CN1519434A - New type versatile sanitation vehicle, versatile cars, excavator, and mechanical arm - Google Patents

Abstract

A multi-purpose vehicle used as ordinary car, environmental sanitation car and digger is composed of main vehicle body, digger, grasp mechanism, load-bearing unit, sucking unit, sprinkler, and hoister. Said digger can also be installed to ship. A mechanical arm is also disclosed, which features that it has spherical joint, both axial and radial rotary unit, and the drivers in both direction of an arm segment.

Description

Novel multi-use environmental sanitation car, multiservice car, excavator and mechanical arm

Affiliated technical field

The present invention relates to a kind of environmental sanitation car, multiservice car, excavator and mechanical arm.

Background technology

At present, known environmental sanitation car function is all less, machinery such as excavation not on it, and what initiatively do not take up takes up device, does not also have flusher etc.So it also just not excavates, shovel digs, draw thing, wash in a pan ladle out, grab thing, bore thing, push away thing, desilting, ditch cleaning, fragmentation, work high above the ground, lifting, ramming, initiatively take up, function such as sprinkling.For example, existing garbage truck has only the function of loading and unloading transportation rubbish, and fecal suction truck has only the function of inhaling the fortune excrement, so existing garbage truck must rely on its outer machinery or manually shovel load garbage.Also have, artificial and simple tools are all adopted in existing cleaning to locating in the inspection shaft, in the sewer mouth etc., and obviously there is inefficiency in this, work under hard conditions, easily pollute deficiency such as surrounding environment, and is simultaneously also not in tune with the modernized town and country of high speed development.Known excavator is that 2 joints are arm-type, it is not with straight line or movement in a curve device and tilting gearing etc., its arm just can only be done simple gyration by pivoting support so, it also is not with the compartment, do not take up heavy part and (comprise its part, parts, as lifting hook) and ram, parts such as flusher be not with, the creeper truck that its also many employings can not be walked on highway yet.So it can not moving linearly, movement in a curve, can not among a small circle, make straight line, curve excavates, can not starting parcel, ramming and spraying operation, can not loading and shipping goods, the thing excavated etc., can not be with higher speed motion.Known mechanical arm comprises that the direction of motion and the angle of bend of the arm of excavator, robot and other machinery etc. all are restricted, so its function and work also are subjected to certain restriction.

Summary of the invention

The object of the present invention is to provide a kind of novel multi-use environmental sanitation car (also claim the environmental sanitation car, use the environmental sanitation car more, how with Garbage Truck etc.Many usefulness also are multi-functional), novel multi-use car (also claiming multiservice car), novel excavator (also claiming excavator, excavating gear, multidirectional multi-angle excavator, universal excavator etc.) and New Type of Robot Arm (also claiming mechanical arm).Environmental sanitation car and the multiservice cars used can be with straight line more, curve and arbitrarily angled the excavation, shovel digs, draw thing, wash in a pan and ladle out, grab thing, bore thing, push away thing, suction and pumping, desilting, ditch cleaning, broken, work high above the ground, lifting, ramming, loading and unloading, spray etc., can clear up waiting in the inspection shaft and in the sewer mouth, the suction and pumping excrement can be installed, mud, the device of things such as dirt, can carry the compartment and comprise that pig loads and transports rubbish, things such as constructional materials, lifting gear can be set (to be comprised and can only have its part or parts, also comprise and only to have lifting hook, also comprise and have rammer) etc., can flusher can be set spray as work high above the ground machinery as job platform, spill, dash, drench etc.Novel excavator possesses the function of existing excavator, also possessing can be with straight line, curve and multiple angles are excavated, shovel digs, draw thing, wash in a pan and ladle out, grab thing, bore thing, push away thing, suction and pumping, desilting, ditch cleaning, broken, work high above the ground, lifting, ramming, loading and unloading, shipment, functions such as sprinkling, it (comprises and only to have its part or parts so can be provided with lifting gear, also comprise and only to have lifting hook, also comprise and have rammer) etc., can have flusher, can be as work high above the ground machinery as job platform, can also with vehicle, combinations such as ship and carry the compartment and comprise that pig transports thing etc.New Type of Robot Arm can be made straight line and curvilinear motion, curve and put in and withdraw, and multi-angle or universal bending etc., can be provided with multiple device, instruments such as manipulator, scraper bowl, handgrip, grab bucket, brill and welding, photography, shooting as front end on it, so it can extensively be located on robot, excavator, car and boat, instrument, machinery, device, the instrument etc., has many uses.

The technical solution adopted in the present invention is:

One, uses the technical scheme of environmental sanitation car and multiservice car more

With vehicle, excavator, grab by device, take up device, suction and pumping device, flusher, lifting gear and (comprise and can only have its part or parts, also comprise only having lifting hook, also comprise having rammer) carry out in conjunction with (comprise in conjunction with, mix, engage, associating or combination---above-mentioned also is a kind of combination) or part combination.Above-mentioned combination combines with part and comprises:

Vehicle combines with excavator, vehicle and excavator, grab and take the device combination, vehicle and excavator, take up the device combination, vehicle and excavator, grab and take device, take up the device combination, vehicle and excavator, grab and take device, take up device, the combination of suction and pumping device, vehicle and excavator, grab and take device, the combination of suction and pumping device, vehicle and excavator, take up device, the combination of suction and pumping device, vehicle and excavator, the combination of suction and pumping device, vehicle combines with taking up device, vehicle with take up device, the combination of suction and pumping device has and has a back door connection or have the vehicle in the compartment of bonnet to combine with the suction and pumping device, or the like, comprising:

The environmental sanitation car combines with excavator, automobile or electric car (comprising electric automobile) combine with excavator, automobile or electric car and excavator, grab and take the device combination, automobile or electric car and excavator, take up the device combination, automobile or electric car and excavator, grab and take device, take up the device combination, automobile or electric car and excavator, grab and take device, take up device, the combination of suction and pumping device, automobile or electric car and excavator, grab and take device, the combination of suction and pumping device, automobile or electric car and excavator, take up device, the combination of suction and pumping device, automobile or electric car and excavator, the combination of suction and pumping device, automobile or electric car with take up device and combine, automobile or electric car and take up device, the combination of suction and pumping device, have and have a back door connection or have the automobile or the electric car in the compartment of bonnet to combine with the suction and pumping device, or the like

More than various combinations also flusher can be set, also can have lifting gear (comprise only having its part or parts, also comprise only having lifting hook, also comprise having rammer).Certainly can also increase other required parts (comprising slave part).

Vehicle also claims car, comprises car, vehicle, not with car, the vehicle in compartment, is with car, the vehicle in compartment, trailer, trailer, trailer, trailer railway carriage or compartment.

Automobile not only comprises the vehicles (also claiming transport facility) of making power of internal combustion engine, also comprises the various new automobiles of electric automobile, solar telephone, fuel cell car etc. and is called car, the automobile of automobile.

The compartment, also claim railway carriage, be meant automobile-used, the vehicle-mounted vessel, the container (comprising that compartment, railway carriage, car jar, wagon box, car bucket, recessing, Che Lan, the Che Chi etc. that can load and transport, load and unload things such as rubbish, excrement, mud, soil, sandstone, goods, article, liquid, water, building materials reach vessel, containers such as railway carriage or compartment, case, jar, bucket, bucket, groove, pond) that comprise compartment, railway carriage, car jar, wagon box, car bucket, recessing, Che Lan (guardrail, railing, sideboard, cage net etc.), car pond; This compartment can be many with formulas, fixed, packaged type, self-tipping type, changeable type or towed.

Excavator, also claim excavating gear, comprise the excavator that takes up heavy function or lifting gear, band excavates the crane of function or excavating gear, band excavates the hoist of function or excavating gear, lorry-mounted crane, with the car hoist, hydraulic crawler excavator, cable operated excavator and electric excavator, multifunctional excavator, hybrid excavator, the soil-shifting excavator, rotary bucket type dredger or excavator, revolve and dig churn or excavator, revolution bucket rig or excavator, rotary drill or excavator, and above-mentioned hybrid or partially mixed formula excavator, the technology of second technical scheme, mode, and in conjunction with (comprising combination, mix, engage, associating or combination) formula excavates and (to comprise drawing and to dig, stir, stir, shovel is moving, insert moving, dig moving, promote, rotate, rock etc.) suction and pumping device (comprising the combination of excavating suction and pumping), and existing excavator, multifunctional excavator, hybrid excavator and improved mode thereof (comprise existing hydraulic crawler excavator, the soil-shifting excavator, rotary bucket type dredger or excavator, revolve and dig churn or excavator, revolution bucket rig or excavator, rotary drill or excavator etc.), and can shovel plane, draw thing, wash in a pan and ladle out, grab thing, bore thing, push away thing, desilting, ditch cleaning, broken, work high above the ground, suction and pumping, the excavator of sprinkling etc. is at interior various excavators.Usually, excavator comprises that (digging arm comprises its due various devices to digging arm, parts such as instrument, comprising drive unit---as hydraulic cylinder and piston rod thereof, wherein also comprise: scraper bowl also claims bucket, Excavating bucket etc., and manipulator, handgrip, grab bucket comprises the opposite opened grab bucket, perching knife, hammer, bore, drill bit, platform, basket, basket, spray pipeline and shower nozzle thereof or spray first-class at interior various devices, instrument---also claim annex), power section (comprises the hydraulic power part, electric-powered part, the machine power part, also has electric energy, the motor of car, motor etc.), control section, assisted parts grades, and also can comprise the part that drives the excavator walking (as existing creeper truck etc.) again.

Grab and take device, be meant be used to pick up, pick up, start, hook, pick up, other, mention, lever up, uncover or pick up the device of thing, comprise grab the hydraulic pressure of picking up inspection shaft and sewer grate, lid, air pressure, electronic, armstrong's patent device, instrument (comprise manipulator and grab, take, hook, folder, clamp, carry, prize, not, lift, various devices, instrument that spiral is first-class), and be used to pick up grate, iron covering, steel grate, the calutron of steel lid, electromagnet, reach above-mentioned hybrid and partially mixed formula device, instrument.Above-mentionedly pick up, pick up, start, hook, pick up, mention, lever up, other, uncover, pick up to be called for short to grab and take or grab and pick up.

Take up device, also claim handler, be meant and be used to accept thing and pack into the device of vehicle (comprising in the compartment) or ship (comprising in the cabin) of thing (is comprised vessel, container, comprise, bucket, case, jar, bucket, basin, dish etc.), the device that perhaps loads and unloads thing (comprises vessel, container, as bucket, case, jar, bucket, basin, dish etc.), it comprises that also active takes up, passive taking up (prior art is the passive formula that takes up) and can initiatively take up the mode that takes up that also can passively take up and take up device, and hydraulic pressure, air pressure, electronic, armstrong's patent is arm-type (also to be claimed arm-type, movable arm-type etc.) take up device, and the self-tipping type (also claiming self-unloading) of conventional garbage car, side-mountedly (also claim side dress, promptly in side access) vessel, container, the self-tipping type dustbin of bag conventional garbage car, jar, bucket, bucket etc., and can be refuse container, jar, rising such as case or bucket, reduce and pour the things such as rubbish in it into dustbin, bucket, mode in jar or the bucket etc.---be called for short side load garbage case, bucket, jar or bucket etc., but also be called for short liftable self-unloading (perhaps lifting self-tipping type etc., self-unloading also claims loading and unloading) refuse container, case, the dustbin of jar or bucket, bucket, jar or bucket etc. (but comprise the liftable Self-discharge garbage can, case, the self-tipping type dustbin of jar or bucket, bucket, jar or bucket etc.), the car that has this mode claims side load garbage car usually), and only adopt the lifting of above-mentioned prior art to turn over bucket, case, mechanisms such as jar or bucket, and to the improved mode of prior art, and wheel chain mechanism, wheel band mechanism, rack-and-pinion (comprising other toothed object) mechanism, elect mechanism, but lifting gear and liftable dumping devices such as shift mechanism formula, and hydraulic pressure, air pressure, electronic, armstrong's patent formula handler or loading or unloading device.On the arm-type arm that takes up device of machinery, can be provided with or comprise that in conjunction with various container and scraper bowl, manipulator, handgrip, grab bucket, perching knife, hammer, brill, drill bit, platform, basket, basket, the sprinkling pipelines of taking up such as tank, jar, bucket, basin, dish shower nozzle or sprinkler head or suction and pumping device comprise suction and pumping pipeline and the first-class various required devices of pipeline, instrument.

