CN108049452B

CN108049452B - Wheel type excavator and walking steering method thereof

Info

Publication number: CN108049452B
Application number: CN201810031783.8A
Authority: CN
Inventors: 李庆波; 贺广华; 张建刚; 臧纪朋
Original assignee: Shandong Kenshi Heavy Industry Machinery Co ltd
Current assignee: Shandong Kenshi Heavy Industry Machinery Co ltd
Priority date: 2018-01-12
Filing date: 2018-01-12
Publication date: 2023-03-14
Anticipated expiration: 2038-01-12
Also published as: CN108049452A

Abstract

The invention relates to a wheel type excavator and a walking steering method thereof, belonging to the technical field of heavy construction machinery, wherein the device comprises a walking chassis; the walking chassis comprises a main frame, a front bridge frame and a rear bridge frame are arranged at two ends of the main frame, a front axle is arranged on the front bridge frame, and a rear axle is arranged on the rear bridge frame; the front bridge frame is connected with the main frame through a front vertical shaft, and the rear bridge frame is connected with the main frame through a rear vertical shaft; the main frame is provided with a steering oil cylinder, a front connecting rod, a hinge rod and a rear connecting rod, one end of a cylinder barrel of the steering oil cylinder is connected with the main frame, and one end of a piston rod of the steering oil cylinder is hinged with the front axle frame; one end of the front connecting rod is hinged with the front axle frame, and the other end of the front connecting rod is hinged with one end of the hinge rod; the other end of the hinge rod is hinged with one end of a rear connecting rod, and the other end of the rear connecting rod is hinged with a rear bridge; the middle of the hinged rod is hinged with the main frame. The scheme can realize the steering of the wheel type excavator only through 1 oil cylinder, so that the front drive axle and the rear drive axle can simultaneously steer, the turning radius is small, and the operation is flexible.

Description

Wheel type excavator and walking steering method thereof

Technical Field

The invention relates to a wheel type excavator and a walking steering method thereof, and belongs to the technical field of heavy construction excavating machinery.

Background

The common wheel type excavator consists of a walking chassis, a working device, an upper rotary table, a power device, a hydraulic system, an operating device, a slewing mechanism, a transmission mechanism and the like. Most of wheel type excavators on the market realize the whole car and turn and sway for the steering drive axle with the front axle now, and the steering drive axle structure is complicated, and the fault rate is high, and is with high costs, and turning radius is big, inflexible. There is also a wheeled excavator by 4 hydraulic motor drives on the market, 1 hydraulic motor has respectively been installed to front axle and rear axle both ends position, 4 hydraulic motor lean on the oil feed direction different and realize advancing, retreat, turn to, 4 motors rotate forward when advancing, 4 motors rotate backward when retreating, during the left turn to the left, two motors in left side are rotatory backward, two motors are rotatory forward on the right side then, during the right turn to the right, two motors on the right side are rotatory backward, two motors in left side are rotatory forward, this kind of structure manufacturing cost is high, and 4 hydraulic motor distribute the oil differently, the walking is asynchronous can appear, straight line walking can not be guaranteed.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a wheel excavator.

The invention also provides a walking steering method of the excavator.

Interpretation of terms: the front axle and the rear axle in the application are the names of the mechanical transmission field, the front axle of the existing wheel type excavator is a steering drive axle, and the front axle for the wheel type excavator is a drive axle without a steering function.

The technical scheme of the invention is as follows:

a wheeled excavator comprises a walking chassis;

the walking chassis comprises a main frame, a front bridge frame and a rear bridge frame are arranged at two ends of the main frame, a front axle is arranged on the front bridge frame, and a rear axle is arranged on the rear bridge frame; the front bridge frame is connected with the main frame through a front vertical shaft, and the rear bridge frame is connected with the main frame through a rear vertical shaft;

the main frame is provided with a steering oil cylinder, a front connecting rod, a hinge rod and a rear connecting rod, one end of a cylinder barrel of the steering oil cylinder is connected with the main frame, and one end of a piston rod of the steering oil cylinder is hinged with the front axle frame; one end of the front connecting rod is hinged with the front axle frame, and the other end of the front connecting rod is hinged with one end of the hinge rod; the other end of the hinge rod is hinged with one end of a rear connecting rod, and the other end of the rear connecting rod is hinged with a rear bridge; the middle of the hinge rod is hinged with the main frame.

When the steering oil cylinder stretches out and draws back, the front axle frame is driven to rotate, the front connecting rod is driven to displace forwards and backwards through the hinged front connecting rod, the rear connecting rod is driven to displace forwards and backwards through the hinged hinge rod, and therefore the front axle frame and the rear axle frame are rotated in different directions, and the vehicle can turn.

