CN116411600A - Double-walking-mode excavator and walking-mode conversion method - Google Patents

Abstract

The invention provides a double-walking-mode excavator and a walking-mode conversion method, comprising the following steps: a vehicle body; the first end of the excavating arm is connected with the vehicle body, and the excavating arm can swing up and down relative to the vehicle body; the excavator bucket is arranged at the second end of the excavating arm; the double-walking module comprises a running frame, wheel groups, wheel group driving mechanisms, tracks, a track driving mechanism and a track lifting mechanism, wherein the wheel groups are arranged at the bottom of the running frame, the wheel group driving mechanism is arranged on the running frame and drives the wheel groups to enable the excavator to run according to a wheel type running mode, the tracks are arranged on two sides of the wheel groups, one ends of the track lifting mechanism are connected with the running frame, the other ends of the track lifting mechanism are connected with the tracks, the track lifting mechanism is used for lifting the tracks to enable the tracks to leave or contact the ground, and under the condition that the tracks contact the ground, the track driving mechanism is used for driving the tracks to enable the excavator to run according to the track running mode. The excavator can be suitable for both flat road surfaces and rough road surfaces.

Description

Double-walking-mode excavator and walking-mode conversion method

Technical Field

The invention relates to the technical field of excavators, in particular to a double-walking-mode excavator and a walking mode conversion method.

Background

An excavator is an earth moving machine which uses a bucket to excavate materials higher or lower than a carrying plane and loads the materials into a transport vehicle or unloads the materials to a storage yard. The excavator generally comprises a power device, a working device, a slewing mechanism, an operating mechanism, a transmission mechanism, a travelling mechanism and the like, and is mainly used for excavating materials such as soil, coal, sediment and the like. The common excavator is driven by an internal combustion engine to drive the excavator and driven by electricity to drive the excavator according to a driving mode; the excavator can be divided into a crawler excavator and a wheel excavator according to different walking modes; the excavator can be classified into various types such as a general excavator, a mining excavator, a marine excavator, and a special excavator according to the purpose.

The excavators with different walking modes are suitable for different types of sites. For working condition scenes with muddy or bumpy working pavement, a crawler excavator is generally selected, the ground area of the crawler excavator is large, the crawler excavator can also be qualified in muddy wetlands, mines or places with severe working conditions, and the cross-country capability is high; for working scenes with flatter working pavement, a wheel excavator is generally selected, the wheel excavator is convenient to walk, and has the advantages of no need of a delivery locomotive for delivery of the wheel excavator, and the like. The conventional excavator is generally one of a crawler excavator and a wheel excavator, and no excavator is applicable to both a flat road surface and a rugged road surface; that is, the existing excavator cannot realize crawler-type and wheel-type dual-mode running. Therefore, how to provide an excavator applicable to both a flat road surface and a rough road surface is a technical problem to be solved.

Disclosure of Invention

Accordingly, the present invention is directed to a dual travel mode excavator and a travel mode conversion method that substantially obviate one or more problems in the prior art.

According to one aspect of the present invention, there is disclosed a dual travel mode excavator, the excavator comprising:

a vehicle body;

the first end of the excavating arm is connected with the vehicle body, and the excavating arm can swing up and down relative to the vehicle body;

the excavator bucket is arranged at the second end of the excavating arm;

the double-walking module comprises a running frame, wheel groups, wheel group driving mechanisms, a track driving mechanism and a track lifting mechanism, wherein the wheel groups are arranged at the bottom of the running frame, the wheel group driving mechanism is arranged on the running frame, the wheel group driving mechanism drives the wheel groups so that the excavator runs according to a wheel type running mode, the track is positioned on two sides of the wheel groups, one end of the track lifting mechanism is connected with the running frame, the other end of the track lifting mechanism is connected with the track, the track lifting mechanism is used for lifting the track so that the track leaves or contacts the ground, and under the condition that the track contacts the ground, the track driving mechanism is used for driving the track so that the excavator runs according to the track running mode.