The suction and pumping device, be meant the device that is used for suction and pumping, comprise water pumper, pump and pipeline thereof, pipeline head and other parts, reach dredge pump, manure absorbing pump, spiral sludge pump, oil pump etc. and pipeline, pipeline head and other parts, and convolution sprays suction and pumping devices (combination that comprises both), spray the suction and pumping dual-purpose apparatus, and convolution excavation suction and pumping devices (combination that comprises both), reach existing above-mentioned technology, device, mode.The suction and pumping device also can be provided with the parts (comprising pipe joint or interface that the band valve can be set again) as water pumper or oil pump again.The suction and pumping device can have mechanical arm, can be located on the mechanical arm, can be the mechanical arm formula, also can be located at the suction and pumping device on the digging arm or take up on the device arm, be included in mechanical arm, digging arm or take up the device arm and be provided with the part that is used to be provided with the suction and pumping device (comprise be used to connect, fixing component).

Flusher, be meant spray, spill, dash, drench, spray, dash the device and the convolution that drench etc. and spray suction and pumping devices (combination that comprises both), spray the suction and pumping dual-purpose apparatus, and existing suction and pumping device, water pumper, pump and pipeline, shower nozzle (comprising sprinkler head) and other parts (as water spray, chemical spraying device and pump, watering, flushometer and pump).Shower nozzle can have multiple required in order to different operating.Flusher also can be provided with again as water pumper or oil pump parts (comprise can be provided with again the band valve pipe joint or interface).Flusher can have mechanical arm, can be located on the mechanical arm, can be the mechanical arm formula, also can be located at flusher on the digging arm or take up on the device arm, be included in mechanical arm, digging arm or take up the device arm and be provided with the part that is used to be provided with flusher (comprise be used to connect, fixing component).

Excavator, grab and take device, take up device, the suction and pumping device, the arm of flusher, can adopt or partly adopt and comprise crooked extended position arm, telescopic arm, the ascending/decending arm, rotary arm, the linear motion type arm, curvilinear motion formula arm (also claiming snake shape formula arm), scissor-type frame for movement arm, and the mechanical arm of the 3rd technical scheme, and the arm of existing excavating gear, and above-mentioned compound arm, use the formula arm, replacement formula arm (output channel and shower nozzle as flusher just can be arranged on the digging arm---promptly use digging arm and allow its replacement activity spray armed lever in other words as activity sprinkling armed lever), hybrid arm, partially mixed formula arm is in interior various arms and principle thereof, mode.The joint number of above-mentioned arm is not limit, and comprises, can adopt 1 joint, can adopt more than 1 joint yet.Every joint arm of above-mentioned arm (comprising the 1st joint arm or the 1st joint lever arm), can adopt or part adopts various mobilizable joint (also claiming structure), mobilizable fixed part, the mobilizable link comprise ball formula, shaft type, bearing-type, ring type, wheeled, pin formula etc., the above-mentioned spherical joint that comprises (also claims spherical movable joint, spherical universal joint etc.The joint, also claim structure), chain shaft type joint (comprises, universal chain shaft type joint, multidirectional chain shaft type joint), universal member or multidirectional parts (comprising multidirectional joint or universal joint), the two-way rotation of axial-radial (comprising revolution) device (comprises oscilaltion or goes up turning down and the device that tilts, oscilaltion or last turning down and left and right sides slewing equipment), and prior art digging arm root and two arms between mobilizable fixed structure or syndeton (comprising axis structure) etc., be made into integration above-mentioned comprising with arm, and be provided with, link, welding, be bonded in mode on the arm etc.

Crooked extended position arm i.e. comprising by the energy bending crooked, that extending apparatus drives, the arm that stretches of band bending, extending apparatus (comprising hydraulic cylinder and piston rod thereof), also comprises principle, structure, the mode of the crooked extended position arm of existing excavator.Telescopic arm, promptly with (comprise by stretching device drive) of stretching device can linear extension, shortening or camber line elongation, the arm that shortens, it can adopt or part adopts principle, technology, the mode (comprising type of drive and device) of existing telescopic crane boom.The ascending/decending arm, comprise telescopic arm, the arm of band lifting gear or the arm that driven by lifting gear are at interior various ascending/decending arms, above-mentioned lifting gear comprises that hydraulic lift, Motorized lift device or mechanical lifting gear are (as the lifting gear of Driven by Hydraulic Cylinder, the lifting gear of hydraulic motor and gear drive, the lifting gear of motor and gear or chain wheel drive etc.).Rotary arm is promptly with the arm of whirligig or the arm that is driven by whirligig (arm that comprises band hydraulic rotating device is with the arm of electronic whirligig).The linear motion type arm, be forearm (comprise bucket arm) but or the arm of preceding 1,2 joint arm moving linearlies, the arm of band linear support, the band linear motion device (but its be meant comprise wheel, wheel band, endless chain, wheel rope, wheel track, hydraulic cylinder, electric device, linear support, car and belt wheel, band is ball, that tape spool holds or the device of various moving linearlies of being with other object etc. of slideway) arm.Curvilinear motion formula arm, also claim snake shape formula arm, Universal arm, multidirectional arm (promptly 3 to arm and 3 to above arm), get final product above-below direction, the arm that left and right directions or tiltedly upward oblique direction are down moved, and resemble can be to any direction the snake body, can make progress, down, a left side, right four direction or can be to tiltedly going up tiltedly the arm of four direction activity down, it adopts spherical joint, chain shaft type joint, universal member or multidirectional parts, the two-way whirligig of axial-radial, the drive unit that links more than 2 or 2 on 1 joint arm (comprises hydraulic cylinder, motor, electric device etc.), perhaps 1 joint arm (is just comprised and side by adjacent both direction, anti-and side, just with last, just with following, anti-and last, anti-and following, go up and a left side, go up with right, down with a left side, down with both direction such as the right side) drive unit drive, and save on the both direction adjacent on the arm 1 and all to link drive unit.The joint number of curvilinear motion formula arm is not limit, and 1 saves, and can be 1 joint above (comprising 2,3,4,5,6,7,8,9 joints and the joint more than 9 joints etc.) yet.Curvilinear motion formula arm also is the mechanical arm of the 3rd technical scheme.Scissor-type frame for movement arm, promptly with the arm of scissor-type machinery or structure, it can adopt principle, the mode of the scissor-type machinery of existing scissor-type aerial work platform to comprise type of drive and device etc.

Excavator, grab by device, take up device, suction and pumping device, flusher, multidirectional multi-angle device or setting part wherein can be set, 1 grade, 2 grades, multistage (for multistage, comprising 3 grades, 4 grades, 5 grades, 6 grades, 7 grades, 8 grades, the level more than 9 grades and 9 grades more than 2 grades) drive unit also can be set.Multidirectional multi-angle device (also claims multidirectional device, the multi-angle device, universal head etc.), by linear motion device (comprising linear support), slewing equipment (comprises pivoting support, slewing equipment, swivel bearing, whirligig), tilting gearing, lifting gear formations such as (lifting hydraulic cylinders that comprises the 1st arm) or constitute by wherein part, also can be by elevating device (but also claiming liftable dumping device etc.), linear motion device (comprises vertically and the lateral movement device, side direction also claims laterally), stretching device (comprises the longitudinal extension device, the side direction stretching device) formation or constitute (needs during according to work, the multiple device of above-mentioned multidirectional multi-angle device and function thereof etc. can all be used or certain applications) such as by wherein part.1 grade, 2 grades, multistage drive unit, comprise 1 grade, 2 grades, multistage hydraulic operating part, air pressure operating part (comprising hydraulic cylinder and piston rod thereof, cylinder and piston rod thereof etc.), 1 grade, 2 grades, multi-stage mechanical drive part (comprising endless chain, wheel rope, wheel band and mechanism thereof etc.), 1 grade, 2 grades, multi-stage motor part, and above-mentioned hybrid or above-mentioned partially mixed formula drive part, also comprise multistage driving principle, the mode of prior art.Usually, 1 joint arm of digging arm by 1 grade of drive unit drive (as one by 3 joint arms constitute digging arm, it should be that multistage hydraulic cylinder drives by 3 grades generally, per 1 grade of hydraulic cylinder can be 1 hydraulic cylinder, also can be the hydraulic cylinder more than 1).

The arm of this excavator (comprises the bucket arm, arm partly struggles against), and on (comprise its front portion, front end) (comprising: scraper bowl comprises the scraper bowl in crack with holes for device or instrument, manipulator, handgrip, grab bucket, perching knife, hammer, bore, drill bit, platform, basket, basket, spray pipeline and shower nozzle thereof or spray first-class various device and instrument interior), can adopt prior art the fixed angle formula (arm that promptly struggles against can not resemble the axle rotate or turn round, the device of bucket arm front end or instrument can not or can not rotate or revolution along with the bucket arm around the rotational or the revolution of bucket arm), also can adopt adjustable angle formula (arm that promptly struggles against can resemble and rotate or turn round the axle, and the device of bucket arm front end or instrument can or can rotate or revolution along with the bucket arm around the rotational or the revolution of bucket arm).Above-mentioned abbreviation fixed angle formula (also claim rotaryly to comprise can not swinging) digging arm and device, instrument and adjustable angle formula (also claiming the rotary swinging that comprises) digging arm thereof and device thereof, instrument; The machine driving of said apparatus or instrument (also claiming power transmission) can adopt the outer driving type of prior art, also can adopt driving type in interior driving type, the arm (also claiming driving type in the dipper).(comprise bucket arm, the part arm that struggles against on the arm of excavator, and anterior, front end) scraper bowl, manipulator, handgrip, grab bucket, perching knife, hammer, brill, drill bit, platform, basket, basket, the sprinkling pipeline that scraper bowl comprises crack with holes can be set and comprise shower nozzle or sprinkler head, perhaps the suction and pumping device comprises device, instrument, the parts of suction and pumping pipeline and the first-class need of pipeline usefulness.

Excavator, grab and take device, take up device, the suction and pumping device, flusher, lifting gear (comprises digging arm, supporting and other devices), can adopt and comprise hydraulic pressure, machinery, electronic and combination drive or partially mixed driving are in interior various type of drive, comprise hydraulic means so can be provided with, mechanical device, electric device and mixing arrangement thereof or partially mixed device (comprise the connection that it is required at interior various drive units, transmission, slave part, also comprise hydraulic pressure is set, machinery, electric power, hydraulic pressure and mechanical mixture, hydraulic pressure mixes with electric power, hydraulic pressure mixes with electric power with machinery or mechanical device such as mix with electric power, and required connection, transmission, slave part), and existing said apparatus (comprise the connection that it is required, transmission, slave part).More than install the power of (also claiming drive unit), usually do power with the power section of vehicle, certainly can adopt also that vehicle produces comprise the electricity energy or with electric energy do power, also can adopt external electric energy to comprise that the electrical network electric energy does power, so, above drive unit can pass through arrangement of clutch, transmission device or transmission object are connected (the above-mentioned clutch that comprises with the power section of vehicle, transmission object and power transmission shaft, bent axle, bar, joint, band, chain or gear etc., also comprise the device of above mixed drive or partially mixed transmission or object etc.), that above drive unit can certainly be connected that vehicle produced comprises the electricity energy, with electric energy or external electric energy comprise the electrical network electric energy

Excavator, grab by device, take up device, suction and pumping device, flusher, comprise digging arm, supporting and other devices can adopt Artificial Control, automatically control or manually with combine control technology automatically, comprise employing machinery control, electronic control, the mode of line traffic control, controlled in wireless and the mode of above-mentioned hybrid or partially mixed formula control are arranged, also comprise and adopting or existing control technology of part employing and improved existing control technology.Artificial Control is provided with or part is provided with the manually-operated control device, comprises hand-control device (as devices such as control stick, shelves, button, switches), foot control device (as devices such as throttle, brakes) and controls required hydraulic pressure, electronic, mechanical device; Automatically control, be provided with automatic control system (also cry automatically or automation control system, artificial intelligence control part grade), comprise computer control system (comprise and can adopt industrial control computer), adopt computer control mode (comprise and can adopt industrial control computer), adopt industrial control computer (programmable controller) control mode (comprising control system), adopt cyclelog control mode, adopt controller to come auto-control mode etc.; Artificial with combine control (also claim manually to control automatically, automaticmanual in conjunction with controlling etc.) automatically, comprise can Artificial Control also can auto-control mode, part Artificial Control part is the control mode of control automatically, the control mode that Artificial Control combines with automatic control.Comprise, only need Artificial Control to grab and grab the iron operator of picking up the sewer mouth by device, excavator and take up device just can be according to grabbing the information of working just now by device, accurately move in circles automatically finish to the desilting in the sewer and with its clear mud all take up and unload whole work to the dustbin.

