CN107227764B - Mechanical excavator with changeable walking mode - Google Patents

Abstract

The invention provides a mechanical excavator with a changeable walking mode, belongs to the field of engineering machinery, and aims to solve the problems that the walking speed of the existing mechanical excavator is low and a road is easy to damage due to the fact that the existing mechanical excavator mostly adopts a single crawler walking mode. The mechanical working device and the control system are arranged on the rotary table device, and the crawler tire walking switching device and the crawler walking device are arranged below the rotary table device; all other devices are connected with a control system, the turntable device is connected with a crawler tire walking switching device, and the crawler tire walking switching device is connected with a crawler walking device; the control system is used for controlling other devices to work; the rotary table device is used for controlling the mechanical working device to rotate for 360 degrees; the crawler belt walking device is used for providing a crawler belt walking mode; the crawler tire walking switching device is used for providing a tire walking mode, and under the action of the control system, the crawler tire walking switching device and the crawler walking device are matched to complete switching between the crawler walking mode and the tire walking mode.

Description

Mechanical excavator with changeable walking mode

Technical Field

The invention relates to the technical field of engineering machinery, in particular to a mechanical excavator with a changeable walking mode.

Background

The excavator is an important engineering machine and is widely applied to various construction works, such as mechanical construction aspects of industry, traffic, energy, farmland transformation, water conservancy, civil construction, mine excavation, modernized military engineering and the like. The excavator not only reduces the workload of people to a great extent, but also greatly improves the working efficiency.

At present, the excavator mainly has two types of hydraulic type and mechanical type. Because hydraulic transmission has the advantages of small volume, simple structure, light weight, capability of completing more complex actions, easiness in realizing overload protection and the like, hydraulic excavators are widely adopted. However, hydraulic excavators use hydraulic oil as a power transmission medium, and have poor starting performance, and are prone to leakage after internal components are worn, and phenomena such as overheating and incapability of working occur at the same time. Because of the limitation of hydraulic systems, most hydraulic excavators are medium-sized and small-sized excavators, and many large excavators also have to adopt mechanical excavators driven by electric power. Mechanical excavators have been in the past century and utilize mechanical drives. Most of the existing mechanical excavators adopt a single walking mode, namely a crawler walking mode. Adopt crawler-belt walking mode have bearing capacity big, be applicable to advantages such as complicated topography, but crawler-belt walking also has some shortcomings, for example: the walking speed is slow, the road is easy to damage, and the like, which is a very difficult problem in the field of engineering machinery and a problem which can not be broken through for a long time.

Disclosure of Invention

The invention aims to solve the technical problems that the conventional mechanical excavator mostly adopts a single crawler belt walking mode, so that the walking speed is low, roads are easy to damage, and the like, and provides a mechanical excavator with a changeable walking mode.

In order to solve the technical problems, the invention adopts the technical scheme that:

a mechanical excavator with a changeable walking mode comprises a mechanical working device, a rotary table device, a crawler tire walking switching device, a crawler walking device and a control system; the mechanical working device and the control system are arranged on the rotary table device, the crawler tire walking switching device and the crawler walking device are arranged below the rotary table device, the crawler tire walking switching device is positioned right below the rotary table device, and the crawler walking device is positioned on the left side and the right side of the crawler tire walking switching device; the mechanical working device, the rotary table device, the crawler tire walking switching device and the crawler walking device are all connected with the control system, the rotary table device is connected with the crawler tire walking switching device, and the crawler tire walking switching device is connected with the crawler walking device;

the control system is used for controlling the mechanical working device, the rotary table device, the crawler tire walking switching device and the crawler walking device to work; the rotary table device is used for controlling the mechanical working device to rotate for 360 degrees; the crawler belt walking device is used for providing a crawler belt walking mode; the crawler tire walking switching device is used for providing a tire walking mode, and under the action of the control system, the crawler tire walking switching device and the crawler walking device are matched to complete switching between the crawler walking mode and the tire walking mode.

Optionally, the mechanical working device comprises a bucket, a left bucket rod, a right bucket rod, a bucket front pull rod, a right movable arm, a rocker arm motor fixing plate, a rocker arm motor, a rocker arm, a movable arm motor fixing plate, a bucket rocker arm motor fixing plate, a bucket rocker arm motor, a movable arm motor, a left movable arm, a bucket rear pull rod and two retainers;

the bucket is arranged at the rear end of the mechanical working device; one end of the front pull rod of the bucket is hinged with the upper part of the bucket; the left bucket rod and the right bucket rod are arranged below the front pull rod of the bucket, and one ends of the left bucket rod and the right bucket rod are respectively hinged with the lower part of the bucket; the pull rod is arranged on the left side of the right bucket rod, and the other end of the right bucket rod is hinged with one end of the pull rod; the right movable arm is arranged on the right side of the right bucket rod, and one end of the right movable arm is hinged with a hinge hole arranged at the position, close to the other end, of the right bucket rod; the rocker arm motor fixing plate is arranged on the right side of the right movable arm; the rocker motor is fixed on the vertical surface on the right side of the rocker motor fixing plate; the rocker arm is arranged on the left side of the rocker arm motor fixing plate and is positioned on the right side of the right movable arm, one end of the rocker arm is connected with a rotating shaft of the rocker arm motor, and the other end of the rocker arm is hinged with the other end of the pull rod; the two retainers are arranged on the left side of the pull rod, and one ends of the bottoms of the two retainers are hinged with one end of the pull rod, the other end of the right bucket rod and the other end of the left bucket rod respectively; the other end of the front pull rod of the bucket is arranged between the two retainers and is hinged with one end of the top of each retainer; one end of the rear pull rod of the bucket is arranged between the two retainers and is hinged with one end of the two retainers which is inclined to the bottom; the other end of the bucket rear pull rod is hinged with one end of the bucket rocker arm; the scraper bucket rocker arm motor fixing plate is arranged on the left side of the scraper bucket rocker arm; the bucket rocker motor is arranged on a vertical plane on the left side of the bucket rocker motor fixing plate; a rotating shaft of the bucket rocker arm motor is hinged with the other end of the bucket rocker arm; the left bucket rod is arranged on the left sides of the two retainers, the left movable arm is arranged on the left side of the left bucket rod, and the movable arm motor fixing plate is arranged on the left side of the left movable arm; the movable arm motor is arranged on the vertical surface on the left side of the movable arm motor fixing plate; a hinge hole arranged at the position, close to the other end, of the left bucket rod is hinged with one end of a left movable arm, and the other end of the left movable arm is hinged with a rotating shaft of a movable arm motor; the rocker arm motor fixing plate, the movable arm motor fixing plate and the bucket rocker arm motor fixing plate are used for being connected with a control system.

Optionally, the turntable device comprises an upper inner platen, a lower inner platen, an upper outer platen, a lower outer platen and a turntable bearing;

the upper inner pressure plate and the lower inner pressure plate are respectively connected with the upper part and the lower part of the bearing inner ring of the turntable bearing through bolts; the upper outer pressing plate and the lower outer pressing plate are respectively connected with the upper part and the lower part of the outer ring of the bearing of the turntable bearing through bolts; the upper inner pressure plate and the lower inner pressure plate are used for being connected with a control system; and the upper outer pressing plate and the lower outer pressing plate are used for being connected with the crawler tire walking switching device.

