper bowl back stay (115) and two retainers (116)；
The scraper bowl (101) is arranged at the rear end of mechanical equipment (1)；One end of scraper bowl front tension bar (103) and scraper bowl
(101) upper articulation；Left dipper (118) and right dipper (102) are arranged at below scraper bowl front tension bar (103), and left dipper (118)
With one end of right dipper (102) respectively with scraper bowl (101) lower hinge；Pull bar (104) is arranged on the left of right dipper (102), and
One end of the other end and pull bar (104) of right dipper (102) is hinged；Right swing arm (105) is arranged on the right side of right dipper (102), and
The fraising that one end of right swing arm (105) is set with right dipper (102) at the other end is hinged；Rocker arm-motor fixed plate (106)
It is arranged on the right side of right swing arm (105)；The vertical plane that the Rocker arm-motor (107) is fixed on the right side of Rocker arm-motor fixed plate (106)
On；The rocking arm (108) is arranged on the left of Rocker arm-motor fixed plate (106), and on the right side of right swing arm (105), rocking arm (108)
One end be connected with the rotating shaft of Rocker arm-motor (107), the other end of the other end and pull bar (104) of rocking arm (108) is hinged；Two
Retainer (116) is arranged on the left of pull bar (104), and two retainer (116) bottoms one end respectively with pull bar (104) one
The other end at end, the other end of right dipper (102) and left dipper (118) is hinged；The other end of scraper bowl front tension bar (103) is arranged at
Between two retainers (116), and it is hinged with one end on the upper side at the top of two retainers (116)；The one of scraper bowl back stay (115)
End is arranged between two retainers (116), and is hinged with one end on the lower side at the top of two retainers (116)；Scraper bowl rocking arm
(110) it is arranged on the left of scraper bowl back stay (115), the other end of scraper bowl back stay (115) is cut with scissors with one end of scraper bowl rocking arm (110)
Connect；Scraper bowl Rocker arm-motor fixed plate (111) is arranged on the left of scraper bowl rocking arm (110)；Scraper bowl Rocker arm-motor (112) is arranged at scraper bowl
On perpendicular on the left of Rocker arm-motor fixed plate (111)；The rotating shaft of scraper bowl Rocker arm-motor (112) and scraper bowl rocking arm (110)
The other end is hinged；Left dipper (118) is arranged on the left of two retainers (116), and left swing arm (114) is arranged at left dipper (118)
Left side, swing arm motor fixing plate (109) is arranged on the left of left swing arm (114)；Swing arm motor (113) is arranged at swing arm motor and fixed
On vertical plane on the left of plate (109)；The fraising that left dipper (118) is set at the other end and one end of left swing arm (114) are cut with scissors
Connect, the rotating shaft of the other end and swing arm motor (113) of left swing arm (114) is hinged；The Rocker arm-motor fixed plate (106), swing arm
Motor fixing plate (109) and scraper bowl Rocker arm-motor fixed plate (111) are used to be connected with control system (5).
3. the mechanical digging machine of convertible walking manner according to claim 1, it is characterised in that the rotation table device
(2) top clip plate (201), bottom clip plate (205), top outer plate (202), bottom outer plate (204) and turntable are included
Bearing (203)；
The top clip plate (201) and bottom clip plate (205) by bolt respectively with turntable bearing (203) bearing inner race
Upper and bottom section is connected；The top outer plate (202) and bottom outer plate (204) by bolt respectively with turntable bearing
(203) the upper and bottom section connection of bearing outer ring；The top clip plate (201) and bottom clip plate (205) be used for
Control system (5) is connected；The top outer plate (202) and bottom outer plate (204) are used for and Caterpillar tyre walking switching dress
Put (3) connection.