According to the invention, the position of the front connecting rod hinged with the front axle frame and the position of one end of the piston rod of the steering oil cylinder hinged with the front axle frame are preferably superposed. When the piston rod of the steering oil cylinder controls the rotation of the front bridge frame through extension, the reaction time of the front connecting rod can be saved.

Further preferably, the steering cylinder and the front connecting rod are not in the same horizontal plane.

Preferably, according to the invention, the front link, the hinge rod and the rear link are located on the same side of the central connecting line of the front bridge and the rear bridge. When the front connecting rod acts on, the rear connecting rod is driven to act through the hinge rod, and the front connecting rod and the rear connecting rod act on the bridge frame on the same side.

Preferably, according to the invention, the distance of the hinge rod from the front bridge is smaller than the distance of the hinge rod from the rear bridge. The hinged lever is placed in front to avoid the intermediate gear box and the drive shaft.

According to the invention, the middle of the hinge rod is hinged with the main frame through a hinge rod middle shaft, and a shaft handle is arranged in the radial direction of the hinge rod middle shaft. The hinge rod rotates around the hinge rod middle shaft, and the shaft handle is used for fixing the hinge rod middle shaft and avoiding up-and-down movement.

A wheel excavator comprises a walking chassis, wherein a rotary table and an operating device are arranged above the walking chassis;

the walking chassis comprises a main frame, a front bridge frame and a rear bridge frame are arranged at two ends of the main frame, a front axle is arranged on the front bridge frame, a rear axle and a swing frame are arranged on the rear bridge frame, and the swing frame and the rear bridge frame are arranged in parallel; the front bridge frame is hinged with the main frame through a front vertical shaft, and the swing frame is hinged with the main frame through a rear vertical shaft; the swing frame only rotates in the horizontal plane of the main frame and does not rotate in the vertical plane; a connecting shaft is arranged on the side face of the swing frame, the rear bridge frame is hinged with the swing frame through the connecting shaft, and the axis of the connecting shaft is parallel to the advancing direction; the rear bridge frame can rotate relatively in a vertical plane around the connecting shaft and the swing frame;

the main frame is provided with a steering oil cylinder, a front connecting rod, a hinge rod and a rear connecting rod, one end of a cylinder barrel of the steering oil cylinder is hinged with the main frame, and one end of a piston rod of the steering oil cylinder is hinged with the front axle frame; one end of the front connecting rod is hinged with the front axle frame, and the other end of the front connecting rod is hinged with one end of the hinge rod; the other end of the hinge rod is hinged with one end of the rear connecting rod, and the other end of the rear connecting rod is hinged with the swing frame; the middle of the hinged rod is hinged with the main frame.

Compared with the scheme, the scheme not only comprises the steering structure of the walking chassis, but also adds the swing structure on the rear bridge frame, thereby optimizing the overall comprehensive performance.

According to the invention, two connecting shafts are symmetrically arranged on two sides of the middle part of the rocking frame, the two connecting shafts are both hinged with the rear bridge frame, and the rear vertical shaft is vertically arranged in the rocking frame between the two connecting shafts. The rear bridge frame can rotate relative to the swing frame in a vertical plane around two connecting shafts of the swing frame. The two connecting shafts are arranged because the rear vertical shaft is usually arranged at a middle position, and in order to pass through the middle of the rear vertical shaft, the two connecting shafts and the rocking frame are processed into a whole, and a space for the rear vertical shaft to pass through is reserved in the middle part.

Preferably, two shaft seats a are symmetrically arranged on two sides of the rear bridge frame, shaft seats b are respectively arranged above the shaft seats a, and two connecting shafts of the swing frame are respectively hinged with the two shaft seats a. The axle seat a and the rear bridge frame are integrated, after the connecting shaft is placed into the axle seat a, the connecting shaft is closed above the axle seat a through an independent axle seat b and wraps the connecting shaft together with the axle seat a, and the rear bridge frame rotates around the connecting shaft of the swing frame.

Preferably, a wear-resistant sleeve A and a wear-resistant sleeve B are arranged between the shaft seat a and the shaft seat B and the connecting shaft, so that the service life can be prolonged compared with the case that the contact area of the bearing balls is increased and the wear-resistant sleeves are used; and a wear-resistant sleeve C is arranged between the rocking frame and the rear vertical shaft. When the rear bridge frame and the connecting shaft rotate vertically and the swing frame and the rear vertical shaft rotate horizontally, the wear-resistant sleeve can effectively avoid and slow down hardware damage.