Optionally, the tracked tire walking switching device comprises a tracked support plate, a turntable motor, four tire driving motors, four tires, six narrow U-shaped frames, a tire support plate, two wide U-shaped frames, two connecting rods, four lifting rockers, two switching cranks, two switching motor fixing plates and two switching motors;

the crawler supporting plate is used for being connected with the rotary table device and the crawler traveling device; the tire supporting plate is arranged below the crawler supporting plate; the four tire driving motors are respectively fixed on four corners on the tire supporting plate; the four tires are respectively connected with the tire driving motor through wheel shafts; the two wide U-shaped frames are respectively fixed on two corners at the upper part of the front end of the tire supporting plate; two narrow U-shaped frames of the six narrow U-shaped frames are respectively fixed at two corners of the upper part of the rear end of the tire supporting plate, and the other four narrow U-shaped frames are respectively fixed at four corners below the crawler supporting plate; the two narrow U-shaped frames and the two wide U-shaped frames which are positioned on the tire supporting plate are respectively positioned at the inner side of the tire driving motor; one ends of the four lifting rocking rods are respectively hinged with the two narrow U-shaped frames and the two wide U-shaped frames which are fixed on the tire supporting plate, and the other ends of the four lifting rocking rods are respectively hinged with the four narrow U-shaped frames which are fixed at the lower part of the track supporting plate; the two switching motor fixing plates are fixed at the lower part of the track supporting plate through bolts and nuts; the two switching motors are respectively fixed on the vertical surfaces of the opposite surfaces of the two switching motor fixing plates; one end of each of the two switching cranks is respectively connected with the shafts of the two switching motors, the other ends of the two switching cranks are respectively hinged with one end of each of the two connecting rods, the two switching cranks are respectively positioned at the inner sides of the two connecting rods, the other ends of the two connecting rods are hinged with two wide U-shaped frames fixed at the upper part of the front end of the tire supporting plate and one ends of the two lifting rocking rods, and the two connecting rods are respectively positioned at the inner sides of the lifting rocking rods; the turntable motor is fixed below the crawler supporting plate, and a shaft of the turntable motor penetrates through the crawler supporting plate and is used for being connected with the turntable device.

Optionally, the crawler traveling device comprises two crawler driving motors, four L-shaped brackets, two crawler side plates, two crawlers, eight bearing wheels, four supporting wheels and two crawler driving wheels;

the two crawler side plates are respectively arranged on the left side and the right side of the crawler tire walking switching device; the two crawler belt driving motors are respectively fixed at the front ends of two opposite surfaces of the two crawler belt side plates through bolts; the four L-shaped brackets are in a group of two and are respectively fixed on the upper parts of two opposite surfaces of the two crawler side plates through bolts and nuts; the two crawler driving wheels are respectively connected with the shafts of the two crawler driving motors through screws; the eight bearing wheels are in a group of four, and the two groups of bearing wheels are respectively positioned at the lower parts of the two crawler side plates and are respectively connected with the lower parts of the crawler side plates through wheel shafts; the four supporting wheels are in a group of two and are respectively positioned at the upper parts of the two crawler side plates and connected with the upper parts of the crawler side plates through wheel shafts; the two crawler belts are respectively connected with the outer surfaces of the four bearing wheels, the two supporting wheels and a crawler belt driving wheel which are positioned on one crawler belt side plate; each group of L-shaped brackets and the crawler driving motor are positioned on one side of the crawler side plate, and each group of crawler driving wheels, bearing wheels, supporting wheels and crawlers are positioned on the other side of the crawler side plate; and the four L-shaped supports are used for being connected with the crawler tire walking switching device.

Optionally, the control system includes a work device base plate, a wireless signal transceiver module, a main controller, and a motor driver;

the working device bottom plate is used for being connected with the mechanical working device and the rotary table device; the wireless signal transceiver module and the main controller are fixed on the right side of the front part of the bottom plate of the working device through bolts and nuts, and the wireless signal transceiver module is positioned on the main controller; the motor driver is fixed on the left position of the front part of the bottom plate of the working device through bolts and nuts; the signal output end of the wireless signal transceiving module is connected with the signal input end of the main controller, the signal output end of the main controller is connected with the signal input end of the motor driver, and the signal output end of the motor driver is connected with each motor in the mechanical working device, the crawler tire walking switching device and the crawler walking device;

the wireless signal transceiver module is used for receiving signals sent by an operator through the wireless signal transmitter and sending the received signals to the main controller; the main controller is used for receiving the signals transmitted by the wireless signal transceiving module, analyzing and processing the received signals and then sending the analyzed and processed signals to the motor driver; and the motor driver is used for driving corresponding motors in the mechanical working device, the crawler tire walking switching device and the crawler walking device to rotate after receiving the analyzed and processed signal sent by the main controller.

Optionally, the control system further comprises a gyroscope; the gyroscope is fixed on the position, which is slightly to the right, in the middle of the bottom plate of the working device through bolts and nuts; the signal output end of the gyroscope is connected with the signal input end of the main controller; the gyroscope is used for detecting the posture of the whole machine so as to obtain the inclination angle of the whole machine in real time and send the obtained inclination angle to the main controller; when the main controller detects that the inclination angle of the whole machine sent by the gyroscope reaches a preset angle, the main controller sends a switching instruction to the motor driver, and after the motor driver receives the switching instruction, the motor driver controls the crawler tire walking switching device and the crawler walking device to work so as to switch the walking mode of the whole machine into the crawler walking mode.

Optionally, the control system further comprises two ultrasound modules; the two ultrasonic modules are respectively fixed on the front vertical surface and the rear vertical surface of the bottom plate of the working device through screws; the signal output end of the ultrasonic module is connected with the signal input end of the main controller; the ultrasonic module is used for detecting the distance and sending the detected distance to the main controller; when the main controller detects that the distance sent by the ultrasonic module is smaller than a preset threshold value, the main controller sends a stop instruction to the motor driver, and the motor driver controls the tracked tire walking switching device and each motor in the tracked walking device to stop current actions immediately according to the stop instruction so as to avoid collision.

Optionally, the mechanical working device further comprises a camera, and the camera is arranged on the front pull rod of the bucket; the signal output end of the camera is connected with the signal input end of the main controller, the camera is used for monitoring the working environment where the whole machine is located, the obtained data are sent to the main controller, and the main controller transmits the data to a display of an operator through the wireless signal receiving and sending module, so that the operator can observe the work of the whole machine remotely.

The invention has the beneficial effects that:

through setting up control system and can provide the crawler belt tire walking auto-change over device of tire walking mode, and through setting up under control system's effect, crawler belt tire walking auto-change over device and crawler belt walking device cooperation accomplish the switching between crawler belt walking mode and the tire walking mode, make the walking mode of the mechanical type excavator of the convertible walking mode that this embodiment provided both include the crawler belt walking mode, also include the tire walking mode, the walking mode is nimble changeable, can select the walking mode according to the topography characteristics, can avoid the mechanical type excavator single crawler belt walking mode walking speed slow, destroy the highway easily scheduling problem appearance. In addition, the control system controls other parts to work, so that the mechanical excavator with the changeable walking mode provided by the embodiment can realize unmanned driving, the labor cost can be saved, and the safety during working can be improved.