The technical program also can adopt or part adopts following prior art: motor comprises the generator that is used to generate electricity, with the motor that is used as power.Power strengthens button, and helping increases the power of big arm, forearm and scraper bowl when running into ticklish setting occasionally.Engine power that all can advanced control system (ACS) can not wasted fuel and energy again when boosting productivity.Built-in Contronic device can continue circular machine works situation and important technical parameter, as: the disengagement of fast replacing equipment, mining mode and engine speed etc.New A PC (power output control automatically) system absolutely utilizes engine power.Rationally H, M, the L pattern of power output improve operation power.The electrical control system of motor-oil pump can be brought into play the performance of motor to greatest extent, reduces oil consumption, and machinery is worked efficiently.Fault detection system utilizes the display that is installed in driver's cabin that the working condition of each critical piece, system and complete machine is provided for the driver.Mechanically operated automaticity and compliance improve.As multi-functional liquid crystal display monitor, duty comes into plain view.Therefore, the driver can understand the state of mechanical each several part by being arranged on display in the driver's cabin, as frame for movement, hydraulic system, sloping portion, rotating part, scraper bowl or take up the working condition of bucket or the like, so that operation control.

Many predominant uses with environmental sanitation car and multiservice car comprise excavations, shovel plane, draw thing, naughtyly ladle out, grab thing, bore thing, push away thing, suction and pumping, desilting, ditch cleaning, fragmentation, work high above the ground, lifting, ramming, loading and unloading, shipment, sprinkling.

Two, the technical scheme of excavator

Excavator (is comprised existing excavator, but be not with creeper truck) be located on the vehicle and ship (comprising aircushion vehicle) on, (annotate: because be located at the affiliated technical field of the excavator on the vehicle above-mentioned comprising with car excavator and the excavator that has the compartment, both belonged to multiservice car, also belong to excavator, so it not only will illustrate in the promptly many technical schemes with environmental sanitation car and multiservice car of first technical scheme, also must illustrate in the technical program).Above-mentioned excavator can adopt or the part employing comprises crooked extended position arm, telescopic arm, ascending/decending arm, rotary arm, linear motion type arm, curvilinear motion formula arm, scissor-type frame for movement arm, and the mechanical arm of the 3rd technical scheme, and the arm of existing various excavators, and above-mentioned compound arm, use the formula arm, replace formula arm, hybrid arm, partially mixed formula arm at interior various arms.The joint number of above-mentioned arm is not limit, and comprises, can adopt 1 joint, can adopt more than 1 joint yet.Be located at the excavator on the ship, its digging arm is 2 joints and the above crooked extended position arm of 2 joints, reach telescopic arm, ascending/decending arm, rotary arm, linear motion type arm, curvilinear motion formula arm, scissor-type frame for movement arm, reach above-mentioned compound arm, use the formula arm, replace formula arm, hybrid arm, partially mixed formula arm, and the arm that combines with above-mentioned arm of crooked extended position arm, the arm that crooked extended position arm combines with above-mentioned part arm, the joint number of these arms is not limit, comprise, can adopt 1 joint, also can adopt more than 1 joint.

Existing various excavators are improved (comprising increase, minimizing, change, replacing, adjustment etc.), the crooked extended position arm that is about to the various excavators of prior art is improved to 3 joints and the above crooked extended position arm of 3 joints (is included as other improvement that this improvement of adaptation is done, comprise the corresponding improvement that mode, component, device, system etc. are done as some aspects to these arm others and excavator---as to hydraulic cylinder and piston rod thereof, oil pipe, the corresponding improvement that control valve, control system etc. is done).Perhaps be improved to telescopic arm, ascending/decending arm, rotary arm, linear motion type arm, curvilinear motion formula arm, scissor-type frame for movement arm, and the mechanical arm of the 3rd technical scheme, reach above-mentioned compound arm, use the formula arm, replace formula arm, hybrid arm, partially mixed formula arm, and the arm that combines with above-mentioned arm of crooked extended position arm, the arm that crooked extended position arm combines with above-mentioned part arm, the joint number of these arms is not limit, comprise, can adopt 1 joint, also can adopt more than 1 joint.

The arm of this excavator (comprises the bucket arm, arm partly struggles against), (comprise its front portion on it, front end) device or instrument (comprise scraper bowl, manipulator, handgrip, grab bucket, perching knife, hammer, bore, drill bit, platform, basket, basket, spray pipeline and shower nozzle thereof or spray first-class various device and instrument interior), can adopt prior art the fixed angle formula (arm that promptly struggles against can not resemble the axle rotate or turn round, the device of bucket arm front end or instrument can not or can not rotate or revolution along with the bucket arm around the bucket arm), (arm that promptly struggles against can resemble and rotate or turn round the axle, and the device of bucket arm front end or instrument can or can rotate or revolution along with the bucket arm around the bucket arm also can to adopt the adjustable angle formula.Be called for short rotary or rotary type bucket arm or the device on it, instrument, comprise rotary scraper bowl, rotary type manipulator etc.); The machine driving of said apparatus or instrument (also claiming power transmission) can adopt the outer driving type of prior art, also can adopt driving type in interior driving type, the arm (also claiming driving type in the dipper).

(comprise bucket arm, the part arm that struggles against on the arm of excavator, and anterior, front end) also can be provided with or change scraper bowl is that manipulator, handgrip, grab bucket, perching knife, hammer, brill, drill bit, platform, basket, basket, sprinkling pipeline comprise shower nozzle or sprinkler head, and perhaps the suction and pumping device comprises device, instrument, the parts of suction and pumping pipeline and the first-class need of pipeline usefulness.Every joint arm of digging arm (comprising the 1st joint arm or the 1st joint lever arm), can adopt or partly adopt and comprise the ball formula, shaft type, bearing-type, ring type, wheeled, pin formulas etc. are in interior various mobilizable joint (also claiming structure), mobilizable fixed part, mobilizable link, the above-mentioned spherical joint that comprises, chain shaft type joint, universal member or multidirectional parts, the two-way rotation of axial-radial (comprising revolution) device, and prior art digging arm root and two arms between mobilizable fixed structure or syndeton (as axis structure) etc., be made into integration above-mentioned comprising with arm, and be provided with, link, welding, be bonded on the arm etc.

Can have lifting gear (comprise only to have its part or parts, also comprise only to have lifting hook, also comprise having rammer) and can have the suction and pumping device, can have flusher, also can have combined type or suction and pumping and spray dual-purpose apparatus.

Excavator, flusher, lifting gear comprise digging arm, supporting and other devices, can adopt various type of drive to comprise combination drive, various drive units can be set comprise hybrid drive; Above-mentioned comprising, hydraulic-driven, Mechanical Driven, driven by power, hydraulic pressure and mechanical mixture driving, hydraulic pressure and electric power combination drive, hydraulic pressure and machinery and electric power combination drive, machinery and electric power hybrid drive etc. are set, above-mentionedly also comprise, also can utilize technology such as existing hydraulic-driven, Mechanical Driven, driven by power, hydraulic pressure and mechanical mixture driving, hydraulic pressure and electric power combination drive, hydraulic pressure and machinery and electric power combination drive, mechanical and electric power combination drive to comprise device.The power of above drive unit, usually do power with the power section of vehicle or ship, certainly also can adopt vehicle or ship to produce to comprise the electricity energy or with electric energy do power, also can adopt external electric energy to comprise that the electrical network electric energy does power, so, above drive unit can pass through arrangement of clutch, transmission device or transmission object are connected with the power section of vehicle or ship, the above-mentioned clutch that comprises, transmission object and power transmission shaft, bent axle, bar, joint, band, chain or gear, the device or the object that also comprise above mixed drive or partially mixed transmission, can certainly connect vehicle or ship and produce and comprise the electricity energy going up drive unit, with electric energy or external electric energy comprise the electrical network electric energy

This excavator adopts the control technology or the part control technology of above-mentioned first technical scheme (using the technical scheme of environmental sanitation car and multiservice car) more, also can adopt the operation control technology of prior art, comprise the structure of driver behavior indoor and outdoor and set-up mode etc., also can be improved certainly it.The predominant use of this excavator comprise excavation, shovel dig, draw thing, wash in a pan ladle out, grab thing, bore thing, push away thing, suction and pumping, desilting, ditch cleaning, fragmentation, work high above the ground, lifting, ramming, loading and unloading, shipment, sprinkling etc., therefore, this excavator also is a kind of multiservice car and multi-purpose excavator.

Three, the technical scheme of mechanical arm

3 joints or the above crooked extended position arm of 3 joints, 1 joint arm (is just comprised and side by adjacent both direction, anti-and side, just with last, just with following, anti-and last, anti-and following, go up and a left side, go up with right, down with a left side, down with both direction such as the right side) the drive unit driving, on both direction adjacent on the 1 joint arm, all link drive unit, dribbling shape joint (also claims spherical movable joint, spherical universal joint etc.), band chain shaft type joint (comprises universal chain shaft type joint, multidirectional chain shaft type joint), band universal member or multidirectional parts (comprising multidirectional joint or universal joint), tape spool installs to radially two-way rotation (comprising revolution);

Multidirectional multi-angle device or setting part wherein can be set, 1 grade, 2 grades, multistage drive unit also can be set, can be provided with and comprise that manipulator, handgrip, grab bucket, scraper bowl, perching knife, hammer, brill, drill bit, platform, basket, basket, sprinkling pipeline comprise shower nozzle or sprinkler head, perhaps the suction and pumping device comprises suction and pumping pipeline and the first-class various devices of pipeline, instrument, parts, and the technical scheme of above-mentioned mechanical arm can be used for first technical scheme (using the technical scheme of environmental sanitation car and multiservice car), second technical scheme (technical scheme of excavator) more.

Above-mentioned first technical scheme (using the technical scheme of environmental sanitation car and multiservice car), second technical scheme (technical scheme of excavator), the described various arms of the 3rd technical scheme (technical scheme of mechanical arm) can be formed by variety of way, various object and various suitable material more, comprise by tubular type, rod-type, bar formula, board-like, piece formula, bevel-type, netted, net like, truss-like, stent-type, frame type, exposed throughout type, non-exposed throughout type, abnormal shape, special shape or above-mentioned hybrid or partially mixed formula forming.

Annotate: device, also claim machine, device, machine, mechanism, machinery, system, part etc. (above-mentioned antonomasia mutually usually), also comprise device, instruments (also claiming annex) such as manipulator, handgrip, grab bucket, brill.

The arm of excavator, promptly digger arm, digging arm are with the boom that excavates function or device, the lifting arm that band excavates function or device; Comprise its due power section, control section, slave part and instrument, device etc.Take up the arm of device, promptly take up arm, take up the device arm, also claim arm, the handler arm of handler, comprise its due power section, control section, slave part and instrument, device etc.Grab the arm of taking device, promptly grab, comprise its due drive part, control section, slave part and instrument, device etc. by the device arm.Above-mentioned various arm also claims arm, cantilever, armed lever, lever arm, mechanical arm etc.The bucket arm, be meant digging arm, take up the forearm of device arm, mechanical arm, and can be provided with or comprise that in conjunction with scraper bowl, manipulator, handgrip, grab bucket, perching knife, hammer, brill, drill bit, platform, basket, basket, sprinkling pipeline shower nozzle or sprinkler head or suction and pumping device comprise the arm of suction and pumping pipeline and the first-class various required devices of pipeline, instrument.Scraper bowl also claims bucket, Excavating bucket, comprises scraper bowl, shovel, spade, bucket, baler, and it is generally used for digging, digs, shovels, digs, pushes away, draws, ladles out, fragmentation, loading and unloading etc.