Further preferably, the rear bridge frame comprises two vertical plates which are symmetrically arranged, the distance between the two vertical plates is greater than the width of the swing frame, and the swing frame is arranged between the two vertical plates of the rear bridge frame. When the bridge is installed, the rear bridge is sleeved on the outer side of the swing frame, through holes are formed in the positions, corresponding to the swing frame, of the two vertical plates, and a connecting shaft is arranged between the vertical plate of the rear bridge on one side and the swing frame; and another connecting shaft is arranged between the rear bridge vertical plate on the other side and the swing frame. The vertical plates and the two separated connecting shafts which are symmetrically arranged leave space for the rear vertical shaft, the rear vertical shaft is not influenced to be inserted into the swing frame and hinged with the swing frame, and the rotation in a horizontal plane generated on the rear vertical shaft and the rotation in a vertical plane generated on the connecting shafts are not influenced mutually.

Further preferably, a middle supporting plate is arranged on one side between the two vertical plates. The middle support plate is used for enhancing the connection strength between the two vertical plates of the rear bridge frame.

Further preferably, the axes of the two connecting shafts of the rocking frame and the connecting line of the center of the rear bridge frame of the front bridge frame are both positioned in the same vertical plane. Therefore, the rear bridge frame is stable and balanced when rotating around the two connecting shafts of the swing frame.

Preferably, two ends of the swing frame are symmetrically provided with a swing oil cylinder respectively, the two swing oil cylinders are a left swing oil cylinder and a right swing oil cylinder, the cylinder barrel end of the swing oil cylinder is connected with the swing frame, and the piston end of the swing oil cylinder is in contact with the rear bridge frame. When the rear bridge rotates in the vertical plane, the pistons of the swing oil cylinders at the two ends move up and down along with the rear bridge.

Further preferably, the two swing cylinders are connected with a hydraulic system. The oil paths of the two swing oil cylinders can be controlled by a hydraulic system control valve, when the excavator performs excavation operation, the oil paths of the two swing oil cylinders are locked, so that piston rods of the two swing oil cylinders cannot move, the piston rods of the two swing oil cylinders prop against the rear bridge frame, and the rear bridge frame, tires and other components cannot swing any more, so that stable operation during excavation operation is guaranteed.

A walking steering method using the wheel type excavator comprises the following steps:

when the steering engine is turned left, the steering gear of the steering gear can control the piston rod of the steering oil cylinder to be retracted inwards to a specified position according to the turning size, the piston of the steering oil cylinder is retracted to the bottom, the left turning angle is the largest, when the piston rod of the steering oil cylinder is retracted, the front bridge frame can rotate anticlockwise around the front vertical shaft under the pulling force of the steering oil cylinder, the front connecting rod generates backward displacement and drives the hinge rod to rotate clockwise, so that the rear connecting rod is driven to generate forward displacement, the rear connecting rod pulls the rear bridge frame to rotate clockwise around the rear vertical shaft, and the left turning posture is finished;

when the steering gear is turned right, the steering gear can control the piston rod of the steering oil cylinder to extend outwards to a specified position according to the turning size, the piston rod of the steering oil cylinder extends out of the steering gear, the angle of the right turn is the largest, when the piston rod of the steering oil cylinder extends out, the front bridge frame can rotate clockwise around the front vertical shaft under the thrust of the steering oil cylinder, the front connecting rod generates forward displacement and drives the hinge rod to rotate anticlockwise, so that the rear connecting rod is driven to generate backward displacement, the rear connecting rod pulls the rear bridge frame to rotate anticlockwise around the rear vertical shaft, and the right turn posture is finished.

The invention has the beneficial effects that:

the technical scheme of the invention can realize the steering of the wheel type excavator only through 1 oil cylinder, so that the front and rear driving axles can simultaneously steer, the turning radius is small, and the operation is flexible. The invention realizes the simultaneous steering of the front axle and the rear axle, and has small steering included angle and small steering radius. The front axle of the existing wheel type excavator is mostly used for steering the steering axle, only the front axle steers, and the rear axle does not rotate, so the turning radius is large, and the turning in a narrow space is not flexible.

The structure of the technical scheme of the invention can be based on all models of wheel type excavators, and the structure is easy to install without influencing the mechanical performance of the original equipment.

The swinging structure of the invention can enable the rear axle to horizontally turn around the vertical shaft and also vertically rotate around the transverse shaft, thereby realizing the swinging function of the rear axle, realizing three-point support and preventing the tipping when the excavator walks on the road surfaces with different heights. In addition, when the excavator works in an excavating mode, the control valve is used for disconnecting the oil paths of the left and right swing oil cylinders which are communicated originally, oil in the left and right swing oil cylinders can not be removed everywhere, piston rods of the left and right swing oil cylinders do not move any more and firmly support the rear bridge frame, the rear bridge frame does not rotate up and down under the force of the left and right swing oil cylinders, tires of the main frame in 4 angular directions are stressed uniformly, and the stability of the excavator in the excavating mode is guaranteed.