Drawings

Fig. 1 is a schematic structural view of the present invention.

Fig. 2 is a schematic structural view of the mechanical working apparatus of fig. 1.

Fig. 3 is a partially enlarged view of a portion a in fig. 2.

Fig. 4 is a partially enlarged view of a portion B in fig. 2.

Fig. 5 is a schematic view of the structure of the turntable device of fig. 1.

Fig. 6 is a schematic structural view of the crawler tire travel switching device in fig. 1.

Fig. 7 is a schematic view of the crawler belt unit of fig. 1.

Fig. 8 is a schematic structural diagram of the control system in fig. 1.

Fig. 9 is a block diagram of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples.

As shown in fig. 1, the mechanical excavator with convertible traveling modes in the present embodiment includes a mechanical working device 1, a turntable device 2, a crawler tire traveling switching device 3, a crawler traveling device 4, and a control system 5; the mechanical working device 1 and the control system 5 are arranged on the rotary table device 2, the crawler tire walking switching device 3 and the crawler traveling device 4 are arranged below the rotary table device 2, the crawler tire walking switching device 3 is positioned right below the rotary table device 2, and the crawler traveling devices 4 are positioned at the left side and the right side of the crawler tire walking switching device 3; the mechanical working device 1, the rotary table device 2, the crawler tire walking switching device 3 and the crawler walking device 4 are all connected with the control system 5, the rotary table device 2 is connected with the crawler tire walking switching device 3, and the crawler tire walking switching device 3 is connected with the crawler walking device 4; the control system 5 is used for controlling the mechanical working device 1, the rotary table device 2, the crawler tire walking switching device 3 and the crawler walking device 4 to work; the rotary table device 2 is used for controlling the mechanical working device 1 to rotate for 360 degrees; the crawler belt walking device 4 is used for providing a crawler belt walking mode; the crawler belt tire traveling switching device 3 is used for providing a tire traveling mode, and under the action of the control system 5, the crawler belt tire traveling switching device 3 and the crawler belt traveling device 4 cooperate to complete switching between the crawler belt traveling mode and the tire traveling mode.

This embodiment is through setting up control system 5 and can provide the crawler belt tire walking auto-change over device 3 of tire walking mode, and through setting up under control system 5's effect, crawler belt tire walking auto-change over device 3 and crawler belt walking 4 cooperation are accomplished and are switched over between crawler belt walking mode and the tire walking mode, make the walking mode of the mechanical type excavator of the convertible walking mode that this embodiment provided both include crawler belt walking mode, also include tire walking mode, the walking mode is nimble changeable, can select the walking mode according to topographic features, can avoid mechanical type excavator single crawler belt walking mode walking speed slow, destroy the highway scheduling problem easily and appear. In addition, the control system 5 is arranged to control other components to work, so that the mechanical excavator with the changeable walking mode provided by the embodiment can realize unmanned driving, the labor cost can be saved, and the safety during working can be improved.

Alternatively, as shown in fig. 2 to 4, the mechanical working device 1 includes a bucket 101, a left arm 118, a right arm 102, a bucket front link 103, a link 104, a right boom 105, a swing arm motor fixing plate 106, a swing arm motor 107, a swing arm 108, a boom motor fixing plate 109, a bucket swing arm 110, a bucket swing arm motor fixing plate 111, a bucket swing arm motor 112, a boom motor 113, a left boom 114, a bucket rear link 115, and two holders 116; the bucket 101 is provided at the rear end of the mechanical working device 1; one end of the front bucket pull rod 103 is hinged with the upper part of the bucket 101; the left arm 118 and the right arm 102 are arranged below the front bucket pull rod 103, and one ends of the left arm 118 and the right arm 102 are respectively hinged with the lower part of the bucket 101; the pull rod 104 is arranged on the left side of the right bucket rod 102, and the other end of the right bucket rod 102 is hinged with one end of the pull rod 104; the right movable arm 105 is arranged on the right side of the right bucket rod 102, and one end of the right movable arm 105 is hinged with a hinge hole arranged at the position, close to the other end, of the right bucket rod 102; the rocker arm motor fixing plate 106 is arranged on the right side of the right movable arm 105; the rocker motor 107 is fixed on the vertical surface on the right side of the rocker motor fixing plate 106; the rocker arm 108 is arranged on the left side of the rocker arm motor fixing plate 106 and is positioned on the right side of the right movable arm 105, one end of the rocker arm 108 is connected with a rotating shaft of the rocker arm motor 107, and the other end of the rocker arm 108 is hinged with the other end of the pull rod 104; the two retainers 116 are arranged on the left side of the pull rod 104, and one ends of the bottoms of the two retainers 116 are hinged to one end of the pull rod 104, the other end of the right bucket rod 102 and the other end of the left bucket rod 118 respectively; the other end of the bucket front pull rod 103 is arranged between the two holding frames 116 and is hinged with one end of the two holding frames 116, which is on the upper side of the top; one end of the bucket rear pull rod 115 is arranged between the two holding frames 116 and is hinged with one end of the two holding frames 116, which is inclined downwards from the top; the bucket rocker 110 is arranged on the left side of the bucket rear pull rod 115, and the other end of the bucket rear pull rod 115 is hinged with one end of the bucket rocker 110; the bucket arm motor fixing plate 111 is disposed on the left side of the bucket arm 110; the bucket rocker motor 112 is arranged on a vertical plane on the left side of the bucket rocker motor fixing plate 111; the rotating shaft of the bucket rocker arm motor 112 is hinged with the other end of the bucket rocker arm 110; the left arm 118 is arranged at the left side of the two holders 116, the left boom 114 is arranged at the left side of the left arm 118, and the boom motor fixing plate 109 is arranged at the left side of the left boom 114; the movable arm motor 113 is disposed on a vertical surface of the left side of the movable arm motor fixing plate 109; a hinge hole arranged at the other end of the left bucket rod 118 close to the left boom is hinged with one end of the left boom 114, and the other end of the left boom 114 is hinged with a rotating shaft of the boom motor 113; the rocker arm motor fixing plate 106, the rocker arm motor fixing plate 109 and the bucket rocker arm motor fixing plate 111 are used for connecting with the control system 5.

By setting the mechanical working device 1 to be the structure shown in fig. 2 to 4, that is, by setting the mechanical working device 1 to include the swing arm motor 107, the bucket swing arm motor 112, the swing arm motor 113, and the cooperation of the surrounding components, the mechanical excavator with a convertible walking manner provided by this embodiment is a three-degree-of-freedom controllable structure, and the output of a flexible, complex and changeable excavation trajectory in a working space can be realized through computer control, so that the mechanical excavator can be applied to various working scenes.

It should be noted that, in the present embodiment, the front, back, left, and right positional relationships are defined by: when the mechanical excavator with the changeable walking mode walks and is not in a working state, the bucket 101 is positioned at the back of the whole excavator, the direction is defined as 'back', the direction corresponding to the bucket is 'front', and the directions vertical to the 'front' and 'back' are 'left' and 'right'. Referring to fig. 1, the opening direction of the bucket 101 is the rear direction in the present embodiment.