In some embodiments of the present invention, a track supporting beam is disposed inside an inner ring of the track, the track lifting mechanism includes a lifting driving component, a push rod and a connecting rod, the lifting driving component is disposed on the running frame, a first end of the push rod is hinged with the running frame, a second end of the push rod is hinged with the track supporting beam, a first end of the connecting rod is hinged with the running frame, a second end of the connecting rod is hinged with the track supporting beam, and an output end of the lifting driving component is hinged with a middle part of the push rod.

In some embodiments of the present invention, the lifting driving part is a lifting cylinder, and a cylinder body of the lifting cylinder is hinged with the running frame.

In some embodiments of the invention, the tracks on each side are provided with two sets of said track lifting mechanisms, the push rods of the two sets of said track lifting mechanisms being parallel to each other, and the links of the two sets of said track lifting mechanisms being parallel to each other.

In some embodiments of the invention, the two sets of track lifting mechanisms are symmetrical to each other with respect to a center plane of the track support beam.

In some embodiments of the present invention, a connecting rod is disposed between the two push rods on each side, and two ends of the connecting rod are fixedly connected with the two push rods respectively.

In some embodiments of the present invention, the wheel set driving mechanism includes a traveling driving part, a transmission mechanism and a transmission shaft, the traveling driving part is disposed on the traveling frame, and the traveling driving part drives the wheel set to rotate through the transmission mechanism and the transmission shaft.

In some embodiments of the invention, the wheel set comprises four wheels, the four wheels are symmetrically arranged relative to the central surface of the running frame, and the four wheels are driven by the same running driving component.

In some embodiments of the present invention, the walking driving component is a walking motor, an output end of the walking motor is connected with the transmission shaft, the transmission mechanism includes two groups of bevel gear transmission mechanisms, each group of bevel gear transmission mechanisms includes a driving bevel gear and two driven bevel gears, the driving bevel gears of the two groups of bevel gear transmission mechanisms are respectively fixed at two ends of the transmission shaft, and the two driven bevel gears of each group of bevel gear transmission mechanisms are respectively connected with a supporting shaft of a corresponding wheel through a brake.

According to another aspect of the present invention, there is also disclosed a walking mode conversion method of a double-walking mode excavator, which is implemented by using the double-walking mode excavator as described in any one of the above embodiments;

wherein, when the excavator runs in a wheel type walking mode, the crawler lifting mechanism lifts the crawler so as to enable the crawler to leave the ground and enable the wheel set to be in contact with the ground;

when the excavator runs in a crawler travel mode, the crawler lifting mechanism falls down the crawler to enable the crawler to contact the ground, and enables the wheel sets to leave the ground.

According to the double-walking-mode excavator and the walking mode conversion method disclosed by the embodiment of the invention, the crawler lifting mechanism lifts the crawler so that the crawler can leave the ground and the wheel sets are contacted with the ground, so that the excavator walks in a wheel mode; in addition, the crawler lifting mechanism falls down to enable the crawler to contact the ground and enable the wheel sets to leave the ground, so that the excavator walks in a crawler mode; therefore, the mode of lifting the crawler belt by the crawler belt lifting mechanism can realize the conversion of the walking mode of the excavator, so that the excavator can be suitable for a flat road surface and a bumpy road surface.

Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims thereof as well as the appended drawings.

It will be appreciated by those skilled in the art that the objects and advantages that can be achieved with the present invention are not limited to the above-described specific ones, and that the above and other objects that can be achieved with the present invention will be more clearly understood from the following detailed description.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate and together with the description serve to explain the invention. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the invention. Corresponding parts in the drawings may be exaggerated, i.e. made larger relative to other parts in an exemplary device actually manufactured according to the present invention, for convenience in showing and describing some parts of the present invention. In the drawings:

fig. 1 is a schematic view illustrating a structure of a dual travel mode excavator according to an embodiment of the present invention.

Fig. 2 is a first structural schematic view of a double-traveling module of an excavator according to an embodiment of the present invention.

Fig. 3 is a second structural schematic view of a double-traveling module of an excavator according to an embodiment of the present invention.

Fig. 4 is a schematic view showing a crawler belt and a crawler lifting mechanism of an excavator according to an embodiment of the present invention.