Drawings

FIG. 1 is a schematic view of a wheel excavator according to the present invention;

FIG. 2 is a schematic perspective view of the walking chassis of the present invention;

FIG. 3 is a schematic view of the assembly of the front axle frame and the front axle frame of the present invention;

FIG. 4a is a schematic perspective view of the main frame assembled with the front connecting rod, the hinge rod and the rear connecting rod; FIG. 4b is a schematic bottom view of the main frame assembled with the front link, the hinge rod, and the rear link according to the present invention;

FIG. 5a is a schematic front view of the assembly structure of the rear bridge and the swing frame of the present invention; FIG. 5b is a top view of the mounting structure of the rear bridge and the swing frame of the present invention; FIG. 5c is a cross-sectional view taken along line CC of FIG. 5 b; FIG. 5d is a cross-sectional view along line AA of FIG. 5 a; FIG. 5e is an enlarged view at B in FIG. 5 d; FIG. 5f is a perspective view of the rear axle frame and swing frame assembly of the present invention; FIG. 5g is a schematic diagram of the structure of FIG. 5c in a swing state;

FIG. 6 is a schematic view of the assembly of the rear axle frame with the rear axle of the present invention;

FIG. 7a is a schematic front view of a rocking arm; FIG. 7b is a schematic top view of the rocking arm; FIG. 7c is a perspective view of the rocking arm; FIG. 7d is a schematic view of the structure of the swing cylinder;

FIG. 8a is a schematic view of the walking chassis mounted from the bottom; FIG. 8b is a schematic top view of the walking chassis after installation; FIG. 8c is a perspective view of the walking chassis after installation; FIG. 8d is a cross-sectional view along line AA in FIG. 8 b; FIG. 8e is a partial enlarged view of the portion B in FIG. 8 d;

FIG. 9a is a schematic bottom view of the walking chassis in a straight state; FIG. 9b is a schematic front view of the traveling chassis in a straight state; FIG. 9c is a schematic top view of the traveling chassis in a straight state; FIG. 9d is a perspective view of the walking chassis in a straight state; FIG. 9e is a schematic view of the lower side of the traveling chassis in a straight state;

FIG. 10a is a schematic bottom view of the walking chassis in a left-hand steering state; FIG. 10b is a schematic front view of the walking chassis in a left-turned state; FIG. 10c is a schematic top view of the traveling chassis in a left-hand steering state; FIG. 10d is a perspective view of the walking chassis in a left-turn state; FIG. 10e is a schematic view of the lower side of the walking chassis in a left steering state;

FIG. 11a is a schematic bottom view of the walking chassis in a right-turn state; FIG. 11b is a schematic front view of the walking chassis in a right-turning state; FIG. 11c is a schematic top view of the walking chassis in a right-turning state; FIG. 11d is a perspective view of the walking chassis in a right-turn state; FIG. 11e is a schematic view of the lower side of the walking chassis in a right turning state;

FIG. 12a is a schematic view of the rear axle swinging left from the bottom when the walking chassis is walking; FIG. 12b is a schematic left-swing front view of the rear axle when the traveling chassis travels; FIG. 12c is a schematic top view of the left swing of the rear axle when the traveling chassis travels; FIG. 12d is a left-side swing perspective view of the rear axle when the traveling chassis travels; FIG. 12e is a schematic side view of a left swing of the rear axle when the traveling chassis travels;

FIG. 13a is a schematic view of the rear axle swinging from the right to the bottom when the traveling chassis travels; FIG. 13b is a schematic view of the rear axle swinging to the right when the traveling chassis travels; FIG. 13c is a schematic top view of the rear axle swinging to the right when the traveling chassis travels; FIG. 13d is a schematic view of the rear axle swinging to the right when the traveling chassis travels; FIG. 13e is a schematic side view of the right swing of the rear axle when the traveling chassis travels;

FIG. 14 is a schematic view of a rear bridge construction;

wherein: 100. the device comprises a walking chassis, 200, a transmission mechanism, 300, a swing mechanism, 400, an upper rotary table, 500, a hydraulic system, 600, a power device, 700, an operation device, 800 and a working device;

1. the main frame, 2, a front bridge frame, 3, a rear bridge frame, 4, a swing frame, 5, a dozer blade, 6, a dozer blade oil cylinder, 7, a steering oil cylinder, 8, a left swing oil cylinder, 9, a right swing oil cylinder, 10, a front connecting rod, 11, a hinge rod, 12, a rear connecting rod, 13, a rear axle, 14, a front axle, 15, wear-resistant sleeves A and 16, wear-resistant sleeves B and 17, wear-resistant sleeves C and 18, axle seats B and 19, axle seats a and 20, a vertical plate, 21 and a middle supporting plate;

a: front vertical shaft, B: rear vertical shaft, C: steering cylinder, front connecting rod front axle, D: front link rear axle, E: hinge rod middle shaft, F: rear link front shaft, G: steering cylinder rear axle, H: rear link rear shaft, J: and the rear bridge frame is connected with a connecting shaft of the swing frame.