The above arm of 2 joints is meant 3 joint arms, 4 joint arms, 5 joint arms, 6 joint arms, 7 joint arms, 8 joint arms, 9 joint arm and above arms thereof.The above arm of 3 joints is meant 4 joint arms, 5 joint arms, 6 joint arms, 7 joint arms, 8 joint arms, 9 joint arm and above arms thereof.Joint also claims section.

Hydraulic pressure is meant hydraulic system, mechanism, machinery, technology.Hydraulic cylinder generally comprises piston rod.

Supporting, the supporting that has also claim the platform (platform that comprises the band protection.Comprise the platform of being with guardrail), rotating disk etc., comprise that pivoting support, swivel bearing, camber line supporting etc. can claim platform, rotating disk etc., linear support, lifting supporting etc. can claim platform etc.

Technology comprises mode.Mode comprises method, form (shape of things, structure, structure etc.), technology.

The invention has the beneficial effects as follows, novel multi-use environmental sanitation car and multiservice car with vehicle, excavator, grab by device, take up device, suction and pumping device, flusher etc. and carry out combination or part combination, how how a tractor serves several purposes, an arm used with, compartment with a, car more, also can be provided with multidirectional multi-angle device, can change the distance of excavator and the angle and distance of change digging arm and scraper bowl etc. according to the operation needs.So, with existing manually hold instrument draw dig inspection shaft and sewer etc. not only fall behind but also antihygienic mode is compared, have significantly clean hygiene, mechanization and automaticity height, easy and simple to handle, compliance strong, work is convenient and characteristics such as efficient height.Single with prior function again garbage truck, fecal suction truck, the sprinkling truck, spraying machine, excavator, general vehicle is compared, also obviously possesses excavation, shovel digs, draw thing, wash in a pan and ladle out, grab thing, bore thing, push away thing, suction and pumping, desilting, ditch cleaning, broken, work high above the ground, lifting, ramming, loading and unloading, shipment, multiple function and purposes such as sprinkling, and automaticity height, easy and simple to handle, convenient and the efficient height of work, the utilization rate height, compact conformation and handsome in appearance, can solve and manually be not easy to the work carried out, alleviate people's labour intensity greatly and improve advantage and characteristics such as people's work condition.

Novel excavator can be provided with multidirectional multi-angle device, the joint number of its digging arm also can increase, it can change multiple device, instrument, it also can combine (as with the car excavator) with vehicle, it also can have flusher and lifting gear and (comprise and can only have its part or parts, also comprise only having lifting hook, also comprise having rammer), accomplish that how an arm use with, a tractor serves several purposes, a car more; So compared with prior art, activity is freely more for its digging arm, thereby can finish prior art the multiple direction, the excacation of multiple angles that can not accomplish, and can carry out the straight line operation among a small circle, not only mobility significantly improves but also can also be as vehicle; So just possessed excavation, shovel dig, draw thing, wash in a pan ladle out, grab thing, bore thing, push away thing, multiple function and purposes such as suction and pumping, desilting, ditch cleaning, fragmentation, work high above the ground, lifting, ramming, loading and unloading, shipment, sprinkling, therefore, it also is a kind of multiservice car and multi-purpose excavator, can be widely used in industries such as transportation, loading and unloading, lifting, building, municipal administration, water supply, gardens, power supply, agricultural.

Mechanical arm can be made multiple bending and linearly operating etc., can be widely used in equipment such as robot, the vehicles (but comprising walking mechanism), engineering, medical treatment, space flight.

Description of drawings

The present invention is further described below in conjunction with drawings and Examples.

Fig. 1 is the side surface configurations schematic diagram of novel multi-use environmental sanitation car and first embodiment of multiservice car.

Fig. 1 .1 is the front organigram of Fig. 1.

Fig. 1 .2 is the organigram of overlooking of Fig. 1.

Fig. 2 is the side surface configurations schematic diagram of second embodiment of novel multi-use environmental sanitation car.

Fig. 2 .1 is the front organigram of Fig. 2.

Fig. 2 .2 is the front organigram of Fig. 2.

Fig. 2 .3 is the front organigram of Fig. 2.

Fig. 3 is the front organigram of first digging arm 1 of novel multi-use environmental sanitation car and multiservice car first embodiment, second embodiment and spherical root structure thereof, hydraulic cylinder (comprising piston rod) 6, linear motion device 7, slewing equipment 8, tilting gearing 10.

Fig. 4 is the side surface configurations schematic diagram of novel excavator and first embodiment of mechanical arm.

Fig. 5 is the side surface configurations schematic diagram of novel excavator and second embodiment of mechanical arm.

Fig. 5 a is the side surface configurations schematic diagram of Fig. 4 mechanical arm.

Fig. 5 b is another side surface configurations schematic diagram of Fig. 4 mechanical arm.

Fig. 5 c is the profile construction schematic diagram of Fig. 5 a.

Fig. 6 is the side surface configurations schematic diagram of novel excavator and second embodiment of mechanical arm.

1. digging arms among the figure, 1.1. scraper bowl, 1.2. spherical joint (also claims spherical structure, mobilizable fixed connecting part, spherical arm roots etc.), 2. grab by device, 3. take up arm, (comprise bucket 3.1. take up dish, case, jar, bucket, basin, groove), partly (but also claim the liftable dumping device 3.1a. take up the elevating (also claiming self-unloading) of device, bucket is turned in lifting, case, jar or bucket mechanism etc.), the vertical and lateral movement (or flexible) that 3.1b. takes up device partly (also claims vertical and lateral movement device), 4. the suction and pumping device, 5. the compartment (also claims multi-purpose car body, comprise various compartments), 5.1. compartment oral area, 5.1a. Der Kofferraumdeckel, 5.1b. carriage back door (or claiming the compartment bonnet), 6. hydraulic cylinder (comprising piston rod), 7. linear motion device (comprising linear support), 8. slewing equipment (comprising pivoting support), 8.1. part such as pivoting support and control, 9. slewing equipment (comprising whirligig), 10. tilting gearing, the hydraulic pressure liftable bracing frame of 11. digging arms.

The specific embodiment

In Fig. 1,1.1,1.2, also be that multiservice car mainly is made up of excavator, the automobile that takes up device and band side dress self-unloading enclosed type dustbin (also be multi-purpose car body, multiservice car jar, also can be called for short the compartment) 5 how with the environmental sanitation car.

Excavator is located on the vehicle frame between vehicle head and the compartment 5 and (certainly, also can be located at driver's cabin one side, dwindles driver's cabin and get final product; Also can be located at compartment one side, dwindle or partly dwindle the compartment getting final product; Perhaps be located at the rear portion, compartment, the lengthening vehicle frame, increase other object at the vehicle frame rear portion or dwindle the compartment and all can; More than comprise on the special stand that is located at above-mentioned position, reach on other object on the dedicated platform, on the isolated plant).The digging arm 1 of excavator is provided with the leak scraper bowl 11 (also replaceable other device, instrument etc.) of eye of 3 joint arms and 1 band, and it drives by hydraulic cylinder (comprising piston rod) 6.The shape of scraper bowl 1.1 is dustpan shape (also can adopt the form of existing scraper bowl 1.1) unlike the prior art, hydraulic cylinder (the comprising piston rod) 6 of driving scraper bowl 1.1 and piston rod are also unlike the prior art, the bottom (inboard) that promptly is located at the bucket arm reaches and links to each other by the upper edge of drive link with scraper bowl 1.1, also have, the length of piston rod outer end has especially extended, help scraper bowl 1.1 edge operation like this, and piston rod top does not contact and lacks contact liq or dirt etc. near operating points.

The root of digging arm 1 first segment arm be provided with spherical joint be movable fixing or link as shown in Figure 3, the both sides of spherical root be tilting gearing 10 its constitute by 2 hydraulic cylinders (comprising piston rod) 6, the bottom of spherical root is that pivoting support 8 (also claims platform, can 360 the degree rotation), the upper end of tilting gearing 10 connects first segment arm lower end and connects pivoting support 8, the bottom of pivoting support 8 is a linear support (perhaps linear motion device) 7, linear support 7 is fixed on the vehicle frame, and the distance of its walking is approximately the width of vehicle frame; Digging arm 1 the 1st arm is provided with lifting hydraulic cylinder 6, bucket arm (also claiming dipper, i.e. forearm, the 3rd joint arm) is provided with slewing equipment 9.(fixed connecting piece that can do universal or multidirectional activity is adopted at its two ends for above-mentioned linear motion device 7, pivoting support 8, lifting hydraulic cylinder 6, as the fixed connecting piece of spherical structure etc.), (fixed connecting piece that can do universal or multidirectional activity is adopted at its hydraulic cylinder 6 two ends, as the fixed connecting piece of spherical structure etc. for slewing equipment 9, tilting gearing 10.Certainly also can be without tilting gearing 10, promptly the back segment at digging arm 1 first segment arm is provided with slewing equipment 9) constituted excavator jointly or perhaps multidirectional multi-angle device digging arm 1.Be noted that, the back segment of first segment arm or root also can adopt combined type axial-radial bi-directional rotary device, it mainly partly is made of 1 lateral rotation axle construction cross-shaped rotation shaft structure (perhaps slewing equipment 9) opposite with 1 direction on it and driving thereof etc.---and this axial revolving structure that is equivalent to be adopted at prior art first segment arm roots (also claims rotation shaft structure, its fixed axis or turning cylinder are horizontal horizontal or that band tilts) on increase by 1 cross-shaped rotation shaft structure that direction is opposite again, perhaps on the axial revolving structure that prior art first segment arm roots is adopted, increase by 1 slewing equipment 9 again, like this with regard to make this arm and whole digging arm 1 that two different activity directions be arranged be oscilaltion (perhaps going up turning down) and tilt, oscilaltion (perhaps going up turning down) with about turn round.So then need not adopt spherical joint, if above-mentioned employing slewing equipment 9 does not need to adopt tilting gearing 10 yet again.

Is that hydraulic-driven, part are for electronic with top by hydraulic-driven or part.Therefore, digging arm 1 can be done motions such as linear reciprocation, revolution, inclination, bending, and the arm that for example struggles against can be done motions such as straight line, revolution, bending with vertical, level and angle of inclination, and scraper bowl 1.1 also can be done multiple motions such as straight line, revolution, bending.This is all very suitable for cleaning and excavation (also claiming to draw to dig) operating point that those bores are less, the degree of depth is big or the inner space is less or bigger etc.

Also be noted that, the arm 1 of present embodiment excavator can not only adopt 3 bent-segment extended position arms, (for example also can adopt 2 bent-segment extended position arms, the arm of prior art), the above crooked extended position arm of 3 joints, telescopic arm, scissor-type frame for movement arm, snake shape formula arm can also be adopted, above-mentioned hybrid arm or partially mixed formula arm can also be adopted certainly.For example, the hybrid arm of flexible bending (also claiming crooked extended position arm and the hybrid arm of telescopic arm) shown in Figure 5; For another example, 2 joints, 3 joint or multi-joint telescoping formula arms.Now its principle, structure are described with the telescopic arm of 3 joints, principle, the structure of the telescopic arm of 3 joints are identical with existing telescopic crane boom or basic identical, promptly (also can outside it) be provided with hydraulic cylinder (comprising piston rod) in the 2nd joint arm, so the 2nd joint arm is flexible by hydraulic-driven, the flexible of the 3rd joint arm driven by pulley and cable wire, the 1st joint arm is non-retractable fixed different with prior art then, and it adopts hydraulic motor and gear mechanism to drive its motion (as forward-reverse, stretch out withdrawal, lifting etc.).The front end of the 3rd joint arm is provided with by hydraulically powered scraper bowl 1.1 (also replaceable other device, instrument etc.), its hydraulic cylinder also is located at the bottom (inboard) of bucket arm with piston rod and links to each other by the upper edge of drive link with scraper bowl 1.1, also have, the length of piston rod outer end has especially also extended, so scraper bowl 1.1 can locate to carry out work near the inwall of inspection shaft wall and sewer mouth etc. too, and flexible piston rods in hydraulic cylinder (comprising piston rod) 6 partly can be by erosions and dirty such as water.Certainly, hydraulic cylinder can be comprised also that if desired piston rod is located at bucket arm top.The telescopic arm of 3 joints also can adopt multidirectional multi-angle device.