Alternatively, as shown in fig. 5, the turntable device 2 includes an upper inner platen 201, a lower inner platen 205, an upper outer platen 202, a lower outer platen 204, and a turntable bearing 203; the upper inner pressure plate 201 and the lower inner pressure plate 205 are respectively connected with the upper part and the lower part of the bearing inner ring of the turntable bearing 203 through bolts; the upper outer pressing plate 202 and the lower outer pressing plate 204 are respectively connected with the upper part and the lower part of the bearing outer ring of the turntable bearing 203 through bolts; the upper inner pressure plate 201 and the lower inner pressure plate 205 are used for connecting with the control system 5; the upper outer press plate 202 and the lower outer press plate 204 are used for connecting with the crawler tire travel switching device 3.

By providing the turntable device 2, it is possible to control the flexible rotation of the mechanical working device 1 by the turntable device 2, and at the same time, it is possible to reduce the force applied by the mechanical working device 1 to the shaft of the turntable motor 302 in the following crawler tire traveling switching device 3.

Alternatively, as shown in fig. 6, the crawler tire running switching device 3 includes a crawler supporting plate 301, a turntable motor 302, four tire driving motors 303, four tires 304, six narrow U-shaped frames 305, a tire supporting plate 306, two wide U-shaped frames 307, two connecting rods 308, four rising and falling rockers 309, two switching cranks 310, two switching motor fixing plates 311, and two switching motors 312; the crawler supporting plate 301 is used for being connected with the rotary table device 2 and the crawler traveling device 4; the tire support plate 306 is disposed below the track support plate 301; the four tire driving motors 303 are respectively fixed on four corners of the upper surface of the tire supporting plate 306; the four tires 304 are respectively connected with the tire driving motor 303 through wheel shafts; two wide U-shaped frames 307 are respectively fixed on two corners of the upper part of the front end of the tire support plate 306; two narrow U-shaped frames 305 of the six narrow U-shaped frames 305 are respectively fixed on two corners of the upper part of the rear end of the tire supporting plate 306, and the other four narrow U-shaped frames 305 are respectively fixed on four corners below the crawler supporting plate 301; two narrow U-shaped frames 305 and two wide U-shaped frames 307 on the tire support plate 306 are respectively located inside the tire driving motor 303; one ends of four lifting rocker bars 309 are respectively hinged with two narrow U-shaped frames 305 and two wide U-shaped frames 307 fixed on the tire supporting plate 306, and the other ends of the four lifting rocker bars 309 are respectively hinged with four narrow U-shaped frames 305 fixed on the lower part of the track supporting plate 301; the two switching motor fixing plates 311 are fixed at the lower part of the track supporting plate 301 through bolts and nuts; the two switching motors 312 are respectively fixed on the vertical surfaces of the opposite surfaces of the two switching motor fixing plates 311; one end of each of the two switching cranks 310 is connected with the shaft of each of the two switching motors 312, the other end of each of the two switching cranks 310 is hinged to one end of each of the two connecting rods 308, the two switching cranks 310 are located inside the two connecting rods 308, the other end of each of the two connecting rods 308 is hinged to one end of each of the two wide U-shaped frames 307 and one end of each of the two lifting rockers 309, which are fixed to the upper portion of the front end of the tire supporting plate 306, and the two connecting rods 308 are located inside the lifting rockers 309; the turntable motor 302 is fixed under the track support plate 301, and the shaft of the turntable motor 302 passes through the track support plate 301 and is used to connect with the turntable device 2.

With the specific structure of the turntable device 2, the specific connection relationship between the crawler tire traveling switching device 3 and the turntable device 2 is as follows: a track support plate 301 is coupled to the upper outer press plate 202 and the lower outer press plate 204, and the lower outer press plate 204 is positioned above the track support plate 301.

By arranging the crawler belt tire traveling switching device 3, a tire traveling mode is provided, switching between the crawler belt traveling mode and the tire traveling mode can be realized under the action of the control system 5, and the problems that the traveling mode is single, the traveling speed is low, a road is easy to damage and the like when a traditional mechanical excavator is in the crawler belt traveling mode are solved.

Alternatively, as shown in fig. 7, the crawler travel unit 4 includes two crawler belt driving motors 401, four L-shaped brackets 402, two crawler belt side plates 403, two crawler belts 404, eight bearing wheels 405, four supporting wheels 406, and two crawler belt driving wheels 407; the two crawler side plates 403 are respectively arranged on the left side and the right side of the crawler tire traveling switching device 3; the two crawler driving motors 401 are respectively fixed at the front ends of two opposite surfaces of the two crawler side plates 403 through bolts; the four L-shaped brackets 402 are grouped into two groups, and are respectively fixed on the upper parts of two opposite surfaces of the two crawler side plates 403 through bolts and nuts; the two crawler driving wheels 407 are respectively connected with the shafts of the two crawler driving motors 401 through screws; the eight bearing wheels 405 are in a group of four, and the two groups of bearing wheels 405 are respectively positioned at the lower parts of the two crawler side plates 403 and are respectively connected with the lower parts of the crawler side plates 403 through wheel shafts; the four supporting wheels 406 are arranged in a group of two and are respectively positioned at the upper parts of the two crawler belt side plates 403 and are connected with the upper parts of the crawler belt side plates 403 through wheel shafts; the two tracks 404 are respectively connected with the outer surfaces of four bearing wheels 405, two supporting wheels 406 and a track driving wheel 407 which are positioned on one track side plate 403; each set of L-shaped brackets 402 and track drive motors 401 is located on one side of a track side plate 403, and each set of track drive wheels 407, bogie wheels 405, support wheels 406, and tracks 404 is located on the other side of the track side plate 403; the four L-shaped brackets 402 are used for connecting with the crawler tire travel switching device 3.

In combination with the specific structure of the crawler belt tire traveling switching device 3, the connection relationship between the crawler belt traveling device 4 and the crawler belt tire traveling switching device 3 is as follows: four L-shaped brackets 402 are respectively connected to the track support plates 301, and the L-shaped brackets 402 are located below the track support plates 301.

The mechanical excavator with the changeable walking mode comprises the crawler tire walking switching device 3 and the crawler walking device 4, so that the mechanical excavator with the changeable walking mode in the embodiment is not only suitable for walking on complex terrains, but also can improve the stability and walking speed of the whole excavator during working, and further can reduce the damage to roads.