Detailed Description

The present invention will be further described by way of examples, but not limited thereto, with reference to the accompanying drawings.

Example 1:

a wheeled excavator comprises a walking chassis 100, wherein a conventional device such as an upper rotary table 400, an operating device 700 and the like are arranged above the walking chassis, as shown in figure 1.

The walking chassis comprises a main frame 1, a front bridge frame 2 and a rear bridge frame 3 are arranged at two ends of the main frame 1, a front axle 14 is arranged on the front bridge frame 2, and a rear axle 13 is arranged on the rear bridge frame 3; the front bridge frame 2 is connected with the main frame 1 through a front vertical shaft A, and the rear bridge frame is connected with the main frame through a rear vertical shaft.

The main frame 1 is provided with a steering oil cylinder 7, a front connecting rod 10, a hinge rod 11 and a rear connecting rod 12, one end of a cylinder barrel of the steering oil cylinder 7 is connected with the main frame 1 through a steering oil cylinder rear shaft G, and one end of a piston rod of the steering oil cylinder 7 is hinged with the front axle frame 2; one end of a front connecting rod 10 is hinged with the front axle frame 2, and the other end of the front connecting rod 10 is hinged with one end of a hinge rod 11 through a front connecting rod rear shaft D; the other end of the hinge rod 11 is hinged with one end of a rear connecting rod 12 through a rear connecting rod front shaft F, and the other end of the rear connecting rod is hinged with a rear bridge; the middle of the hinged rod 11 is hinged with the main frame 1 through a hinged rod middle shaft E, a shaft handle is radially arranged on the hinged rod middle shaft, for example, a transverse rod connected with the hinged rod middle shaft E in fig. 4b, the hinged rod rotates around the hinged rod middle shaft, and the shaft handle is used for fixing the hinged rod middle shaft and avoiding up-down movement.

Example 2:

a wheeled excavator, having the structure as described in embodiment 1, except that the position where the front link is hinged to the front axle frame coincides with the position where one end of the piston rod of the steering cylinder is hinged to the front axle frame, as shown in fig. 8b, the front link and one end of the piston rod of the steering cylinder are both hinged to the front axle frame through the steering cylinder and the front link front shaft C at the same position. When the piston rod of the steering oil cylinder controls the rotation of the front bridge frame through extension, the reaction time of the front connecting rod can be saved.

Example 3:

a wheel excavator of the construction described in embodiment 1, except that the steering cylinder and the front link are not in the same horizontal plane. As shown in fig. 8a and 8b, the two parts have staggered distribution in the horizontal plane direction to avoid mutual influence on the transmission.

Example 4:

a wheeled excavator configured as described in embodiment 1 except that the front link, the hinge rod, and the rear link are located on the same side of the central line of the front and rear bridges as shown in fig. 8a, and are located on the upper side in fig. 8 a. When the front connecting rod acts on, the rear connecting rod is driven to act through the hinge rod, and the front connecting rod and the rear connecting rod act on the bridge frame on the same side.

Example 5:

the wheel excavator is structurally as described in embodiment 1, except that the distance between the hinge rod and the front bridge is smaller than that between the hinge rod and the rear bridge, and the hinge rod is placed in front to avoid structures such as a transmission case and a transmission shaft in the middle.

Example 6:

The walking chassis 100 comprises a main frame 1, a front bridge frame 2 and a rear bridge frame 3 are arranged at two ends of the main frame 1, a front bridge 14 is arranged on the front bridge frame 2, a rear bridge 13 and a swing frame 4 are arranged on the rear bridge frame 3, and the swing frame 4 and the rear bridge frame 3 are arranged in parallel; the front bridge frame 2 is connected with the main frame 1 through a front vertical shaft A, and the swinging frame 4 is connected with the main frame 1 through a rear vertical shaft B, as shown in figure 8B. The swing frame only rotates in the horizontal plane of the main frame and does not rotate in the vertical plane; a connecting shaft is arranged on the side surface of the swing frame 4, the rear bridge 3 is hinged with the swing frame 4 through the connecting shaft, and the axis of the connecting shaft is parallel to the advancing direction; the rear bridge frame can rotate relative to the swing frame in a vertical plane around the connecting shaft.