The arm 1 of described excavator can not only adopt the structure of plank frame and existing digging arm, for example, and the mode of the arm shown in Fig. 1,1.1,1.2,2,2.1,2.2,3 etc.; Also can adopt truss-like arm and snake shape formula arm, for example, the mode of the arm shown in Fig. 6,4, also can adopt not exposed throughout type and exposed throughout type convolution (comprising hybrid) arm, for example, existing plank frame arm and truss-like or netted convolution arm, certainly can also adopt and comprise that stent-type, netted, net like (for example, board-like, the chip of porose, hole or eye, piece formula, bar formula) equiarm and circle, ellipse, trapezoidal, triangle, special form, mixing shape equiarm are at interior various structures, the arm of form.

The nearside tank wall of side dress self-unloading enclosed type dustbin 5 is provided with and takes up device, and the box top is provided with the square oral area 5.1 that has case lid 5.1a, and case lid 5.1a is provided with hydraulic pressure or electric opening/closing device; The case rear portion is provided with the back door 5.1b (also claiming bonnet) of the upwardly-openable of sealing, back door 5.1b is provided with hydraulic pressure or electronic recloser, it also can be manual control switch's device, can also be artificial and hydraulic pressure, artificial and the electronic switching device that combines, above-mentioned switching device comprises things such as the later on used automatic or manual lock of closing back door 5.1b, pin, button, switch, handle, handle, and the case bottom is provided with the hydraulic pressure dumping device.Because side dress self-unloading enclosed type dustbin 5 also is multiservice car case and multiservice car jar 5, so it also is (as earth, sand, stone, cement, fertilizer, water etc.) multiservice car of things such as shipment building materials, the means of agricultural production, liquid.

Take up device (also claiming handler) for can initiatively take up the mode that takes up that also can passively take up, but it is mainly by the liftable dumping device 3.1a that is located on the side dress self-unloading enclosed type dustbin 5, vertically the direction of car (promptly along) that is located at the vehicle frame bottom and the side direction direction of car one side (promptly towards) telecontrol equipment (also claims linear motion device, the lengthwise movement device, the side direction stretching device) 3.1b and take up dish and (perhaps take up bucket, bucket, basin, groove etc., be called for short and take up dish) so 3.1 formations---, this has constituted a multidirectional multi-angle device (the multiple device and the function thereof of itself and a last multidirectional multi-angle device, the needs in the time of can be according to work are all used or certain applications) again.But liftable dumping device 3.1a is located at dustbin 5 usually by on the tank wall of sidewalk one side, it adopts the technology of the lifting butt buster structure on the improved existing side load garbage car, mode, its main body is generally couple structure and vertically is located on dustbin 5 walls (certain, also can adopt the wheel chain mechanism, wheel band mechanism, pinion and rack, elect modes such as mechanism or shift mechanism, and employing hydraulic pressure, air pressure, electronic or manual drives), described improvements are: the original hanging mechanisms that articulate refuse container are improved to laterally (promptly flat to, the direction of putting down) hanging mechanisms, but but promptly take up dish 3.1 from car the place ahead to the car rear to putting down motion just can be articulated on the liftable dumping device 3.1a and make the hanging mechanisms that opposite transverse movement just can break away from liftable dumping device 3.1a, these horizontal hanging mechanisms can adopt multiple mode, for example: mainly form (vertical lock ring is located at and takes up dish 3.1 back group outsides) by horizontal pin and vertical lock ring, mainly form (laterally pin is located at and takes up dish 3.1 back group outsides) by vertical lock ring and horizontal pin, mainly by vertical limit shape hook and vertical limit shape hook form (back one vertical limit shape hook by take up the dish 3.1 after the portion of helping make, perhaps taking up the vertical limit shape hook that dish 3.1 back group outer setting are made with the personality board board), or the like.Vertical and lateral movement device 3.1b is located at the vehicle frame bottom and is driven by motor or hydraulic motor, its bearing support is fixed on below the vehicle frame, the its vertically direction of car (promptly along) motion parts has a plurality of the wheel can be along the bearing support direction of car (promptly along) motion, also be provided with the side direction direction of car one side (promptly towards) on it and stretch out a part so stretching device can side direction the direction of car one side (promptly towards), the a part of top of this that stretches out is provided with a plurality of pulleys (can be the rubber pulley) and is used for this part and stretches into and take up dish 3.1 bottoms and with its picking-up, the bottom that takes up dish 3.1 is provided with obstruction and (is provided with the object of protrusion as the both sides in the bottom, a vertical flat ring-type object perhaps is set in the bottom, so when that part that vertically extends laterally with lateral movement device 3.1b extend into when taking up dish 3.1 bottoms with regard to just in time between obstruction, so then can drive and take up the reciprocating motion longitudinally of dish 3.1 dos, this reciprocating motion length is the length of bearing support inside, but approximately from the outer below at below to the position, excavator place of liftable dumping device 3.1a.

Need explanation at this, taking up device only needs 1 to take up dish 3.1 and get final product, and 2 shown in Figure 11 take up dish 3.1 and are exactly this 1 and take up dish 3.1 and rising and falling, accept and the signal and the schematic diagram of two states when toppling over.Also have, taking up device also can have multiple mode, for example: and adopt the wheel chain type handler that takes up bucket (or bucket etc.) with a plurality of, adopt the belt conveyer of being with matter storage lattice (or bucket etc.), or the like.

Usually, when present embodiment is not worked, but take up dish 3.1 rise under the driving of liftable dumping device 3.1a and the oral area 5.1 of left-hand thread (antiposition) at dustbin 5 on, case lid 5.1a covers case oral area 5.1 and takes up dish 3.1 to keep casing clean and tidy; That part vertical and that lateral movement device 3.1b extends laterally also is withdrawn in the bearing support, to keep car body clean and tidy.During work, then open case lid 5.1a, taking up dish 3.1 lifts to normotopia under the driving of lifting dumping device 3.1a and drops to the bottom of catamaran type main body, that part at this moment vertical and that lateral movement device 3.1b extends laterally just in time moves to the below that takes up dish 3.1, and automatically or its drive of Artificial Control take up outer belows that dish 3.1 vertically walks to position, excavator place and initiatively accept things such as mud that scraper bowl 1.1 unloads or rubbish (if scraper bowl 1.1 excavated the work of grade or just do not work this moment at all, taking up 3.1 on dish can initiatively not accept, perhaps be parked in suitable position), get back to a side of scraper bowl 1.1 then and wait for that active is accepted once more; Treat when its thing of accepting is abundant (may be the excavation amount of scraper bowl 1.1) for several times then automatically or Artificial Control its get back to the origin or beginning of bearing support, simultaneously but it has articulated the horizontal hanging mechanisms of liftable dumping device 3.1a, but and rises to dustbin 5 oral areas 5.1 topple over and take up the thing that coils in 3.1 under the driving of liftable dumping device 3.1a.Then, descendingly once more remove initiatively to accept the thing that scraper bowl 1.1 unloads, circulation and so forth is until finishing excacation or cease operation.Be provided with the obstruction of rubber pad or spring in the case oral area 5.1, be used to stop downward left-hand thread to take up dish 3.1 no longer descending and help taking up and topple over clean thing in it when dish 3.1 bumps to obstruction easily to allow it rest on the horizontal state.Take up that dish 3.1 can use also that the degree of depth is more shallow instead, area is big and circular arc at the bottom of take up bucket, for example, take up the bucket shape shape shown in Fig. 2,2.1,2.3.At this moment also can in case oral area 5.1, be provided for scraping clearly take up attachment in the bucket (as mud etc.) scrape device clearly, scraping device clearly mainly is made of scraper plate and fluid pressure drive device (or electric device), narrower its radian of scraper plate has fixed axis with identical, two ends of radian in taking up bucket, and two fixed axis are separately fixed in the bearing on case oral area 5.1 inwalls; Usually, behind the things such as bucket is dumped rubbish in dustbin 5 when taking up, mud, drive unit will drive scraper plate automatically and rotate promptly to be close to and take up dish 3.1 inwalls and back and forth clear up attachment on it, is parked in original position then again.

Present embodiment can be provided with grabs by device 2, and it can adopt multiple mode: one is located at below the vehicle frame at position, excavator place, its structure, mode and how identical with grabbing by device 2 of environmental sanitation car, multiservice car second embodiment; Two in nearside vehicle frame limit portion, be provided with accordion structure machinery with manipulator, grab, take, hook, folder, clamp, carry, prize, not, lift or spiral first-class, the while also can have calutron; Vehicle frame between three automobile two-wheeleds is improved to bilayer (perhaps multilayer), grab and take device 2 and vertical and lateral movement device 3.1b respectively to utilize one deck, grab structure, the mode of taking device 2 and how to take device 2 identical with grabbing of environmental sanitation car, multiservice car second embodiment, perhaps adopt scissor-type mechanical arm and manipulator, grab, take, hook, folder, clamp, carry, prize, not, lift or spiral first-class, also can have calutron simultaneously; Or the like.Describedly grab by device 2 by hydraulic pressure, air pressure or motorized motions also above-mentioned combination drive or partially mixed driving.

The present embodiment hydraulic system can adopt 1 cover, 2 covers or overlap power section, control section, assisted parts more and grade.That the power of present embodiment hydraulic system and electric device, electric energy are sent out from the motor on the automobile and automobile or with electric energy (also claiming storage battery electric energy, solar electrical energy generation etc. as battery), also special engine, generator or outside electric power network can be set certainly.

Present embodiment adopt artificial with combine the control mode of (also claiming Artificial Control and control the control that combines automatically that automaticmanual is in conjunction with controlling etc.) automatically, so can Artificial Control, automatic control also can be manually combines control with automatic.Above-mentioned comprising: be provided with computer control system (can have industrial control computer) and manually-operated control device, computer control system is provided with recognition device and multiple sensors, also can be provided with closed-circuit television and monitor head (be called for short and monitor head), for example, sensor such as position, angle, distance, height and can discern the recognition device of hole on inspection shaft mouth, sewer mouth and grate, lid and grate, the lid, eye etc.Usually, the supervision head is located at grabs by on the device 2 and on the arm of excavator, and the hand-control device of automatic controller and manually-operated control device and foot control device are arranged on driver right side or the forward right side in the driver's cabin, as required LCD can be set herein; Certainly also can adopt small-sized energy to carry out cable controller or wireless controller (as wired remote controller, Digiplex, the wireless line remote controller etc. that has concurrently) wired and radio operation control in hand held.Control system can store the relevant data, information (as the shape in length and width, dark, diameter, weight and hole thereof, hole, position, size, quantity etc.) of the various sewer mouths, inspection shaft of operational area etc. and grate thereof, lid.Driver's seat can be designed to the seat that can rotate to the right.So, as long as how the driver will rest near (right side that is car is approaching) with approximately facing to operating point (following watercourse port with the environmental sanitation car, the inspection shaft mouth) position (approximately being as the criterion) facing to the operating point to grab by device 2 or excavator, the start-up control system, it just can be according to the related data that monitors that information that head and recognition device etc. are provided at this moment and control system store in advance, information is controlled automatically and is grabbed by device 2, excavator, take up device etc. successively and cooperatively interact and finish whole work, promptly grab by device 2 earlier to the operating point motion, grab and reset after picking up grate or lid etc.; Then excavator will stretch in the operating point with the scraper bowl 1.1 of leaking hole and excavate that (this can be a kind of excavation as delegation's line scanning formula, dig out rate is higher), go back to the top that is parked in the operating point then, at this moment waited at its other device that takes up and to have taken up dish 3.1 at once and accurately move to it and initiatively accept mud etc. down, take up dish 3.1 subsequently and get back to original position continuation wait at once, scraper bowl 1.1 also continues to stretch in the operating point to excavate.Take up dish 3.1 things to be accepted when enough, be about to thing and pour in the dustbin 5; At this moment the scraper plate of scraping device clearly will take up the attachment that coils on 3.1 inwalls and scrape totally; Taking up dish 3.1 sets back and continues to accept operation.Said process, both can control scraper bowl 1.1 automatically to, the information sensed and excavate, take up etc. according to monitoring that head, sensor etc. are observed by control system, also can be by the operator according to monitoring that head, sensor etc. are transferred to information on the LCD and come Artificial Control to excavate, take up etc., these information comprise the position of grate or lid and hole thereof, situation in the operating point and cleaning situation, have how many goods etc. in the refuse container, also can suspend, end and cancel above-mentioned work certainly.If the thing that is excavated does not have flowing water, excavator then need not take up the things that dish 3.1 helps promptly to take charge of in the scraper bowl 1.1 and directly pour in dustbin 5 oral areas 5.1.Because present embodiment also is provided with the manually-operated control device, so the driver also can carry out Artificial Control as required easily in driver's cabin.