Alternatively, as shown in fig. 8, the control system 5 includes a working device base plate 501, a wireless signal transceiver module 503, a main controller 504, and a motor driver 506; the working device bottom plate 501 is used for connecting with the mechanical working device 1 and the rotary table device 2; the wireless signal transceiver module 503 and the main controller 504 are fixed on the right front part of the working device bottom plate 501 through bolts and nuts, and the wireless signal transceiver module 503 is positioned on the main controller 504; the motor driver 506 is fixed on the left position of the front part of the bottom plate 501 of the working device through bolts and nuts; the signal output end of the wireless signal transceiver module 503 is connected with the signal input end of the main controller 504, the signal output end of the main controller 504 is connected with the signal input end of the motor driver 506, and the signal output end of the motor driver 506 is connected with each motor in the mechanical working device 1, the crawler tire traveling switching device 3 and the crawler traveling device 4; the wireless signal transceiver module 503 is configured to receive a signal sent by an operator through a wireless signal transmitter, and send the received signal to the main controller 504; the main controller 504 is configured to receive a signal transmitted by the wireless signal transceiver module 503, analyze the received signal, and send the analyzed signal to the motor driver 506; the motor driver 506 is configured to drive the corresponding motors in the mechanical working device 1, the crawler tire traveling switching device 3, and the crawler traveling device 4 to rotate after receiving the analyzed and processed signal sent by the main controller 504.

By combining the specific structures of the mechanical working device 1, the turntable device 2, the crawler tire traveling switching device 3 and the crawler traveling device 4, the connection relationship between the control system 5 and the mechanical working device 1 is as follows: the horizontal surfaces of the swing arm motor fixing plate 106, the swing arm motor fixing plate 109 and the bucket swing arm motor fixing plate 111 are connected with the rear part of the working device bottom plate 501, and the swing arm motor fixing plate 106, the swing arm motor fixing plate 109 and the bucket swing arm motor fixing plate 111 are located above the working device bottom plate 501. Further, the output terminal of the motor driver 506 is connected to the input terminals of the boom motor 113, the bucket swing arm motor 112, and the swing arm motor 107 via control lines. The connection relationship between the control system 5 and the turntable device 2 is as follows: the upper inner platen 201 and the lower inner platen 205 are connected to a working device base plate 501, and the working device base plate 501 is located above the upper inner platen 201. In addition, the output terminal of the motor driver 506 is connected to the input terminal of the turntable motor 302 through a control line. The connection relationship between the control system 5 and the crawler tire traveling switching device 3 is as follows: the motor driver 506 and the two switching motors 312 and the four tire driving motors 303 are connected via control lines, respectively. The connection relationship between the control system 5 and the crawler belt walking device 4 is as follows: the motor driver 506 is connected to the two track driving motors 401 through control lines, respectively. The connection mode between the components connected to each other by the control line may be a wireless connection mode.

The main controller 504 may be a single chip, a PLC, etc., which is not specifically limited in this embodiment.

By arranging the control system to comprise the structures, the mechanical excavator with the changeable walking mode in the embodiment can realize unmanned operation, and further can ensure the personal safety of operators. In the mechanical excavator with a convertible walking mode in this embodiment, under the control of a computer, the wireless signal transceiver module 503 may receive and transmit an instruction, and the main controller 504 may control the motor driver 506, so as to control one or more of the switching motor 312, the track driving motor 401, the wheel driving motor 303, the turntable motor 302, the boom motor 113, the bucket boom motor 112, and the boom motor 107 to operate through the motor driver.

It should be noted that "hinge" in this embodiment means that two parts hinged to each other are respectively provided with a hinge hole, and the two parts are hinged through the hinge hole.

Optionally, as shown in fig. 8, the control system 5 further includes a gyroscope 502; the gyroscope 502 is fixed on the position which is right in the middle of the bottom plate 501 of the working device through bolts and nuts; the signal output end of the gyroscope 502 is connected with the signal input end of the main controller 504; the gyroscope 502 is used for detecting the posture of the whole machine, so as to obtain the inclination angle of the whole machine in real time and send the obtained inclination angle to the main controller 504; when the main controller 504 detects that the inclination angle of the whole machine sent by the gyroscope 502 reaches a preset angle, the main controller 504 sends a switching instruction to the motor driver 506, and after the motor driver 506 receives the switching instruction, the crawler tire walking switching device 3 and the crawler walking device 4 are controlled to work, so that the walking mode of the whole machine is switched to a crawler walking mode.

Specifically, after receiving the switching instruction, the motor driver 506 controls the four tire driving motors 303 to stop working, controls the two switching motors 312 and the two crawler driving motors 401 to start working, and automatically switches the running mode of the whole machine to the crawler running mode. By arranging the gyroscope 502, the rollover accident of the whole mechanical excavator with changeable walking modes in the unmanned mode can be avoided.

The specific value of the preset angle may be preset, and this embodiment is not limited in this respect.

Optionally, as shown in fig. 8, the control system 5 further includes two ultrasonic modules 505; the two ultrasonic modules 505 are respectively fixed on the front vertical surface and the rear vertical surface of the bottom plate 501 of the working device through screws; the signal output end of the ultrasonic module 505 is connected with the signal input end of the main controller 504; the ultrasonic module is used for detecting a distance and sending the detected distance to the main controller 504; when the main controller 504 detects that the distance sent by the ultrasonic module 505 is smaller than the preset threshold, the main controller 504 sends a stop instruction to the motor driver 506, and the motor driver 506 controls each motor in the crawler tire traveling switching device 3 and the crawler traveling device 4 to immediately stop the current action according to the stop instruction so as to avoid collision.

The specific value of the preset threshold may be preset, and this embodiment is not limited in this respect.

Specifically, when the current travel mode of the mechanical excavator with changeable travel modes is crawler travel, the motor driver 506 receives the switching instruction and controls the two crawler drive motors 401 to stop the current operation. When the current running mode of the mechanical excavator with the changeable running mode is tire running, the motor driver 506 controls the four tire driving motors 303 to stop the current action after receiving the switching instruction. Through setting up ultrasonic wave module 505, can avoid the mechanical type excavator of convertible walking mode to bump with the barrier under unmanned driving mode, realized keeping away the barrier automatically.

Optionally, as shown in fig. 2, the mechanical working device 1 further includes a camera 117 disposed on the bucket front pull rod 103; the signal output end of the camera 117 is connected with the signal input end of the main controller 504, the camera 117 is used for monitoring the working environment of the whole excavator, the obtained data is sent to the main controller 504, and the main controller 504 transmits the data to the display of an operator through the wireless signal transceiving module 503, so that the operator can remotely observe the work of the mechanical excavator whole excavator with the changeable walking mode.

The working process and principle of the invention are as follows:

in the process of working, the mechanical excavator with changeable walking modes firstly selects the walking mode before working because of different walking modes corresponding to different walking terrains. The track walking mode is generally used for adapting to a rugged road environment so as to improve the working efficiency and the working performance of the whole machine, and the tire walking mode is mainly used for terrains such as a relatively flat road which is easy to damage.