Be equipped with steering cylinder 7 on the body frame 1, preceding connecting rod 10, articulated rod 11, back connecting rod 12, steering cylinder 7's cylinder one end is passed through steering cylinder rear axle G and is connected with body frame 1, steering cylinder 7's piston rod one end and preceding connecting rod 10 one end all pass through steering cylinder, preceding connecting rod front axle C is articulated with front axle frame 2, preceding connecting rod 10 and front axle frame 2 articulated position and steering cylinder 7's piston rod one end and front axle frame 2 articulated position coincidence, as shown in fig. 8 b. The other end of the front connecting rod 10 is hinged with one end of a hinge rod through a front connecting rod rear shaft D; the other end of the hinge rod is hinged with one end of the rear connecting rod through a rear connecting rod front shaft F, and the other end of the rear connecting rod is hinged with the swing frame 4 through a rear connecting rod rear shaft H; the middle of the hinge rod 11 is hinged with the main frame 1 through a hinge rod middle shaft E.

Example 7:

a wheeled excavator is structurally as described in embodiment 6, except that two connecting shafts J are symmetrically arranged on two sides of the middle of a swing frame 4, the two connecting shafts J are hinged with a rear bridge 3, and a rear vertical shaft B is vertically arranged in the swing frame 4 between the two connecting shafts J, as shown in fig. 8 e. Fig. 5e is also a schematic view of the assembly structure of the rocking beam and the rear bridge, except that fig. 5e only shows how the rocking beam and the rear bridge are assembled, and the rear vertical shaft B is not assembled. The rear bridge frame can rotate relative to the swing frame in a vertical plane around two connecting shafts of the swing frame. The two connecting shafts are arranged because the rear vertical shaft is usually arranged at the middle position, and in order to pass through the rear vertical shaft from the middle, the two connecting shafts and the swing frame are integrally processed, and a space for the rear vertical shaft to pass through is reserved in the middle part.

Example 8:

a wheeled excavator, having the structure as in embodiment 7, except that two axle seats a19 are symmetrically arranged on two sides of the rear bridge frame 3, axle seats b 18 are respectively arranged above the axle seats a19, and two connecting shafts J of the swing frame 4 are respectively hinged with the two axle seats a 19. The axle seat a and the rear bridge frame are integrated, after the connecting shaft is placed into the axle seat a, the connecting shaft is closed above the axle seat a through an independent axle seat b and wraps the connecting shaft together with the axle seat a, and the rear bridge frame rotates around the connecting shaft of the swing frame.

Example 9:

a wheel excavator, the structure of which is as described in embodiment 8, except that a wear-resistant sleeve a 15 and a wear-resistant sleeve B16 are arranged between the shaft seat a, the shaft seat B and the connecting shaft J, so that the service life can be prolonged compared with the increase of bearing balls with small contact area and the use of wear-resistant sleeves; and a wear-resistant sleeve C17 is arranged between the swing frame 4 and the rear vertical shaft B. When the rear bridge frame and the connecting shaft rotate vertically and the swing frame and the rear vertical shaft rotate horizontally, the wear-resistant sleeve can effectively avoid and slow down hardware damage.

Example 10:

a wheeled excavator having the structure as in embodiment 9, except that the rear bridge 3 includes two symmetrically disposed vertical plates 20, the distance between the two vertical plates is greater than the width of the swing frame 4, and the swing frame 4 is disposed between the two vertical plates of the rear bridge, as shown in fig. 5 f. When the bridge is installed, the rear bridge is sleeved on the outer side of the swing frame, through holes are formed in the positions, corresponding to the swing frame, of the two vertical plates, and a connecting shaft is arranged between the vertical plate of the rear bridge on one side and the swing frame; and another connecting shaft is arranged between the rear bridge vertical plate on the other side and the swing frame. The symmetrically arranged vertical plates and the two separated connecting shafts leave space for the rear vertical shaft, the rear vertical shaft is not influenced to be inserted into the swing frame and hinged with the swing frame, and the rotation in a horizontal plane on the rear vertical shaft and the rotation in a vertical plane on the connecting shafts are not influenced mutually.

Example 11:

a wheeled excavator, which is constructed as described in embodiment 10, except that an intermediate support plate 21 is provided between two vertical plates 20 on one side for enhancing the connection strength between the two vertical plates separated by a rear bridge, as shown in fig. 6 and 14, and a space for the intermediate support plate is left at a corresponding position of the swing frame, as shown in fig. 7a, below the narrower cross beam on the right side, the position of the intermediate support plate is the position of the intermediate support plate.