Present embodiment can adopt or part adopts: power strengthens button, built-in Contronic device, new A PC (power output control automatically) system, fault detection system.Its function, characteristics illustrate in technical scheme.

Getting a clear view of the front window of present embodiment driver's cabin, rear window, left window, right window and top also can be provided with air regulator to improve driver's condition of work in the driver's cabin.Present embodiment can be at the arm of driver's cabin, car body, excavator, positions such as the arm installation lighting that takes up device and operation warning lamp, caution PA-system, to be used to observe in the sewer mouth, in the inspection shaft and safety work and operation at night etc.

Present embodiment can be pulled down scraper bowl 1.1 to change and grabs thing device (comprising handgrip as manipulator), grab bucket, perching knife, hammer, brill thing device (as drill bit etc.), aerial work platform (as the platform of band guardrail), basket, basket etc.Certainly also can not change scraper bowl, promptly increasing component becomes and grabs the thing device, bores thing device, aerial work platform, basket, basket.For example, be the part of manipulator with the scraper bowl, increase relative with it, a fixing or mobilizable part again, promptly become manipulator and grab bucket.

Present embodiment can have lifting gear, for example, on the pivoting support 8 of excavator crane is set, and (interior or outer) is provided with pulley, cable wire and lifting hook etc. on digging arm 1.Certainly also can adopt easy mode promptly a fixable movable lifting hook to be set, also can have the cable wire that is used for lifting onboard on the bucket arm top of digging arm 1.Because the bucket arm can revolve three-sixth turn, fixable movable lifting hook is turned to the bottom of bucket arm to be used for lifting so when needing lifting, just revolve rotating bucket arm.Even if the hydraulic cylinder on the bucket arm comprises piston rod 6 and is the set-up mode of prior art, can adopt above-mentioned fixable movable lifting hook too, perhaps also can adopt fixedly lifting hook.Therefore, present embodiment also possesses the feature of crane.Also have, (perhaps on the cable wire or on the digging arm) can hang or fixing the rammer on above-mentioned lifting hook, is used for ramming.

Present embodiment also can adopt suction and pumping device 4, the employing mode can have: the suction and pumping armed lever of a suction and pumping device 4 is located at a side at dustbin 5 tops and adopts the two-way rotation of electronic or hydraulic combined axial-radial (comprising revolution) device to regulate and control its left and right directions and high and low angle, the suction and pumping armed lever is provided with hard tube, what link to each other with this hard tube is a bit of flexible pipe, and connect one section hard tube (anterior hard tube), be provided with between above-mentioned two hard tubes the two-way rotation of electronic or hydraulic combined axial-radial (comprising revolution) device be used to regulate and control anterior hard tube about with high and low angle, stretch in the less operating point of oral area with convenient anterior hard tube and to carry out the suction and pumping thing.Therefore, suction and pumping device 4 can be used for (this depend on its purposes) such as suction and pumping mud, excrement, urine, water.Two adopt convolution to excavate the mode of (comprise drawing and dig) suction and pumping, and it is the excavator and the suction and pumping device of present embodiment that the convolution that it adopted excavates the suction and pumping device.Usually the suction and pumping pipe with the suction and pumping device is located on the digging arm, the suction and pumping pipe front portion of hard and the mouth of pipe (its preferably movable controlling type) are located on the position of the thing that just in time can the clean scraper bowl 1.1 of suction and pumping be excavated up on the bucket arm, certainly also can be with perforate in the middle of scraper bowl 1.1 bottoms (perhaps the footwear upper is near the position of bottom), the suction and pumping flexible pipe is connected the thing in the suction and pumping scraper bowl 11 on this hole (as mud etc.).Above-mentioned major advantage is, can with digging arm 1 double do the armed lever of suction and pumping pipe and make full use of its can multidirectional multi-angle motion and control section advanced person's advantage come the operating point is excavated and suction and pumping easily, especially suitable cleaning have water and thing that deposited firmlyer (because can stir to reach soft with scraper bowl 1.1 earlier, carry out direct suction and pumping then, while stirring suction and pumping or excavate the suction and pumping again that come up), the thing of suction and pumping directly enters in the compartment 5, so also can not occur because of the phenomenon of dripping, mud etc. pollutes environment.Certainly, also can adopt custom-designed convolution (for example to excavate the suction and pumping device, have excavation, draw dig, stir, stir, shovel, insert moving, dig the suction and pumping device that device or function such as moves, promotes, rotates, rocks, have the excavator of suction and pumping device or function etc.).The power of suction and pumping device 4 is from the power section of automobile, also can utilize that motor and automobile are sent out or with electric energy etc.Also can be provided with on the suction and pumping device 4 suction and pumping devices 4 to be exclusively used in again and draw water or the pipeline of the band valve of oil pumping etc. (i.e. input, output channel) joint or interface, need only like this and connect input, output channel thereon, water pump or the oil pump that just can be used as are at ordinary times used.For example pumping irrigation etc.

Present embodiment can also be provided with flusher, promptly sprinkles water, sprays water, sprays devices such as medicine, and it mainly is made up of the pump that approaches motor and the parts such as input, output channel and shower nozzle that are located at below the vehicle frame.Usually, the sprinkler tip that connects efferent duct is located at the rear lower (can adopt prior art) of car, and the efferent duct of water spray, spray medicine both can be located at earlier on the digging arm 1, also can set in advance annex such as clamp in order to efferent duct is installed at any time on digging arm 1; Shower nozzle has multiple used in order to different operating, shower nozzle can be located on the hard tube, hard tube can be fixed at any time on the digging arm 1 be located at digging arm 1 equally on efferent duct be connected, the part of shower nozzle and hard tube is stretched out outside the scraper bowl 1.1 usually, also can adopt long hard tube by shower nozzle stretch out longlyer, higher.The liquid of flusher (as water, liquid medicine etc.), both can be contained in the special-purpose container (as be placed in water tank, bucket or liquid medicine case in the compartment 5, the liquid medicine bucket etc. temporarily), also can adopt compartment 5 (also to be multiservice car jar 5, if it loaded and transported things such as rubbish, certainly should clean up), so it is as long as connect input pipe.The pump of flusher is connected with the relative section of automobile engine by running part (also can comprise clutch), motor also can be set and adopt automobile institute with or electricity energy (can also adopt external electric energy) drive the pump of flusher.The advantage that flusher is set is that power, digging arm, control device, the remaining space that can make full use of present embodiment wait the function that increases present embodiment and improve its utilization rate.Therefore, present embodiment can be used for urban road watering again, and the fire-fighting water spray also can replace manually being used for the water spray and spray medicine in agricultural, forestry, gardens etc., and the water spray that also can be used for building etc. cleans, and is used to transport multiple work such as water, rain making.Flusher also can be provided with pipeline as the band valve that draws water or pump (i.e. input, output channel) joint or interface again, needs only like this and connects input, output channel thereon, and water pump or the oil pump that just can be used as are at ordinary times used.For example, carry out pumping irrigation etc.So the dustbin 5 of present embodiment also is a kind of multi-purpose car body, multiservice car jar (also claiming utility box, the jar etc. of using) more.

By as seen above-mentioned, the automaticity height of present embodiment, the utilization rate height, high efficiency, good operation conditions, operate comfortable, handsome in appearance, compact conformation does not influence traffic when working on road, can not only carry out environmental sanitation work, also possesses excavation, shovel digs, draw thing, wash in a pan and ladle out, grab thing, bore thing, push away thing, suction and pumping, desilting, ditch cleaning, broken, work high above the ground, lifting, loading and unloading, shipment, multiple functions such as sprinkling (for example, can be used for ditching, dig the hole of tree planting, shovel soil, the shipment constructional materials, several work such as cleaning ground refuse), so it is the environmental sanitation cars of using more, multiservice car, also be with the car excavator simultaneously, take up machine with car, can be widely used in environmental sanitation, building, municipal administration, gardens, supply water, fire-fighting, power supply, agricultural construction etc.

Fig. 2,2.1,2.2,2.3 li, how with environmental sanitation car, multiservice car mainly by excavator, grab by device 2, the automobile that takes up device and band side dress self-unloading sealing dustbin (also be multi-purpose car body, multiservice car jar, also can be called for short the compartment) 5 and form.Excavator is located between automobile cab and the compartment 5, grabs by device 2 and is located at the vehicle frame bottom, takes up device and then is located at 5 one positions of smearing the angle of dustbin.Certainly, excavator also can be located at driver's cabin one side (as dwindle driver's cabin get final product), compartment one side (as dwindle or part is dwindled the compartment and get final product) or positions such as (increase other object as the vehicle frame that extends, at the vehicle frame rear portion or dwindle the compartment and get final product), rear portion, compartment comprises on the vehicle frame that is located at this position, on the special stand, on the dedicated platform or on other object.

Grab the structure construction of taking device 2, mode such as position is set can adopts multiple: a main body is that the rectangular frame formula structure of bottom belt wheel of horizontal (is called for short big frame.Rectangular long limit is towards the car side), it is located on the support below the vehicle frame, but the side direction that also is provided with belt wheel in this big frame (also claims laterally, promptly towards the direction of car one side) stretch out the small frame outside the car, big frame is provided with vertically (along the direction of car) drive unit, small frame is provided with the side direction drive unit, and vertically mainly the opposing tooth bar that is located at two minor faces of big frame of tooth portion and driven wheel thereof, motor constitute drive unit longitudinally by two; The side direction drive unit mainly is made of the fixing hydraulic cylinder 6 in a piston rod outer end that side direction is located at small frame middle part.Take the part of the small frame that part (being manipulator, hook, folder, inverse-T-shaped carrying or the rotatable bar etc. of band spiral down) links to each other to be bent downwardly with grabbing.Grab take part grab by the time should stretch into usually in the hole of grate, lid or in the threaded hole, but inverse-T-shaped carrying with the rotatable bar of band spiral down also need rotate).When grabbed the object of taking when mostly being steel, irony (as grate, iron covering etc.) also can adopt electromagnetic type (as electromagnet, magnechuck etc.) to inhale to pick up this type objects, certainly, also can adopt grabbing that mechanical type and electromagnetic type have concurrently by device 2.The grabbing of above-mentioned non electromagnetic takes part can adopt hydraulic pressure, electronic or both are hybrid.So, but grab by device 2 both lengthwise movement also movable so that its when the clawing thing body, adopt vertically, lateral adjustment aims at and will grab the object of taking.Usually, grab to grab and pick up the original position of promptly getting back to behind the object under the car by device 2.Two will grab by device 2 and be located in nearside vehicle frame limit portion and the car integral body, and it can adopt the structure of hydraulic pressure folding arm-type (also claiming hydraulic pressure folding mechanism formula) and manipulator (also can have calutron); But folding arm can have the rotating arm in the left and right sides of 2 joints or more piece tape spool, and forearm is provided with the manipulator of bending downwards of tape spool, also magnechuck can be set again.The vehicle frame at three automobile middle parts is improved to double-deck, and one technology is the basis in the above described manner then, mechanical type is set in the first floor vehicle frame grabs by device 2, electromagnetic type is set in the second layer grabs by device 2.Or the like.