When the tire walking mode is selected, an operator sends a corresponding signal to the wireless signal transceiver module 503 fixedly connected in the body control system 5 through the communication device in the hand, the wireless signal transceiver module 503 sends the received signal to the main controller 504, the main controller 504 sends a corresponding control signal to the motor driver 506, finally, the motor driver 506 drives the switching motor 312 fixed on the switching motor fixing plate 311 to rotate in the forward/reverse direction, the rotating shaft of the switching motor 312 drives the switching crank 310 to rotate, the switching crank 310 rotates to drive the connecting rod 308 to move, and the movement of the connecting rod 308 drives the lifting rocker 309 to rotate around the four narrow U-shaped frames 305 fixed below the track supporting plate 301, so as to drive the tire supporting plate 306 and the four tires 304 to move downwards. Until the switching crank 310 and the connecting rod 308 are on the same straight line, at this time, if the plane four-bar mechanism composed of the lifting rocker 309, the connecting rod 308, the switching crank 310 and the frame takes the lifting rocker 309 as a driving rod, the mechanism is at the dead point position at this time. Therefore, the whole tire supporting plate 306 can be supported, the tire 304 fixed on the tire supporting plate 306 extends out of the whole supporting machine, the crawler belt 404 is supported in the air under the supporting effect of the tire 304, after the crawler belt 404 leaves the ground in the air, an operator controls the four tire driving motors 303 to rotate, the tire driving motors 303 rotate to drive the tire 304 to rotate, and the crawler belt can drive the tire 304 to walk.

When the crawler walking mode is selected, an operator sends a corresponding signal to the wireless signal transceiver module 503 fixedly connected to the crawler body through the communication device in the hand, the wireless signal transceiver module 503 sends the received signal to the main controller 504, the main controller 504 sends a corresponding control signal to the motor driver 506, finally the motor driver 506 drives the switching motor 312 fixed on the switching motor fixing plate 311 to rotate in the reverse/forward direction, the rotating shaft of the switching motor 312 drives the switching crank 310 to rotate, the switching crank 310 rotates to drive the connecting rod 308 to move, the movement of the connecting rod 308 drives the lifting rocker 309 to rotate around the four narrow U-shaped frames 305 fixed below the crawler supporting plate 301, and at this time, the dead point position of the planar four-bar mechanism composed of the lifting rocker 309, the connecting rod 308, the switching crank 310 and the frame is damaged. Under the action of the gravity of the whole machine and the switching motor 312, the tire support plate 306 and the tire 304 fixed on the tire support plate 306 are gradually retracted until the tire 304 and the crawler 404 are in the same horizontal plane, the switching motor 312 continues to rotate, the tire support plate 306 and the tire 304 fixed on the tire support plate 306 are further retracted upwards, and then the tire 304 is fully retracted and has a certain distance with the ground so as to avoid interference with partial obstacles, and finally the crawler 404 completely supports the whole machine.

After the selection of the walking mode is completed, the whole machine needs to be driven to walk, wherein the walking mode comprises forward, backward, left-turning and right-turning. Under the condition of selecting a tire walking mode, an operator sends a corresponding signal to a wireless signal transceiver module 503 fixedly connected to the machine body through a communication device in the hand, the wireless signal transceiver module 503 sends the received signal to a main controller 504, the main controller 504 sends a corresponding control signal to a motor driver 506, finally the motor driver 506 drives four tire driving motors 303 to rotate forwards simultaneously, and a rotating shaft of the tire driving motor 303 drives a tire 304 to rotate, so that the whole machine can be driven to move forwards; an operator controls four tire driving motors 303 for driving the tires 304 to rotate backwards at the same time, and a rotating shaft of each tire driving motor 303 drives the tires 304 to rotate so as to drive the whole machine to move backwards; an operator controls the two tire driving motors 303 on the left side to rotate forwards simultaneously, the tire driving motors 303 drive the tires 304 to rotate forwards, the two tire driving motors 303 on the right side rotate backwards simultaneously, the tire driving motors 303 drive the tires 304 to rotate backwards, and finally the right rotation of the whole machine is realized; an operator controls the two tire driving motors 303 on the left side to rotate backwards simultaneously, the tire driving motors 303 drive the tires 304 to rotate backwards, the two tire driving motors 303 on the right side rotate forwards simultaneously, the tire driving motors 303 drive the tires 304 to rotate forwards, and finally the left rotation of the whole machine is achieved. Under the condition of selecting a crawler belt walking mode, an operator controls the crawler belt driving motors 401 on the two sides to rotate forwards at the same time, the crawler belt driving motors 401 drive the crawler belt driving wheels 407 to rotate together, and the crawler belt driving wheels 407 on the left side and the right side drive the corresponding crawler belts 404 to work at the same time, so that the whole machine is driven to move forwards; an operator controls the crawler driving motors 401 on the two sides to rotate backwards at the same time, the crawler driving motors 401 drive the crawler driving wheels 407 to rotate together, and the crawler driving wheels 407 on the left side and the right side drive the corresponding crawlers 404 to work at the same time so as to drive the whole machine to move backwards; an operator controls the left crawler belt driving motor 401 to rotate forwards, the right crawler belt driving motor 401 to rotate backwards, the crawler belt driving motors 401 drive the corresponding crawler belt driving wheels 407 to rotate, and finally the crawler belt driving wheels 407 drive the corresponding crawler belts 404 to work in the corresponding direction, so that the right rotation of the whole machine is realized; an operator controls the left crawler driving motor 401 to drive the crawler driving wheel 407 to rotate backwards, the right crawler driving motor 401 drives the crawler driving wheel 407 to rotate forwards, and the crawler driving wheels 407 drive the respective crawler 404 to work towards the corresponding direction, so that the left rotation of the whole machine is realized.

After the whole machine moves to a working place in a corresponding walking mode, the digging work can be started. In the excavation process, an operator sends a corresponding signal to a wireless signal transceiver module 503 fixed on the machine body through a communication device in the hand, the wireless signal transceiver module 503 sends the received signal to a main controller 504, the main controller 504 sends a corresponding control signal to a motor driver 506, finally the motor driver 506 controls the boom motor 113 to rotate, the rotation of the boom motor 113 drives the left boom 114 and the right boom 105 to rotate, and the left boom 114 and the right boom 105 rotate to drive each rod piece in the mechanical working device 1 to move up and down. By controlling the swing arm motor 107 to rotate, the swing arm 108 is driven to rotate by the rotation of the swing arm motor 107, the pull rod 104 is driven to move by the rotation of the swing arm 108, the left arm 118 is driven to rotate around the front end of the left movable arm 114 and the front end of the right movable arm 105 by the movement of the pull rod 104, the bucket 101 is driven to move up and down by the rotation of the left arm 118 and the right arm 102, and thus different excavation ranges, heights and depths of the mechanical working device 1 can be realized by controlling the movable arm motor 113 and the swing arm motor 107. Similarly, the motor driver 506 controls the rotation of the bucket rocker motor 112, the rotating bucket rocker 110 of the bucket rocker motor 112 rotates, the rotation of the bucket rocker 110 drives the bucket rear pull rod 115 to move, the movement of the bucket rear pull rod 115 drives the holder 116 to rotate around the bottom hinge, the rotation of the holder 116 drives the bucket front pull rod 103 to move, the movement of the bucket front pull rod 103 drives the bucket 101 to rotate around the front ends of the left arm 118 and the right arm 102, and thus the shoveling action of the bucket 101 can be completed.