Fig. 5 is a schematic view illustrating a state in which a double-traveling mode excavator according to an embodiment of the present invention travels in a crawler mode.

Reference numerals:

double-traveling module 400 of excavator 300 of excavator arm 200 of car body 100, wheels 420 of traveling frame 410, caterpillar tracks 430, supporting beams 431 of lifting cylinder 441, push rod 442, connecting rod 443, connecting rod 450 traveling motor 461, transmission shaft 462 brake 463 and caterpillar driving motor 435 of chain wheel 432

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present invention will be described in further detail with reference to the accompanying drawings. The exemplary embodiments of the present invention and their descriptions herein are for the purpose of explaining the present invention, but are not to be construed as limiting the invention.

It should be noted that, in order to avoid obscuring the present invention due to unnecessary details, only structures and/or processing steps closely related to the solution according to the present invention are shown in the drawings, while other details not greatly related to the present invention are omitted.

It should be emphasized that the term "comprises/comprising" when used herein is taken to specify the presence of stated features, elements, steps or components, but does not preclude the presence or addition of one or more other features, elements, steps or components.

Here, it should be further noted that, in the present specification, the term of orientation appears in relation to the direction of position shown in the drawings; the term "coupled", unless expressly stated otherwise, may refer not only to a direct connection, but also to an indirect connection in the presence of an intermediate. The direct connection is that the two parts are connected without intermediate parts, and the indirect connection is that the two parts are connected with other parts.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the drawings, the same reference numerals represent the same or similar components, or the same or similar steps.

Fig. 1 is a schematic view of a dual travel mode excavator according to an embodiment of the present invention, and as shown in fig. 1, the excavator at least includes a vehicle body 100, an excavating arm 200, a bucket 300 and a dual travel module 400. A first end of the excavating arm 200 is connected to the vehicle body 100, and the excavating arm 200 is swingably moved up and down with respect to the vehicle body 100; bucket 300 is disposed at a second end of the digging arm 200; the dual-traveling module 400 comprises a traveling frame 410, wheel sets, a wheel set driving mechanism, a track 430, a track driving mechanism and a track lifting mechanism, wherein the wheel sets are arranged at the bottom of the traveling frame, the wheel set driving mechanism is arranged on the traveling frame, the wheel sets are driven by the wheel set driving mechanism so that the excavator travels according to a wheel type traveling mode, the track 430 is arranged on two sides of the wheel sets, one end of the track lifting mechanism is connected with the traveling frame 410, the other end of the track lifting mechanism is connected with the track 430, the track lifting mechanism is used for lifting the track 430 so that the track 430 leaves or contacts the ground, and under the condition that the track 430 contacts the ground, the track driving mechanism is used for driving the track 430 so that the excavator travels according to the track traveling mode.

In this embodiment, the excavator is provided with a double walking module 400, and the double walking module 400 can enable the excavator to realize crawler walking and wheel walking; when the excavator is in a crawler-type walking mode, the excavator can be applied to occasions with severe working conditions such as a relatively thick road surface or a muddy road surface; when the excavator is in a wheel type walking mode, the excavator can be applied to working occasions with flatter pavement. In addition, the tracks 430 of the excavator are located at two sides of the wheel set, referring to fig. 1, two tracks 430 are respectively disposed at two ends of the running frame 410, the wheels 420 can realize running of the excavator on a flat road surface along a first direction, the tracks 430 can realize running of the excavator on a camping or muddy road surface along a second direction, and the first direction and the second direction are mutually perpendicular due to the fact that the arrangement direction of the tracks 430 is perpendicular to the running direction of the wheel set.

Fig. 4 is a schematic structural diagram of a track of an excavator and a track lifting mechanism according to an embodiment of the present invention, referring to fig. 4, a track support beam 431 is disposed inside an inner ring of the track 430, the track lifting mechanism includes a lifting driving component, a push rod 442 and a link 443, the lifting driving component is disposed on the travelling frame 410, a first end of the push rod 442 is hinged to the travelling frame 410, a second end of the push rod 442 is hinged to the track support beam 431, a first end of the link 443 is hinged to the travelling frame 410, a second end of the link 443 is hinged to the track support beam 431, and an output end of the lifting driving component is hinged to a middle portion of the push rod 442.