Present embodiment excavator and the arm that takes up device, be flexible extended position arm, it (also can be 5 joints that digging arm 1 has 4 joint arms, 2 joint arms of 6 joint arms and prior art), taking up device arm 3 is that 3 joint arms (also can be 4 joints, 5 joints, 6 joint arms etc.), its cardinal principle and part technology are identical with existing hydraulic crawler excavator, for example, hydraulic system is set, have pivoting support 8, also the scraper bowl on the digging arm 1 1.1 can be pulled down and change brill, grab bucket, handgrip, other parts such as platform and installation aerial work platform etc. are (certainly, also can be designed to not pull down scraper bowl 1.1 and just can form grab bucket, handgrip, the mode of aerial work platform etc.), also the dish (also claim take up bucket) 3.1 that takes up that takes up on the arm 3 can be pulled down and changed bucket, case, jar, basin, grooves etc. take up container, and change brill, grab bucket, other parts such as handgrip and aerial work platform etc. is installed (certainly, also can be designed to not pull down and takes up dish and just can form grab bucket, handgrip, the mode of aerial work platform etc.).But the hydraulic cylinder 6 that drives scraper bowl 1.1 then is located at the position opposite with prior art with a part of piston rod that extended specially, the bottom (inboard) that promptly is located at the bucket arm reaches and links to each other by the upper edge of drive link with scraper bowl 1.1, scraper bowl 1.1 just can locate to carry out work near the inwall of inspection shaft wall and sewer mouth etc. like this, and flexible piston rods part in hydraulic cylinder 6 also can be by erosions and dirty such as water.Certainly, also can adopt the top of hydraulic cylinder 6 being located at the bucket arm of prior art if desired.

The multidirectional multi-angle device of present embodiment excavator by be located on the vehicle frame can be on vehicle frame the hydraulic linear supporting 7 of traverse motion, and 1 hydraulic gyration supporting 8 on top, 1 hydraulic pressure tilts, and (fixed connecting piece that can do universal or multidirectional activity is all adopted at the two ends of its 2 hydraulic cylinders to device 10, as fixed connecting piece of spherical structure etc.Certainly also can be without tilting gearing 10, promptly the back segment at digging arm 1 first segment arm is provided with slewing equipment 9), (fixed connecting piece that can do universal or multidirectional activity is adopted at its two ends to 1 lifting hydraulic cylinder 6, as fixed connecting piece of spherical structure etc.), also have 1 hydraulic permeability reversing gear 9 to constitute (needs when working, above-mentioned multiple device and function thereof can all be used or certain applications) jointly.Adopted combined type axial-radial bi-directional rotary mechanism for adapting to multidirectional multi-angle device at arm 1 root.Take up device and only be provided with pivoting support 8 on 3 on arm.Linear support 7 reciprocating distances are approximately the width of car, and it can move to excavator the right or the left side of car usually in other words, so in many operating points that excavator just can easily close limit, sidewalk during with environmental sanitation car forward.Pivoting support 8 can back and forth rotate (i.e. revolution) 360 degree, left bank of device 10 of tilting and right bank approximately are 50 degree, the heave amplitude of lifting hydraulic cylinder 6 is same as the prior art at least, and slewing equipment 9 can make bucket arm 1 and scraper bowl 1.1 back and forth rotate (i.e. revolution) 360 degree.Therefore, digging arm 1 just can carry out work with multiple angles, multiple distance etc., for example, with its scraper bowl 1.1 vertical or tilt to stretch into oral area less, that the less the inside of oral area is bigger, come work apart from the very near or not really near operating point of present embodiment.Therefore, the arm 1 of present embodiment excavator and the arm 3 that takes up device and possess the function of multidirectional multi-angle work obviously than the arm motion of prior art more freely, especially can straight line enter operating point operation among a small circle, for example, deposit is excavated in the straight line interior below that enters the sewer oral area.

Dustbin 5 on the car is the hydraulic pressure self-tipping type, and the hydraulic cylinder 6 that is used for self-unloading as prior art is located at dustbin 5 bottoms.Dustbin 5 rear portions are provided with the back door 5.1b (also claiming bonnet) of the upwardly-openable of sealing, with be used for the unloading and cleaning case in etc., back door 5.1b is provided with hydraulic pressure or electronic recloser, also can be manual control switch's device, can also be artificial and hydraulic pressure or the electronic switching device that combines (above-mentioned switching device comprises things such as the later used automatic or manual lock of closing back door 5.1b, pin, button, switch, handle, handle).Circular oral area 5.1 is arranged at dustbin 5 tops, topples over things such as mud, rubbish for taking up device, and case lid 5.1a is arranged on the oral area 5.1, and case lid 5.1a is provided with hydraulic pressure or electric opening/closing device.Take up the device front end take up bucket 3.1 for more shallow, the circular arc of the degree of depth at the bottom of and the bigger shape of volume, helping it like this accepts and topple over things such as mud, rubbish in dustbin 5, take up the hydraulic pressure screeding device that its interior attachment of cleaning can be set on the bucket 3.1, the scraper plate of screeding device is close to bucket 3.1 inwalls and is cleared up attachment on it, the narrower circular arc degree with bucket 3.1 inwalls of scraper plate is identical, there is fixed bias circuit at two ends, and two fixed bias circuits are separately fixed in the bearing on bucket both sides; Usually, scraper plate is parked in the front portion of bucket 3.1, and behind things such as bucket 3.1 is dumped rubbish in dustbin 5, mud, the i.e. work automatically of scraper plate when it finishes reciprocal cleaning work, then still is parked in the front portion of bucket 3.1.Take up device when not working, generally will take up bucket 3.1 and place in dustbin 5 oral areas 5.1, cover case lid 5.1a again, at this moment taking up arm 3 can support by casing 5.This arm-type advantage that takes up device is, compact conformation, seldom take up room, be not subjected to the restriction (can in the scope of holding arm length, height, carry out freely accepting) of take-over point yet, also have, if take up in the bucket 3.1 and also be attached with things such as rubbish, mud, also can not pollute the outside of car body and dustbin 5 etc.

Here also to illustrate, taking up device adopts 1 to take up dish (also title takes up bucket, perhaps adopting 1 takes up dish, basin, ladles out or bucket etc.) 3.1 and one take up arm 3 and get final product, 2 shown in Fig. 2 .3 take up 3.1 and 2 on dish and take up arm 3 and be exactly this 1 and take up dish 3.1 and rising and falling, accept and the signal of two states when toppling over.

The primary structure that takes up device can also adopt many kinds of modes, for example: one adopts up and down telescopic arm and can left rotation and right rotation also can combine (also being mixing) by the crooked arm that stretches, two adopt the oscilaltion arms to combine with the arm that can left rotation and right rotation also can rotate up and down, three adopt the oscilaltion arm and can left rotation and right rotation also can combine by crooked and flexible arm, four adopt the oscilaltion arms to combine with the arm that can left rotation and right rotation also can rotate up and down and stretch, five adopt left rotation and right rotation arms and combining of turning arm up and down, six adopt the left rotation and right rotation arm to combine with rotating also retractable arm up and down, or the like; Above-mentioned various arm can be made of 2 joint arms or the above arm of 2 joints.Its type of drive is hydraulic pressure, machinery, motorized motions or above-mentioned combination drive or partially mixed driving.

The dynamical element of present embodiment hydraulic system is driven by automobile engine usually, comprise with this motor electricity and by automobile with power supply drive; If electric automobile is then directly driven by its electric energy; Certainly also should adopt electric device parts such as (as motors) accordingly.

Present embodiment is same to adopt artificial and the mode that combine control automatically, so can Artificial Control, control automatically, also can artificial controlled system combine control with automatic control.Above-mentioned comprising: be provided with computer control system (can be provided with industrial control computer) and manually-operated control device, computer control system is provided with closed-circuit television and monitors head (be called for short and monitor head), recognition device and multiple sensors, for example, sensor such as position, angle, and can discern the recognition device of hole on inspection shaft mouth, sewer mouth and grate, lid and grate, the lid, eye etc.Usually, the supervision head is located at grabs by on the device 2 and on the arm 1 of excavator, and the hand-control device of automatic controller and manually-operated control device and foot control device are arranged on right side or the forward right side of driver in the driver's cabin, LCD can be set herein as required; Certainly, also can adopt small-sized energy to carry out cable controller or wireless controller (as wired remote controller, Digiplex, the wireless line remote controller etc. that has concurrently) wired and radio operation control in hand held.Control system can store the various sewer mouths of operational area, inspection shaft etc. and grate thereof, the relevant data of lid, information is (as length, wide, deeply, diameter, weight etc., and can grab the hole of taking with grabbing by device 2, the position in hole, size, quantity etc.), so, as long as how the driver will rest near operating point (following watercourse port with the environmental sanitation car, the inspection shaft mouth) position, the start-up control system, grabbing on the car taken device 2, excavator, taking up device etc. just can be according to monitoring head, recognition device, the related data that stores in advance with control system that sensor etc. provide at this moment, information is come automatically, successively, what cooperatively interact finishes whole work, promptly grab by device 2 earlier to the operating point motion, grab and pick up grate or lid resets then; Then the scraper bowl 1.1 of the band leaking hole of excavator just stretches in the operating point and excavates that (this can be a kind of excavation as delegation's line scanning formula, dig out rate is higher), go back to the top that is parked in the operating point then, at this moment waited at its other device that takes up and to have taken up bucket 3.1 at once and move to accurately under it and accept mud, take up device subsequently and will take up bucket 3.1 earlier and shift out for 1.1 times, upwards lift, turn to again dustbin 5 oral areas 5.1 that the mud in it is poured in the dustbin 5 then from scraper bowl; At this moment the screeding device attachment that is about to take up on bucket 3.1 inwalls of starting working is scraped totally; Meanwhile excavator is excavating again, takes up device and also repeats just now action once more.Excavator, take up device and screeding device etc. and so move in circles, set back then up to finishing whole cleaning work.Said process, can suspend, end and cancel, the driver also can make corresponding regulation and control according to the real work situation, because each sensor and take up device monitor head and excavator the supervision head can with its observed to or situation about being sensed (for example be directly reflected on the display, the position of grate or lid and hole thereof, situation in the operating point and cleaning situation take up in the bucket 3.1 with in the dustbin 5 to have how many goods etc.).Certainly, if the thing that is excavated does not have flowing water, excavator also can directly be poured the thing in the scraper bowl 1.1 in dustbin 5 oral areas 5.1, need not utilize and take up device.Because present embodiment also is provided with the manual controller, so the driver also can carry out Artificial Control as required easily in driver's cabin.

Present embodiment can adopt or part adopts: power strengthens button, built-in Contronic device, new A PC (power output control automatically) system, fault detection system.Its function, characteristics illustrate in technical scheme.

Getting a clear view of the front window of present embodiment driver's cabin, rear window, left window, right window and top also can be provided with air regulator to improve driver's condition of work in the driver's cabin.Present embodiment can be at the arm 1 of driver's cabin, car body, excavator, positions such as the arm 3 installation lighting that takes up device and operation warning lamp, caution PA-system, to be used to observe in the sewer mouth, in the inspection shaft and safety work and operation at night.

The arm 1 of present embodiment excavator can not only adopt 4 joint arms, also can adopt 3 joint arms, the above arm of 3 joints, also can adopt 2 joint arms (for example arm of prior art), also can adopt telescopic arm, crooked extended position arm and the hybrid arm of telescopic arm certainly, hybrid digging arm 1 for example shown in Figure 5; For another example, the described telescopic arm of a last embodiment.Above-mentioned arm also can adopt multidirectional multi-angle device, and its feature is identical or roughly the same with the multidirectional multi-angle device that above-mentioned excavator is adopted.The arm 1 of present embodiment excavator can not only adopt the structure of plank frame and prior art digging arm, for example, and the mode of the arm shown in Fig. 1,1.1,1.2,2,2.1,2.2,3 etc.; Also can adopt truss-like arm and snake shape formula arm, for example, the mode of Fig. 6 and arm shown in Figure 4, certainly can also adopt and comprise that stent-type, netted, net like (for example, board-like, the chip of porose, hole or eye, piece formula, bar formula) equiarm and circle, ellipse, trapezoidal, triangle, special form, mixing shape equiarm are at interior various structures, the arm of form.Present embodiment can be replaced by scraper bowl and grab thing device (comprising handgrip as manipulator), hammer, bore the thing device (as drill bit etc.), aerial work platform (as the platform of band guardrail), basket, basket etc.Certainly also can not change scraper bowl, promptly increase component and constitute and grab the thing device, bore thing device, aerial work platform, basket, basket etc., comprise directly to increase and grab thing device, brill thing device, aerial work platform, basket, basket etc.For example, be the part of manipulator with the scraper bowl, increase relative with it, a fixing or mobilizable part again, can become manipulator.