The excavation station is switched by using the turntable device 2, similarly to the conventional excavator in the aspect of switching the excavation station. An operator sends corresponding signals to a wireless signal transceiver module 503 fixedly connected to the machine body through a communication device in the hand, the wireless signal transceiver module 503 sends the received signals to a main controller 504, the main controller 504 sends corresponding control signals to a motor driver 506, finally the motor driver 506 controls the rotation of the turntable motor 302, the rotation of the turntable motor 302 drives the upper inner pressing plate 201 and the lower inner pressing plate 205 of the turntable to rotate together, and the rotation of the upper inner pressing plate 201 and the lower inner pressing plate 205 drives the whole mechanical working device 1 to change the excavating station. In the process, an operator controls the rotation of the bucket rocker arm motor 112 to rotate, the rotation of the bucket rocker arm motor 112 drives the bucket rocker arm 110 to rotate, the bucket rocker arm 110 rotates to drive the bucket rear pull rod 115 to move, the movement of the bucket rear pull rod 115 drives the retainer 116 to rotate around the hinged position of the bottom of the retainer, the rotation of the retainer 116 drives the bucket front pull rod 103 to move, and the movement of the bucket front pull rod 103 drives the bucket 101 to rotate around one end of the left bucket rod 118 and one end of the right bucket rod 102, so that the unloading action of the bucket 101 can be completed; at this point, the entire process of excavating the charge, position conversion and spot discharge is completed.

It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.

Claims (7)

1. A mechanical excavator with changeable walking modes is characterized by comprising a mechanical working device (1), a rotary table device (2), a crawler tire walking switching device (3), a crawler walking device (4) and a control system (5);

the mechanical working device (1) and the control system (5) are arranged on the rotary table device (2), the crawler tire walking switching device (3) and the crawler walking device (4) are arranged below the rotary table device (2), the crawler tire walking switching device (3) is located right below the rotary table device (2), and the crawler walking device (4) is located on the left side and the right side of the crawler tire walking switching device (3); the mechanical working device (1), the rotary table device (2), the crawler tire walking switching device (3) and the crawler walking device (4) are all connected with the control system (5), the rotary table device (2) is connected with the crawler tire walking switching device (3), and the crawler tire walking switching device (3) is connected with the crawler walking device (4);

the control system (5) is used for controlling the mechanical working device (1), the rotary table device (2), the crawler tire walking switching device (3) and the crawler walking device (4) to work; the rotary table device (2) is used for controlling the mechanical working device (1) to rotate for 360 degrees; the crawler belt walking device (4) is used for providing a crawler belt walking mode; the crawler tire walking switching device (3) is used for providing a tire walking mode, and under the action of the control system (5), the crawler tire walking switching device (3) and the crawler walking device (4) are matched to complete switching between the crawler walking mode and the tire walking mode;

the mechanical working device (1) comprises a bucket (101), a left bucket rod (118), a right bucket rod (102), a bucket front pull rod (103), a pull rod (104), a right movable arm (105), a rocker arm motor fixing plate (106), a rocker arm motor (107), a rocker arm (108), a movable arm motor fixing plate (109), a bucket rocker arm (110), a bucket rocker arm motor fixing plate (111), a bucket rocker arm motor (112), a movable arm motor (113), a left movable arm (114), a bucket rear pull rod (115) and two retainers (116); the bucket (101) is arranged at the rear end of the mechanical working device (1); one end of the bucket front pull rod (103) is hinged with the upper part of the bucket (101); the left bucket rod (118) and the right bucket rod (102) are arranged below the front pull rod (103) of the bucket, and one ends of the left bucket rod (118) and the right bucket rod (102) are hinged with the lower part of the bucket (101) respectively; the pull rod (104) is arranged on the left side of the right bucket rod (102), and the other end of the right bucket rod (102) is hinged with one end of the pull rod (104); the right movable arm (105) is arranged on the right side of the right bucket rod (102), and one end of the right movable arm (105) is hinged with a hinge hole which is arranged at the other end, close to the right bucket rod (102); the rocker arm motor fixing plate (106) is arranged on the right side of the right movable arm (105); the rocker arm motor (107) is fixed on a vertical surface on the right side of the rocker arm motor fixing plate (106); the rocker arm (108) is arranged on the left side of the rocker arm motor fixing plate (106) and is positioned on the right side of the right movable arm (105), one end of the rocker arm (108) is connected with a rotating shaft of the rocker arm motor (107), and the other end of the rocker arm (108) is hinged with the other end of the pull rod (104); the two holding frames (116) are arranged on the left side of the pull rod (104), and one ends of the bottoms of the two holding frames (116) are respectively hinged with one end of the pull rod (104), the other end of the right bucket rod (102) and the other end of the left bucket rod (118); the other end of the bucket front pull rod (103) is arranged between the two holding frames (116) and is hinged with one end of the two holding frames (116) which is arranged at the top part; one end of the bucket rear pull rod (115) is arranged between the two holding frames (116) and is hinged with one end of the two holding frames (116) which is arranged at the lower part of the top; the bucket rocker (110) is arranged on the left side of the bucket rear pull rod (115), and the other end of the bucket rear pull rod (115) is hinged with one end of the bucket rocker (110); the bucket rocker arm motor fixing plate (111) is arranged on the left side of the bucket rocker arm (110); the bucket rocker arm motor (112) is arranged on a vertical plane on the left side of the bucket rocker arm motor fixing plate (111); a rotating shaft of the bucket rocker arm motor (112) is hinged with the other end of the bucket rocker arm (110); the left bucket rod (118) is arranged on the left sides of the two holding frames (116), the left movable arm (114) is arranged on the left side of the left bucket rod (118), and the movable arm motor fixing plate (109) is arranged on the left side of the left movable arm (114); the movable arm motor (113) is arranged on the vertical surface on the left side of the movable arm motor fixing plate (109); a hinge hole arranged at the other end of the left bucket rod (118) close to the left bucket rod is hinged with one end of a left movable arm (114), and the other end of the left movable arm (114) is hinged with a rotating shaft of a movable arm motor (113); the rocker arm motor fixing plate (106), the movable arm motor fixing plate (109) and the bucket rocker arm motor fixing plate (111) are used for being connected with the control system (5);

the crawler tire walking switching device (3) comprises a crawler supporting plate (301), a turntable motor (302), four tire driving motors (303), four tires (304), six narrow U-shaped frames (305), a tire supporting plate (306), two wide U-shaped frames (307), two connecting rods (308), four lifting rockers (309), two switching cranks (310), two switching motor fixing plates (311) and two switching motors (312); the crawler supporting plate (301) is used for being connected with the rotary table device (2) and the crawler traveling device (4); the tire support plate (306) is arranged below the crawler support plate (301); the four tire driving motors (303) are respectively fixed on four corners of the upper surface of the tire supporting plate (306); the four tires (304) are respectively connected with the tire driving motor (303) through wheel shafts; two wide U-shaped frames (307) are respectively fixed on two corners at the upper part of the front end of the tire support plate (306); two narrow U-shaped frames (305) in the six narrow U-shaped frames (305) are respectively fixed at two corners of the upper part of the rear end of the tire supporting plate (306), and the other four narrow U-shaped frames (305) are respectively fixed at four corners below the crawler supporting plate (301); two narrow U-shaped frames (305) and two wide U-shaped frames (307) which are positioned on the tire supporting plate (306) are respectively positioned at the inner side of the tire driving motor (303); one ends of the four lifting rocker levers (309) are respectively hinged with two narrow U-shaped frames (305) and two wide U-shaped frames (307) fixed on the tire supporting plate (306), and the other ends of the four lifting rocker levers (309) are respectively hinged with four narrow U-shaped frames (305) fixed on the lower part of the crawler supporting plate (301); the two switching motor fixing plates (311) are fixed at the lower part of the track supporting plate (301) through bolts and nuts; the two switching motors (312) are respectively fixed on the vertical surfaces of the opposite surfaces of the two switching motor fixing plates (311); one end of each of the two switching cranks (310) is respectively connected with the shaft of each of the two switching motors (312), the other end of each of the two switching cranks (310) is respectively hinged with one end of each of the two connecting rods (308), the two switching cranks (310) are respectively positioned on the inner sides of the two connecting rods (308), the other ends of the two connecting rods (308) are hinged with two wide U-shaped frames (307) fixed on the upper part of the front end of the tire supporting plate (306) and one ends of the two lifting rockers (309), and the two connecting rods (308) are respectively positioned on the inner sides of the lifting rockers (309); the turntable motor (302) is fixed below the crawler supporting plate (301), and the shaft of the turntable motor (302) penetrates through the crawler supporting plate (301) and is used for being connected with the turntable device (2).