In this embodiment, the crawler 430 is disposed on the periphery of the crawler support beam 431, one end of the crawler support beam 431 is provided with a sprocket 432, and the other end is provided with a pulley, and the sprocket 432 is meshed with a chain structure disposed on the inner ring of the crawler 430 for transmission; the pulley correspondingly also frictionally engages the track race and is used to support the track 430 during rotation of the track 430. In addition, in order to increase the supporting strength of the track 430, the upper and lower sides of the track supporting beam 431 are also provided with auxiliary supporting wheels, which are fixed to the track supporting beam 431, and which are located between the track 430 and the track supporting beam 431. Specifically, the number of auxiliary supporting wheels at the lower side of the track supporting beam 431 is plural, and the plural auxiliary supporting wheels are arranged at intervals; the number of auxiliary supporting wheels on the lower side of the track supporting beam 431 is five, and the five auxiliary supporting wheels are uniformly spaced between the sprocket 432 and the pulley, and the auxiliary supporting wheels on the lower side of the track supporting beam 431 are positioned between the track supporting beam 431 and the lower half of the track 430, that is, the five auxiliary supporting wheels are in direct contact with the inner ring of the lower half of the track 430. In this embodiment, the number of auxiliary supporting wheels located at the upper side of the track supporting beam 431 is one, and one auxiliary supporting wheel is located between the sprocket 432 and the pulley, and the auxiliary supporting wheel located at the upper side of the track supporting beam 431 is specifically located between the track supporting beam 431 and the upper half of the track 430, that is, the auxiliary supporting wheel is in direct contact with the inner ring of the upper half of the track 430. It will be appreciated that the specific number of auxiliary support wheels recited in this embodiment is merely a preferred example, and that in other embodiments the number of auxiliary support wheels may be selected based on track 430 size.

Further, in order to drive the crawler 430, a crawler driving motor 435 is further provided. That is, the track driving motor 435 is used to drive the sprocket 432 to rotate, so that the sprocket 432 drives the track 430 to move to implement the track-type travel of the excavator. In this embodiment, the track drive motor 435 and sprocket 432 chain mechanism act as a track drive mechanism, i.e., when the track 430 is lowered into contact with the ground, the rotational output of the track drive motor 435 is translated into translational movement of the track 430 by the sprocket chain, thereby driving the excavator. It will be appreciated that in this embodiment, the use of a sprocket and chain mechanism for the transmission between the track and the track drive motor is merely an example, and that in other embodiments the sprocket and chain mechanism may be replaced with a gear + toothed belt arrangement; similar to the sprocket and chain mechanism, the gears may be fixed to the track support beam 431 and driven by the track drive motor 435, and the toothed belt may be disposed on the inner race of the track 430, so that the rotational output of the track drive motor is also converted into translational movement of the track based on the engagement of the gears with the toothed belt.

In an embodiment, the lifting driving component may be specifically a lifting cylinder 441, and the telescopic motion of a piston rod of the lifting cylinder 441 drives the crawler 430 to perform lifting motion. Referring to fig. 2 and 4, a first end of a cylinder body of the lift cylinder 441 is hingedly connected to the traveling frame 410, and a second end of the cylinder body of the lift cylinder 441 is an extended end of a piston rod. Illustratively, the end of the running frame 410 is provided with an oil cylinder connecting lug, and the first end of the oil cylinder body is hinged with the oil cylinder connecting lug on the running frame 410 through a pin shaft; the output end of the oil cylinder is hinged with the middle part of the push rod 442, namely, the end part of a piston rod of the oil cylinder is hinged with the middle part of the push rod 442, and the piston rod is hinged with the push rod 442 through a pin shaft; referring to fig. 4, a piston rod connecting lug is provided at the middle part of the push rod 442, and pin shaft mounting holes are provided at both end parts of the piston rod and the piston rod connecting lug, so that the hinge connection of the piston rod and the push rod 442 is realized based on the pin shaft. In addition, both ends of the push rod 442 are respectively hinged to the track support beam 431 and the running frame 410, so that the push rod 442 can rotate relative to the track support beam 431 and the running frame 410 in the process of pushing the track 430 to descend under the pushing action of the piston rod. Similarly, both ends of the link 443 are respectively hinge-coupled with the track support beam 431 and the running frame 410 such that the link 443 is rotatably moved with respect to the track support beam 431 and the running frame 410 during the lifting and lowering of the track 430. In this embodiment, the link 443 can be hinged to the track support beam 431 and the running frame 410 by pins, and the push rod 442 can be hinged to the track support beam 431 and the running frame 410 by pins similarly. It can be appreciated that the lifting driving component is a lifting cylinder 441, so as to control lifting motion of the crawler belt through hydraulic oil, thereby improving replacement efficiency of the walking mode of the excavator.