Example 12:

a wheeled excavator having the structure as defined in embodiment 10, except that the axes of the two connecting shafts of the swing frame are located in the same vertical plane as the line connecting the centers of the rear frames of the front frames and the center of the rear frames, both being located at the center.

Example 13:

the wheel excavator is structurally as described in embodiment 6, except that two ends of a swing frame are symmetrically provided with a swing cylinder respectively, the two swing cylinders are a left swing cylinder 8 and a right swing cylinder 9, the cylinder barrel end of the swing cylinder is connected with the swing frame, and the piston end of the swing cylinder is in contact with a rear bridge. When the rear bridge rotates in the vertical plane, the pistons of the swing oil cylinders at the two ends move up and down along with the rear bridge, as shown in fig. 5 g. The two swing oil cylinders are connected with a hydraulic system. The oil paths of the two swing oil cylinders can be controlled by a hydraulic system control valve, when the excavator performs excavation operation, the oil paths of the two swing oil cylinders are locked, so that piston rods of the two swing oil cylinders cannot move, the piston rods of the two swing oil cylinders prop against the rear bridge frame, and the rear bridge frame, tires and other components cannot swing any more, so that stable operation during excavation operation is guaranteed.

In the driving process, the oil circuit in the cavities of the left swing oil cylinder and the right swing oil cylinder is communicated, and the left swing oil cylinder and the right swing oil cylinder move freely, so that when rear axle tires meet uneven road surfaces, the rear axle tires can drive the rear axle and the rear bridge frame to rotate around the vertical plane of the connecting shaft J simultaneously, the stability of the whole vehicle is ensured, the trafficability of the whole vehicle is ensured, and the swing state is as shown in figures 12 a-13 e.

During excavation, the oil way in the cavities of the left swing oil cylinder and the right swing oil cylinder is disconnected, the left swing oil cylinder and the right swing oil cylinder are locked to firmly support the rear bridge frame, and the rear bridge and tires do not swing any more, so that stable operation during excavation is ensured, as shown in fig. 5c.

Example 14:

a walking steering method using the wheeled excavator according to embodiment 1 includes the steps of:

when the steering engine is turned left, the steering gear of the steering gear can control the piston rod of the steering oil cylinder to be retracted inwards to a specified position according to the turning size, the piston of the steering oil cylinder is retracted to the bottom, the left turning angle is the largest, when the piston rod of the steering oil cylinder is retracted, the front bridge frame can rotate anticlockwise around the front vertical shaft under the pulling force of the steering oil cylinder, the front connecting rod generates backward displacement and drives the hinge rod to rotate clockwise, so that the rear connecting rod is driven to generate forward displacement, the rear connecting rod pulls the rear bridge frame to rotate clockwise around the rear vertical shaft, and the left turning posture is finished; as in fig. 10 a-10 e.

When the steering gear turns right, the steering gear can control the piston rod of the steering oil cylinder to extend outwards to a specified position according to the turning size, the piston rod of the steering oil cylinder extends to the head, the angle of the right turn is the largest, when the piston rod of the steering oil cylinder extends out, the front bridge frame can rotate clockwise around the front vertical shaft under the thrust of the steering oil cylinder, the front connecting rod generates forward displacement and drives the hinge rod to rotate anticlockwise so as to drive the rear connecting rod to generate backward displacement, and the rear connecting rod pulls the rear bridge frame to rotate anticlockwise around the rear vertical shaft to complete the right turning posture. As shown in fig. 11 a-11 e.

When the steering machine walks in a straight line normally, the steering gear of the steering machine can control the piston rod of the steering oil cylinder to move out of a corresponding position and does not move any more, the front bridge frame and the rear bridge frame are kept parallel and are vertical to the central line of the main frame (the front vertical shaft A is connected with the rear vertical shaft B to form the central line), and the straight line walking is realized, and the straight line walking state is shown in figures 9 a-9 e.

Claims

1. The utility model provides a wheeled excavator, includes walking chassis, its characterized in that:

the main frame is provided with a steering oil cylinder, a front connecting rod, a hinged rod and a rear connecting rod, one end of a cylinder barrel of the steering oil cylinder is connected with the main frame, and one end of a piston rod of the steering oil cylinder is hinged with the front axle frame; one end of the front connecting rod is hinged with the front axle frame, and the other end of the front connecting rod is hinged with one end of the hinge rod; the other end of the hinge rod is hinged with one end of the rear connecting rod, and the other end of the rear connecting rod is hinged with the rear bridge; the middle of the hinge rod is hinged with the main frame.