4. the mechanical digging machine of convertible walking manner according to claim 1, it is characterised in that the Caterpillar tyre
Switching device of walking (3) includes track support plate (301), turntable motor (302), four tire motors (303), four wheels
Tire (304), six narrow U-shaped frame (305), Tire support plate (306), two wide-u-shaped framves (307), two connecting rods (308), four
Rise and fall rocking bar (309), two switching cranks (310), two switch motor fixed plates (311) and two switch motors (312)；
The track support plate (301) is used to be connected with rotation table device (2) and crawler unit (4)；Tire support plate (306)
It is arranged at below track support plate (301)；Four tire motors (303) are individually fixed in Tire support plate (306) above
Four angles on；Four tires (304) are connected with tire motor (303) by wheel shaft respectively；Two wide-u-shaped framves (307)
On two angles for being separately fixed at Tire support plate (306) upper front end；Two narrow U-shaped frame in six narrow U-shaped frame (305)
(305) on two angles for being separately fixed at Tire support plate (306) upper rear end, remaining four narrow U-shaped frame (305) is fixed respectively
On four angles of track support plate (301) below；Two narrow U-shaped frame (305) on Tire support plate (306) and two
Wide-u-shaped frame (307) is located on the inside of tire motor (303) respectively；One end of four rocking bars that rise and fall (309) is respectively with being fixed on
Two narrow U-shaped frame (305) and two wide-u-shaped framves (307) on Tire support plate (306) are hinged, four rocking bars that rise and fall (309)
The other end is hinged with being fixed on the four narrow U-shaped frame (305) of track support plate (301) bottom respectively；Two switch motors are fixed
Plate (311) is fixed on track support plate (301) bottom by bolt and nut；Two switch motors (312) are separately fixed at two
On the vertical plane of switch motor fixed plate (311) opposite face；Two switching crank (310) one end respectively with two switch motors
(312) axle connection, one end respectively with two connecting rods (308) of the other end of two switching cranks (310) is hinged, and two are cut
Change crank (310) to be respectively located on the inside of two connecting rods (308), the other end of two connecting rods (308) is with being fixed on Tire support plate
(306) two wide-u-shaped framves (307) of upper front end and one end of two rocking bars that rise and fall (309) are hinged, and two connecting rods (308)
It is located at the inner side for rocking bar (309) of rising and falling respectively；Turntable motor (302) is fixed on below track support plate (301), and turntable electricity
The axle of machine (302) with rotation table device (2) through track support plate (301) and for being connected.
5. the mechanical digging machine of convertible walking manner according to claim 1, it is characterised in that the crawler travel
Device (4) includes two track drive motors (401), four L-type supports (402), two crawler belt side plates (403), two crawler belts
(404), eight BOGEY WHEELs (405), four support wheels (406) and two crawler driving whells (407)；
Described two crawler belt side plates (403) are respectively arranged at the left and right sides of Caterpillar tyre walking switching device (3)；Two crawler belts
Motor (401) is bolted on the front end in two two relative faces of crawler belt side plate (403) respectively；Four L
Type support (402), for one group, is fixed on two relative faces of two crawler belt side plates (403) by bolt and nut respectively with two
Top；Axle of described two crawler driving whells (407) by screw respectively with two track drive motors (401) is connected；It is described
Eight BOGEY WHEELs (405) are with four for one group, and two groups of BOGEY WHEELs (405) are located at the bottom of two crawler belt side plates (403) respectively, and
It is connected respectively by wheel shaft with the bottom of crawler belt side plate (403)；Four support wheels (406), for one group, distinguish position with two
It is connected in the top of two crawler belt side plates (403), and by wheel shaft with the top of crawler belt side plate (403)；Two crawler belts
(404) respectively with four BOGEY WHEELs (405) on a crawler belt side plate (403), two support wheels (406) and a crawler belt
The outer surface connection of driving wheel (407)；Every group of L-type support (402) and track drive motor (401) are located at crawler belt side plate (403)
Side, every group of crawler driving whell (407), BOGEY WHEEL (405), support wheel (406) and crawler belt (404) are located at crawler belt side plate
(403) opposite side；Four L-type supports (402) are used to be connected with Caterpillar tyre walking switching device (3).
6. the mechanical digging machine of convertible walking manner according to claim 1, it is characterised in that the control system
(5) equipment bottom plate (501), wireless signal transceiver module (503), master controller (504) and motor driver are included
(506)；
The equipment bottom plate (501) is used to be connected with mechanical equipment (1) and rotation table device (2) connection；Wireless communication
Number transceiver module (503) and master controller (504) are fixed on the anterior position to the right of equipment bottom plate (501) by bolt and nut
Put, and wireless signal transceiver module (503) is located at the master controller (504) above；The motor driver (506) passes through
Bolt and nut is fixed on the anterior position to the left of equipment bottom plate (501)；The signal of wireless signal transceiver module (503) is defeated
Go out end to be connected with the signal input part of master controller (504), the signal output part and motor driver of master controller (504)
(506) signal input part connection, signal output part and mechanical equipment (1), the Caterpillar tyre of motor driver (506)
Each motor connection in switching device of walking (3) and crawler unit (4)；
The wireless signal transceiver module (503) is used to receive the signal that operating personnel are sent by wireless signal transmitter, and
The signal of reception is sent to master controller (504)；The master controller (504) is used to receive wireless signal transceiver module
(503) the signal of coming is transmitted, and after being analyzed and processed to the signal of reception, the signal after analyzing and processing is sent to motor drive
Dynamic device (506)；The signal that the motor driver (506) is used for after the analyzing and processing of master controller (504) transmission is received
Afterwards, the corresponding motor in mechanical equipment (1), Caterpillar tyre walking switching device (3) and crawler unit (4) is driven
Rotate.