In the above embodiment, the running frame 410 is used as a fixing member, and the push rod 442, the connecting rod 443, the track supporting beam 431 and the running frame 410 are combined to form a four-bar mechanism, so that the push rod 442 is driven to rotate by the lifting cylinder 441, the lifting motion of the track 430 in the vertical direction can be realized, and the two tracks 430 positioned at the two sides of the front end and the rear end of the running frame 410 are ensured to realize parallel lifting motion under the driving action of the lifting cylinder 441, so that the lifting efficiency of the track 430 and the conversion efficiency of the walking mode of the excavator are improved, and the working efficiency of the excavator is further improved.

To further improve the stability of the track lifting motion, the tracks 430 on each side may be provided with two sets of track lifting mechanisms, with the push rods 442 of each two sets of track lifting mechanisms being parallel to each other, and the links 443 of each two sets of track lifting mechanisms being parallel to each other. In this embodiment, the crawler 430 on each side is driven by two lifting cylinders 441, referring to fig. 4, the two lifting cylinders 441 are parallel and spaced apart, the cylinder ends of the two lifting cylinders 441 are all hinged to the running frame 410, and the piston rod output ends of the two lifting cylinders 441 are all hinged to corresponding push rods. When the excavator is converted from the wheel type walking mode to the crawler type walking mode, the pistons of the two lifting cylinders 441 of each side crawler 430 are extended synchronously, at this time, based on the four-bar mechanism consisting of the traveling frame 410, the link 443, the push rod 442 and the crawler support beam 431, the rotational motion of the push rod 442 is further converted into the up-and-down lifting motion of the crawler support beam 431, and since the crawler 430 and the crawler support beam 431 are moved up and down synchronously, the rotational motion of the push rod 442 is converted into the up-and-down lifting motion of the crawler 430 until the crawler 430 contacts the ground and the wheels 420 are separated from the ground, at this time, the crawler 430 can be driven to translate by the crawler driving mechanism, thereby realizing the crawler type traveling of the excavator (refer to fig. 5).

Optionally, two sets of the track lifting mechanisms are symmetrical to each other with respect to the center plane of the track support beam 431, and the two sets of the track lifting mechanisms symmetrical to each other further improve the stability of the excavator during the lifting movement of the track 430. It is understood that the provision of two sets of track lifting mechanisms for each side of track 430 is merely an example, and that in other embodiments the number of track lifting mechanisms provided for each side of track 430 may be more.

When the crawler belt 430 on each side is driven to lift by two sets of crawler belt lifting mechanisms, and the two sets of crawler belt lifting mechanisms on each side are symmetrical with respect to the central plane of the crawler belt supporting beam 431, a connecting rod 450 may be further disposed between the two push rods 442 on each side, and two ends of the connecting rod 450 are fixedly connected with the two push rods 442, respectively. In this embodiment, the connecting rod 450 connects the two push rods 442 together, thereby further improving the synchronization of the movements of the two push rods 442. Illustratively, the two push rods 442 and the connecting rod 450 may be of unitary construction; in addition, the connecting rod 450 and the two push rods 442 may be detachably connected. Specifically, the connecting rod 450 may be located at an end of the pushrod proximate to the track support beam, i.e., the connecting rod 450 is located between the piston rod attachment lug and the track support beam 431.