2. The wheeled excavator of claim 1 wherein the position at which the front link is hinged to the front axle frame coincides with the position at which one end of the piston rod of the steering cylinder is hinged to the front axle frame.

3. The wheeled excavator of claim 2 wherein the steering cylinder is not in the same horizontal plane as the front link.

4. The wheeled excavator of claim 1 wherein the front link, the hinge rod, and the rear link are located on the same side of a line connecting the centers of the front and rear bridges.

5. The wheeled excavator of claim 1 wherein the distance of the hinge rod from the front bridge is less than the distance of the hinge rod from the rear bridge.

6. The wheeled excavator of claim 5 wherein the middle of the link rod is hinged to the main frame through a link rod center shaft, and the link rod center shaft is provided with a shaft handle in the radial direction.

7. The utility model provides a wheeled excavator, includes walking chassis, its characterized in that:

the walking chassis comprises a main frame, a front bridge frame and a rear bridge frame are arranged at two ends of the main frame, a front axle is arranged on the front bridge frame, a rear axle and a swing frame are arranged on the rear bridge frame, and the swing frame and the rear bridge frame are arranged in parallel; the front bridge frame is connected with the main frame through a front vertical shaft, and the swing frame is connected with the main frame through a rear vertical shaft; a connecting shaft is arranged on the side surface of the swing frame, the rear bridge frame is hinged with the swing frame through the connecting shaft, and the axis of the connecting shaft is parallel to the advancing direction;

the main frame is provided with a steering oil cylinder, a front connecting rod, a hinge rod and a rear connecting rod, one end of a cylinder barrel of the steering oil cylinder is connected with the main frame, and one end of a piston rod of the steering oil cylinder is hinged with the front axle frame; one end of the front connecting rod is hinged with the front bridge, and the other end of the front connecting rod is hinged with one end of the hinge rod; the other end of the hinge rod is hinged with one end of the rear connecting rod, and the other end of the rear connecting rod is hinged with the swing frame; the middle of the hinge rod is hinged with the main frame.

8. The wheeled excavator of claim 7 wherein two connecting shafts are symmetrically disposed on opposite sides of the center of the swing frame, both connecting shafts are hinged to the rear bridge, and the rear vertical shaft is vertically disposed in the swing frame between the two connecting shafts.

9. The wheeled excavator of claim 8 wherein the rear bridge has two axle seats a symmetrically disposed on both sides thereof, and axle seats b are disposed above the axle seats a, and the two connecting shafts of the swing frame are respectively hinged to the axle seats a.

10. The wheeled excavator of claim 9 wherein wear resistant sleeves a and B are provided between the axle seat a, the axle seat B and the connecting axle; and a wear-resistant sleeve C is arranged between the rocking frame and the rear vertical shaft.

11. The wheeled excavator of claim 10 wherein the rear bridge includes two symmetrically disposed risers, the distance between the two risers being greater than the width of the swing frame, the swing frame being disposed between the two risers of the rear bridge.

12. The wheeled excavator of claim 11 wherein an intermediate support plate is positioned between the two risers on one side.

13. The wheeled excavator of claim 10 wherein the axes of the two connecting shafts of the swing frame are in the same vertical plane as the line connecting the centers of the front and rear frames.

14. The wheeled excavator of claim 7 wherein the swing frame has a swing cylinder at each end thereof, the swing cylinders being left and right swing cylinders, the cylinder ends of the swing cylinders being connected to the swing frame, the piston ends of the swing cylinders being in contact with the rear bridge.

15. The wheeled excavator of claim 14 wherein the two swing cylinders are connected to a hydraulic system.

16. A walking steering method using a wheeled excavator according to any one of claims 1 to 15, comprising the steps of:

when the steering engine turns left, the steering gear controls a piston rod of a steering oil cylinder to be retracted inwards to a designated position, when the piston rod of the steering oil cylinder is retracted, the front bridge rotates anticlockwise around a front vertical shaft under the pulling force of the steering oil cylinder, the front connecting rod generates backward displacement and drives the hinge rod to rotate clockwise, so that the rear connecting rod is driven to generate forward displacement, and the rear connecting rod pulls the rear bridge to rotate clockwise around the rear vertical shaft, so that the left-turning posture is completed;

when the steering engine turns right, the steering gear controls the piston rod of the steering oil cylinder to extend outwards to a specified position, when the piston rod of the steering oil cylinder extends out, the front bridge rotates clockwise around the front vertical shaft under the thrust of the steering oil cylinder, the front connecting rod generates forward displacement, the hinge rod is driven to rotate anticlockwise, the rear connecting rod is driven to generate backward displacement, and the rear connecting rod pulls the rear bridge to rotate anticlockwise around the rear vertical shaft, so that the right-turning posture is finished.