2. The convertible walking mechanical excavator of claim 1, wherein said turret device (2) comprises an upper inner pressing plate (201), a lower inner pressing plate (205), an upper outer pressing plate (202), a lower outer pressing plate (204), and a turret bearing (203);

the upper inner pressure plate (201) and the lower inner pressure plate (205) are respectively connected with the upper part and the lower part of the bearing inner ring of the turntable bearing (203) through bolts; the upper outer pressing plate (202) and the lower outer pressing plate (204) are respectively connected with the upper part and the lower part of the bearing outer ring of the turntable bearing (203) through bolts; the upper inner pressure plate (201) and the lower inner pressure plate (205) are used for being connected with a control system (5); the upper outer pressing plate (202) and the lower outer pressing plate (204) are used for being connected with the crawler tire walking switching device (3).

3. The mechanical excavator with convertible walking modes according to claim 1, characterized in that the crawler traveling device (4) comprises two crawler driving motors (401), four L-shaped brackets (402), two crawler side plates (403), two crawlers (404), eight bearing wheels (405), four supporting wheels (406) and two crawler driving wheels (407);

the two crawler side plates (403) are respectively arranged on the left side and the right side of the crawler tire walking switching device (3); the two crawler driving motors (401) are respectively fixed at the front ends of two opposite surfaces of the two crawler side plates (403) through bolts; the four L-shaped brackets (402) are in a group of two and are respectively fixed on the upper parts of two opposite surfaces of the two crawler side plates (403) through bolts and nuts; the two crawler driving wheels (407) are respectively connected with the shafts of the two crawler driving motors (401) through screws; the eight bearing wheels (405) are divided into a group of four, and two groups of bearing wheels (405) are respectively positioned at the lower parts of the two crawler side plates (403) and are respectively connected with the lower parts of the crawler side plates (403) through wheel shafts; the four supporting wheels (406) are in a group of two and are respectively positioned at the upper parts of the two crawler side plates (403) and are connected with the upper parts of the crawler side plates (403) through wheel shafts; the two tracks (404) are respectively connected with the outer surfaces of four bearing wheels (405), two supporting wheels (406) and a track driving wheel (407) which are positioned on one track side plate (403); each group of L-shaped brackets (402) and the crawler driving motor (401) are positioned on one side of the crawler side plate (403), and each group of crawler driving wheels (407), bearing wheels (405), supporting wheels (406) and crawler (404) is positioned on the other side of the crawler side plate (403); the four L-shaped brackets (402) are used for being connected with the crawler tire walking switching device (3).

4. The convertible walking mechanical excavator of claim 1, wherein said control system (5) comprises a work implement base plate (501), a wireless signal transceiver module (503), a master controller (504), and a motor driver (506);

the working device bottom plate (501) is used for being connected with the mechanical working device (1) and the rotary table device (2); the wireless signal transceiver module (503) and the main controller (504) are fixed on the right side of the front part of the bottom plate (501) of the working device through bolts and nuts, and the wireless signal transceiver module (503) is positioned on the main controller (504); the motor driver (506) is fixed on the left position of the front part of the bottom plate (501) of the working device through bolts and nuts; the signal output end of the wireless signal transceiving module (503) is connected with the signal input end of the main controller (504), the signal output end of the main controller (504) is connected with the signal input end of the motor driver (506), and the signal output end of the motor driver (506) is connected with each motor in the mechanical working device (1), the crawler tire walking switching device (3) and the crawler walking device (4);

the wireless signal transceiving module (503) is used for receiving a signal sent by an operator through the wireless signal transmitter and sending the received signal to the main controller (504); the main controller (504) is used for receiving the signals transmitted by the wireless signal transceiving module (503), analyzing and processing the received signals and then sending the analyzed and processed signals to the motor driver (506); and the motor driver (506) is used for driving corresponding motors in the mechanical working device (1), the crawler tire walking switching device (3) and the crawler walking device (4) to rotate after receiving the analyzed and processed signals sent by the main controller (504).

5. The convertible walking mechanical excavator of claim 4, wherein said control system (5) further comprises a gyroscope (502); the gyroscope (502) is fixed on the position, which is slightly to the right, in the middle of the bottom plate (501) of the working device through bolts and nuts; the signal output end of the gyroscope (502) is connected with the signal input end of the main controller (504); the gyroscope (502) is used for detecting the posture of the whole machine so as to obtain the inclination angle of the whole machine in real time and send the obtained inclination angle to the main controller (504); when the main controller (504) detects that the inclination angle of the whole machine sent by the gyroscope (502) reaches a preset angle, the main controller (504) sends a switching instruction to the motor driver (506), and after the motor driver (506) receives the switching instruction, the crawler tire walking switching device (3) and the crawler walking device (4) are controlled to work, so that the walking mode of the whole machine is switched to a crawler walking mode.

6. A convertible walking mechanical excavator according to claim 4 or 5, characterized in that said control system (5) further comprises two ultrasonic modules (505); the two ultrasonic modules (505) are respectively fixed on the front vertical surface and the rear vertical surface of the bottom plate (501) of the working device through screws; the signal output end of the ultrasonic module (505) is connected with the signal input end of the main controller (504); the ultrasonic module is used for detecting a distance and sending the detected distance to a main controller (504); when the main controller (504) detects that the distance sent by the ultrasonic module (505) is smaller than a preset threshold value, the main controller (504) sends a stop instruction to the motor driver (506), and the motor driver (506) controls motors in the crawler tire walking switching device (3) and the crawler walking device (4) to stop current actions immediately according to the stop instruction so as to avoid collision.

7. The convertible walking mechanical excavator of any one of claims 1 to 5, wherein the mechanical working device (1) further comprises a camera (117) disposed on the bucket front drawbar (103); the signal output end of the camera (117) is connected with the signal input end of the main controller (504), the camera (117) is used for monitoring the working environment of the whole machine and sending the acquired data to the main controller (504), and the main controller (504) transmits the data to the display of an operator through the wireless signal transceiving module (503), so that the operator can observe the work of the whole machine remotely.

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