In some embodiments of the present invention, the wheel set driving mechanism includes a travel driving part provided on the travel carriage 410, a transmission mechanism, and a transmission shaft 462, and the travel driving part drives the wheel set to rotate through the transmission mechanism and the transmission shaft 462.

Further, the wheel set includes four wheels 420, the four wheels 420 are symmetrically disposed with respect to the central surface of the running frame 410, and the four wheels 420 are driven by the same running driving component. Referring to fig. 3, four wheels 420 are positioned between two tracks 430, a travel drive member is fixed to the bottom of the travel frame 410, and the travel drive member is positioned at a middle position of the travel frame 410. Optionally, the walking driving component is a walking motor 461, an output end of the walking motor 461 is connected with the transmission shaft 462, the transmission mechanism includes two groups of bevel gear transmission mechanisms, each group of bevel gear transmission mechanisms includes a driving bevel gear and two driven bevel gears, the driving bevel gears of the two groups of bevel gear transmission mechanisms are respectively fixed at two ends of the transmission shaft 462, and the two driven bevel gears of each group of bevel gear transmission mechanisms are respectively connected with a supporting shaft of a corresponding wheel 420 through a brake 463.

In the above embodiment, the travel motor 461 is provided on the travel frame 410, and the power output from the travel motor 461 is further transmitted to the wheels through the transmission shaft 462 and the transmission mechanism. The output end of the walking motor 461 and the transmission shaft 462 can be transmitted through a gear mechanism, and the transmission shaft 462 and the wheels 420 can be transmitted through a bevel gear mechanism. Illustratively, the drive shafts are disposed laterally in fig. 1, i.e., the drive shafts are used to transmit the power output from the travel motor to the front and rear wheels of the excavator, respectively, and two sets of bevel gear transmission mechanisms are disposed at both ends of the drive shaft 462, i.e., each set of drive bevel gears rotates synchronously with the drive shaft 462, while each set of two driven bevel gears drive the corresponding wheels 420, respectively. A brake 463 is specifically further provided between the driven bevel gear and the wheel 420, and the brake 463 is used for controlling the movement state of the wheel 420.

In the above embodiment, the four wheels 420 are driven by the same travel drive unit, while in other embodiments, the four wheels 420 may be driven by different travel drive units. And in this embodiment, all four wheels 420 are driving wheels, in other embodiments, two of the four wheels 420 may be driving wheels as desired.

According to another aspect of the present invention, a walking mode conversion method of a double-walking mode excavator is correspondingly disclosed, and the double-walking mode excavator according to any one of the embodiments is adopted when the method is implemented; wherein, when the excavator runs in a wheel type walking mode, the crawler lifting mechanism lifts the crawler so as to enable the crawler to leave the ground and enable the wheel set to be in contact with the ground; when the excavator runs in a crawler travel mode, the crawler lifting mechanism falls down the crawler to enable the crawler to contact the ground, and enables the wheel sets to leave the ground.

When the double-walking-mode excavator runs in a wheel mode, the piston rod of the lifting oil cylinder is contracted, namely, the crawler belt is lifted up in parallel until the wheels land; when the double-walking-mode excavator runs in the crawler mode, the piston rod of the lifting oil cylinder stretches out, namely, the crawler falls down in parallel until the crawler lands, and the wheels leave the ground. Therefore, the double-walking-mode excavator can change the walking mode of the excavator according to road conditions, so that the excavator is suitable for various road conditions, and the walking mode of the excavator can be changed efficiently and stably completely according to the road conditions of each road section in a complete working process of the excavator, thereby improving the utilization rate of the excavator and the working efficiency of the excavator.

According to the double-walking-mode excavator and the walking mode conversion method disclosed by the embodiment of the invention, the crawler lifting mechanism lifts the crawler to enable the crawler to leave the ground and enable the wheel sets to be in contact with the ground, so that the excavator walks in a wheel mode; in addition, the crawler lifting mechanism falls down to enable the crawler to contact the ground and enable the wheel sets to leave the ground, so that the excavator walks in a crawler mode; therefore, the mode of lifting the crawler belt by the crawler belt lifting mechanism can realize the conversion of the walking mode of the excavator, so that the excavator can be suitable for a flat road surface and a bumpy road surface.