7. the mechanical digging machine of convertible walking manner according to claim 6, it is characterised in that the control system
(5) gyroscope (502) is also included；The gyroscope (502) is fixed in the middle part of equipment bottom plate (501) partially by bolt and nut
On right position；The signal output part of gyroscope (502) is connected with the signal input part of master controller (504)；The gyroscope
(502) it is used for the posture for detecting complete machine, to obtain the angle of inclination of complete machine in real time, and the angle of inclination got is sent to master
Controller (504)；When the angle of inclination that master controller (504) detects the complete machine that gyroscope (502) is sent reaches preset angle
When spending, master controller (504) sends switching command to motor driver (506), and motor driver (506) receives switching command
Afterwards, control Caterpillar tyre walking switching device (3) and crawler unit (4) work, the walking manner of complete machine is switched to
Crawler travel mode.
8. the mechanical digging machine of the convertible walking manner according to claim 6 or 7, it is characterised in that the control
System (5) also includes two ultrasonic wave modules (505)；Described two ultrasonic wave modules (505) are separately fixed at work by screw
On the front end vertical plane and rear end vertical plane for making device bottom plate (501)；The signal output part of the ultrasonic wave module (505) and master
The signal input part connection of controller (504)；The ultrasonic wave module be used for detecting distance, and by the distance detected send to
Master controller (504)；When master controller (504), which detects the distance that ultrasonic wave module (505) sends, is less than predetermined threshold value,
Master controller (504) sends halt instruction to motor driver (506), and motor driver (506) controls to carry out according to halt instruction
Each motor in belt wheel tyre walking switching device (3), crawler unit (4) stops current action immediately, to avoid touching
Hit.
9. the mechanical digging machine of the convertible walking manner according to any claim in claim 1 to 7, its feature
It is, mechanical equipment (1) also includes camera (117), the camera is arranged on scraper bowl front tension bar (103)；Institute
The signal output part for stating camera (117) is connected with the signal input part of master controller (504), and camera (117) be used for pair
Working environment is monitored residing for complete machine, and the data got are sent to master controller (504), and master controller (504) leads to
Cross wireless signal transceiver module (503) to send it on the display of operator, so as to operator's distant surveillance complete machine
Work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710602471.3A CN107227764B (en) | 2017-07-21 | 2017-07-21 | Mechanical excavator with changeable walking mode |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710602471.3A CN107227764B (en) | 2017-07-21 | 2017-07-21 | Mechanical excavator with changeable walking mode |
Publications (2)
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| CN107227764B CN107227764B (en) | 2022-12-20 |
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|---|---|---|---|
| CN201710602471.3A Active CN107227764B (en) | 2017-07-21 | 2017-07-21 | Mechanical excavator with changeable walking mode |
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| Country | Link |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108258614A (en) * | 2017-12-31 | 2018-07-06 | 江苏密斯欧智能科技有限公司 | A kind of suspension type crusing robot control method |
| CN109537655A (en) * | 2019-01-15 | 2019-03-29 | 山东科技大学 | A kind of scoop loader and its application suitable for complex working condition |
| CN110792115A (en) * | 2019-11-10 | 2020-02-14 | 徐州秩润矿山设备科技有限公司 | Underground remote control excavating equipment based on single chip microcomputer |
| CN113341822A (en) * | 2021-06-17 | 2021-09-03 | 中智电气南京有限公司 | Electric control system and method for sorting type breaking and disassembling machine |
| CN113715924A (en) * | 2021-04-28 | 2021-11-30 | 山东索玛特机械设备制造有限公司 | Four-wheel drive excavator with small and medium-sized multiple adaptability |
| CN115898078A (en) * | 2023-01-09 | 2023-04-04 | 中建八局第二建设有限公司 | Be used for reforming transform building wall to demolish and use miniexcavator |
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| CN108258614A (en) * | 2017-12-31 | 2018-07-06 | 江苏密斯欧智能科技有限公司 | A kind of suspension type crusing robot control method |
| CN108258614B (en) * | 2017-12-31 | 2020-06-16 | 江苏密斯欧智能科技有限公司 | Control method of suspension type inspection robot |
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| CN113715924A (en) * | 2021-04-28 | 2021-11-30 | 山东索玛特机械设备制造有限公司 | Four-wheel drive excavator with small and medium-sized multiple adaptability |
| CN113715924B (en) * | 2021-04-28 | 2024-05-03 | 南京海合源农业科技服务有限公司 | Small and medium-sized multi-adaptation four-wheel drive excavator |
| CN113341822A (en) * | 2021-06-17 | 2021-09-03 | 中智电气南京有限公司 | Electric control system and method for sorting type breaking and disassembling machine |
| CN113341822B (en) * | 2021-06-17 | 2023-03-14 | 中智电气南京有限公司 | Electric control system and method for sorting type breaking and disassembling machine |
| CN115898078A (en) * | 2023-01-09 | 2023-04-04 | 中建八局第二建设有限公司 | Be used for reforming transform building wall to demolish and use miniexcavator |
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