It should also be noted that the exemplary embodiments mentioned in this disclosure describe some methods or systems based on a series of steps or devices. However, the present invention is not limited to the order of the above-described steps, that is, the steps may be performed in the order mentioned in the embodiments, or may be performed in a different order from the order in the embodiments, or several steps may be performed simultaneously.

In this disclosure, features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments and/or in combination with or instead of the features of the other embodiments.

The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, and various modifications and variations can be made to the embodiments of the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A dual travel mode excavator, the excavator comprising:

a vehicle body;

the first end of the excavating arm is connected with the vehicle body, and the excavating arm can swing up and down relative to the vehicle body;

the excavator bucket is arranged at the second end of the excavating arm;

the double-walking module comprises a running frame, wheel groups, wheel group driving mechanisms, a track driving mechanism and a track lifting mechanism, wherein the wheel groups are arranged at the bottom of the running frame, the wheel group driving mechanism is arranged on the running frame, the wheel group driving mechanism drives the wheel groups so that the excavator runs according to a wheel type running mode, the track is positioned on two sides of the wheel groups, one end of the track lifting mechanism is connected with the running frame, the other end of the track lifting mechanism is connected with the track, the track lifting mechanism is used for lifting the track so that the track leaves or contacts the ground, and under the condition that the track contacts the ground, the track driving mechanism is used for driving the track so that the excavator runs according to the track running mode.

2. The dual-travel-mode excavator of claim 1 wherein the inner side of the inner race of the track is provided with a track support beam, the track lifting mechanism comprises a lifting drive component, a push rod and a connecting rod, the lifting drive component is arranged on the travel carriage, a first end of the push rod is hinged to the travel carriage, a second end of the push rod is hinged to the track support beam, a first end of the connecting rod is hinged to the travel carriage, a second end of the connecting rod is hinged to the track support beam, and an output end of the lifting drive component is hinged to the middle of the push rod.

3. The dual travel mode excavator of claim 2 wherein the hoist drive component is a hoist cylinder and the hoist cylinder block is hingedly connected to the travel carriage.

4. The dual travel mode excavator of claim 2 wherein the tracks on each side are provided with two sets of track lifts and wherein the push rods of each two sets of track lifts are parallel to each other and wherein the links of each two sets of track lifts are parallel to each other.

5. The dual travel mode excavator of claim 4 wherein the two sets of track lifting mechanisms are symmetrical to one another with respect to the central plane of the track support beam.

6. The double-traveling mode excavator of claim 4 wherein a connecting rod is provided between the two push rods on each side, and both ends of the connecting rod are fixedly connected with the two push rods, respectively.

7. The dual travel mode excavator of claim 1 wherein the wheelset drive mechanism comprises a travel drive component provided on the travel carriage, a transmission mechanism and a drive shaft through which the travel drive component drives the wheelset to rotate.

8. The dual travel mode excavator of claim 7 wherein the wheel set comprises four wheels, the four wheels being symmetrically disposed with respect to the center plane of the travel carriage and the four wheels being driven by the same travel drive means.

9. The double-traveling mode excavator according to claim 8, wherein the traveling driving part is a traveling motor, an output end of the traveling motor is connected to the transmission shaft, the transmission mechanism comprises two sets of bevel gear transmission mechanisms, each set of bevel gear transmission mechanisms comprises a driving bevel gear and two driven bevel gears, the driving bevel gears of the two sets of bevel gear transmission mechanisms are respectively fixed at two ends of the transmission shaft, and the two driven bevel gears of each set of bevel gear transmission mechanisms are respectively connected with the supporting shafts of the corresponding wheels through brakes.

10. A walking mode conversion method of a double walking mode excavator, characterized in that the method is implemented by adopting the double walking mode excavator according to any one of claims 1 to 9;

wherein, when the excavator runs in a wheel type walking mode, the crawler lifting mechanism lifts the crawler so as to enable the crawler to leave the ground and enable the wheel set to be in contact with the ground;

when the excavator runs in a crawler travel mode, the crawler lifting mechanism falls down the crawler to enable the crawler to contact the ground, and enables the wheel sets to leave the ground.

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