Present embodiment can have lifting gear, and such as on the pivoting support 8 of excavator crane being set, (interior or outer) is provided with pulley, cable wire and lifting hook etc. on digging arm 1.Certainly also can adopt a kind of easy mode promptly a fixable movable lifting hook to be set, and have the cable wire that can be used for lifting onboard on the bucket arm top of digging arm 1.Because the bucket arm can revolve three-sixth turn, fixable movable lifting hook is turned to the bottom of bucket arm to be used for lifting so when needing lifting, just revolve rotating bucket arm.Even if the hydraulic cylinder on the bucket arm 6 is the set-up mode of prior art, can adopts above-mentioned fixable movable lifting hook too, and also can adopt fixedly lifting hook.Therefore, present embodiment also possesses the feature of crane.

Present embodiment also can be provided with suction and pumping device 4 and flusher, and its principle, mode are identical with principle, mode that the suction and pumping device is excavated in suction and pumping device 4, flusher and convolution position that a last embodiment is adopted.

Therefore, the dustbin 5 of present embodiment also is a kind of multiservice car case, multiservice car jar.

By as seen above-mentioned, the automaticity height of present embodiment, the utilization rate height, high efficiency, good operation conditions, operate comfortable, handsome in appearance, compact conformation does not influence traffic when working on road, can not only carry out environmental sanitation work, also possesses excavation, shovel digs, draw thing, wash in a pan and ladle out, grab thing, bore thing, push away thing, suction and pumping, desilting, ditch cleaning, broken, work high above the ground, lifting, loading and unloading, shipment, (for example, the hole of tree planting is dug in ditching to multiple functions such as sprinkling, shipment engineering and constructional materials such as earth, husky, stone, things such as cement reach several work such as cleaning ground refuse).So present embodiment is many with environmental sanitation car, multiservice car, also is with the car excavator simultaneously, takes up machine with car, can be widely used in environmental sanitation, building, municipal administration, gardens, water supply, fire-fighting, power supply, agricultural construction etc.

Fig. 6 is of the present invention a kind of with the car excavator, and excavator is located on the vehicle frame at 5 rear portions, compartment or on the platform or on the special stand and (certainly, also can be located at driver's cabin one side, as dwindles driver's cabin and get final product; Also can be located at compartment one side, as dwindle or part is dwindled the compartment and got final product; Also can be located in the compartment or between driver's cabin and the compartment, the position is set as the crane of existing lorry-mounted crane, comprise on the vehicle frame that is located at above-mentioned position, on the special stand, on the dedicated platform or on other object).Excavator is mainly by formations such as 2 joints (also can by 3 joints or 3 joints above) truss-like arm, scraper bowl 11, motivation transfer motion part, hydraulic system, pivoting support and control device 8.1.The advantage of truss-like arm is that in light weight, sound construction (also suitable large-tonnage and the big excavator of arm lengths) especially can reduce energy consumption with the weight that alleviates forearm and raise the efficiency.

Excavator adopts Artificial Control, is provided with parts such as handle that Artificial Control uses, control stick, knob, button, electric device, also can adopt the control mode of the foregoing description certainly, i.e. control or the artificial and automatic control that combines automatically.The periphery of excavator is provided with protective guard, and the height and the position of the operation that the height of parts settings such as the handle of above-mentioned control usefulness, control stick, knob, button and position can suit when standing with the ordinary people are as the criterion.The power of excavator hydraulic system is from automobile engine, and hydraulic pump connects with the relevant parts of automobile power part by arrangement of clutch or running part (as power transmission shaft, universal joint, band, chain, gear or flange etc.); The excavator electric device adopts electric energy or the electricity energy that carries with car excavator (comprising automobile).The principle of excavator, technology, mode (comprising structure, structure, hydraulic pressure, transmission, revolution and control etc.) also can adopt the principle, technology, the mode that have excavator now.

The both sides of 5 bottoms, self-discharging body are equipped with the hydraulic cylinder that is used for self-unloading and comprise piston rod, tilt to unload so compartment 5 can be arbitrary to both sides.The hydraulic lifting bracing frame 11 on 5 tops, compartment is used for excavator supports and fixes its arm 1 and scraper bowl 1.1 when not working, and digging arm 1 can raise and reduces with falling with the liter of bracing frame 11, can come shipment to reserving suitable space in the compartment 5 like this.Light with the car excavator, mobility good, easy and simple to handle, can excavate voluntarily, load and transport, unloading and lifting, can also use as general lorry.

Present embodiment digging arm 1 also can adopt 3 joint arms, the above arm of 3 joints, for example, and the mode of the arm 1 shown in Fig. 1 .1,1.2,2.1,2.2 etc.; Also can adopt crooked extended position arm and the hybrid arm of telescopic arm, the mode of arm 1 for example shown in Figure 5: also can adopt snake shape formula arm, for example, the mode of the arm 1 shown in Fig. 4,5a, 5b, the 5c.

Present embodiment can be replaced by scraper bowl 1.1 and grab thing device (comprising handgrip as manipulator), hammer, bore the thing device (as drill bit etc.), aerial work platform (as the platform of band guardrail), basket, basket etc.Certainly also can not change scraper bowl, promptly increase component and constitute and grab the thing device, bore thing device, hammer, aerial work platform, basket, basket etc. (comprise increase grab thing device, hammer, brill thing device, aerial work platform, basket, basket etc.).For example, be the part of manipulator or grab bucket with the scraper bowl, increase relative with it, a fixing or mobilizable part again, can become manipulator or grab bucket.

Present embodiment can take up refitting and put, such as on the pivoting support of pivoting support and control device 8.1 crane being set, (interior or outer) is provided with pulley, cable wire and lifting hook etc. (above-mentioned principle, technology, the mode that also can adopt existing telescopic boom crane) on digging arm 1.Certainly, also can adopt the easy means that lifting hook is set on digging arm 1, as Fig. 5, shown in Figure 6; Che Shangke has cable wire to be used for lifting, and lifting hook was both fixed, also can be movable or fixable movable.Therefore, present embodiment also possesses the feature of crane.Also have, (perhaps on the cable wire or on the digging arm) can hang or fixing the rammer on above-mentioned lifting hook, is used for ramming.Present embodiment also can have flusher, and the described flusher of its operating principle, technology, mode, purposes and the foregoing description is roughly the same.For example, (also can in the compartment front portion) be provided with flusher in the vehicle frame bottom, shower nozzle and efferent duct are located on the digging arm 1, being filled with water or containing the container (as case, jar or bucket etc.) of liquid medicine of flusher, both can fix onboard (as rear portion in the compartment 5), also can adopt mode movably (container that at this moment available digging arm and lifting hook thereof will be filled with water or contain liquid medicine is mentioned and is placed in the compartment 5, its pipeline and flusher is connected to get final product then).Also can be with the suction and pumping device, perhaps have combined type or suction and pumping and spray dual-purpose apparatus, its set-up mode and above-mentioned flusher are roughly the same.The suction and pumping device can be used for drawing water, draining, pouring, desilting etc.

To illustrate at this, excavator (comprising the excavator that is dragged, hangs, draws by vehicle) is set on the trailer of vehicle, trailer, trailer also belong to the present invention and a kind of with the car excavator.

Present embodiment is handsome in appearance, platform (pivoting support) can 360 the degree rotation, possess multiple functions such as excavations, shovel are dug, drawn thing, naughtyly ladle out, grab thing, bore thing, push away thing, suction and pumping, desilting, ditch cleaning, fragmentation, work high above the ground, lifting, loading and unloading, shipment, sprinkling.Can be widely used in building, municipal administration, gardens, water supply, power supply, agricultural construction etc.

As seen by above-mentioned, present embodiment also is a kind of multiservice car, multi-purpose excavator and uses with the car excavator more.

In Fig. 4, excavator and light tracked vehicle (or creeper undercarriage) are combined into shovel crawler, its digging arm 1 is a more piece snake shape formula arm, it mainly dribbles shape joints 1.2 (as Fig. 4 by 8 joints, 5a, shown in the 5c) or band chain axle joint (shown in Fig. 5 b) can to the arm 1 of any direction activity formation, every joint arm 1 drives by 12 hydraulic cylinders 6 of positive 1 side (also can adopt cylinder and piston rod thereof) and regulates and control direction, angle, so digging arm 1 can resemble the snake body activity freely, can not only curvilinear motion, also can rectilinear motion, the front end of arm 1 can be installed scraper bowl 1.1, instruments such as manipulator, device.

Electric energy that the power of present embodiment carries from light tracked vehicle (or creeper undercarriage) motor, generator or light tracked vehicle (or creeper undercarriage) or spontaneous electric energy also can adopt the electric wire to utilize electric energy or other electric energy of electrical network.Present embodiment adopts control automatically (also claiming artificial intelligence control) and Artificial Control, be provided with parts such as computer control system and manual controller, comprise to be provided with monitoring head, identifier, various sensor, rangefinder, illuminating lamp, programmable controller, display and wired or wireless control device, operation control (as keyboard) etc.So present embodiment can according to job requirement and environment be worked out automatically or the change working programme, also can be convenient for people to.For example, in the snake shape formula arm 1 of excavator stretches into crooked hole during operation, control system can be according to the data, the information that monitor that head, identifier, sensor, rangefinder etc. provide, and auto-control snake shape formula arm 1 comes bending and moves ahead along with the flexibility of hole, fulfils assignment with the arrival setting.In this process, the operator also can be in driver's cabin or outside utilize operation control (as keyboard) equal controller and excacation regulated and control according to the situation that display etc. provides.So, present embodiment can finish some existing excavators the complex work that can not finish.

Present embodiment can adopt power to strengthen button (when present embodiment adopts motor that power is provided, then adopt the motor of all-round advanced control system (ACS)), built-in Contronic device, fault detection system utilizes the display that is installed in driver's cabin that the working condition of each critical piece, system and complete machine is provided for the driver.

Therefore, present embodiment is not only the very high excavator of a kind of automaticity, but also is that the embodiment of New Type of Robot Arm is a kind of intelligent robot, a kind of large-scale, medium-sized, small-sized, miniature automated machine.So it can not be with driver's cabin, and also can adopt two or more snake shape formula arms 1 to work.

In sum, as seen based on multiple technologies and the multiple technologies scheme of the present invention of above-mentioned a plurality of embodiment, the present invention can also have many kinds of embodiment.

Claims (6)

1, a kind of novel multi-use environmental sanitation car, multiservice car, comprise car, the compartment, the car jar, side load garbage case, jar, the suction and pumping device, it is characterized in that: with vehicle, excavator, grab and take device, take up device, the suction and pumping device, flusher, lifting gear carries out combination or part combination, be used to load and transport outside the rubbish, can also be used to load and transport other thing and be used for excavation, shovel digs, draw thing, wash in a pan and ladle out, grab thing, bore thing, push away thing, desilting, ditch cleaning, broken, work high above the ground, lifting, ramming, loading and unloading, suction and pumping, spray described excavator, grab and take device, take up device, the suction and pumping device, flusher:

Can adopt or partly adopt and comprise crooked extended position arm, telescopic arm, the ascending/decending arm, rotary arm, the linear motion type arm, curvilinear motion formula arm, scissor-type frame for movement arm, and the arm of existing excavating gear, and above-mentioned compound arm, use the formula arm, replacement formula arm, hybrid arm, partially mixed formula arm is in interior various arms and principle thereof, mode, the joint number of above-mentioned arm is not limit, can adopt 1 joint, also can adopt more than 1 joint, every joint arm of above-mentioned arm can adopt or the part employing comprises the ball formula, shaft type, bearing-type, ring type, wheeled, pin formulas etc. are in interior various mobilizable joint, mobilizable fixed part, mobilizable link; The above-mentioned spherical joint that comprises, chain shaft type joint, universal member or multidirectional parts, the two-way whirligig of axial-radial, and prior art digging arm root and two arms between mobilizable fixed structure or syndeton, above-mentioned various arm can be by variety of way, various objects and various suitable material form, comprise by tubular type, rod-type, the bar formula, board-like, the piece formula, bevel-type, netted, net like, truss-like, stent-type, frame type, exposed throughout type, non-exposed throughout type, special-shaped, special shape or above-mentioned hybrid or partially mixed formula form

Multidirectional multi-angle device or setting part wherein can be set, 1 grade, 2 grades, multistage drive unit can be set,

Can adopt and comprise hydraulic pressure, machinery, electronic and combination drive or partially mixed driving are in interior various type of drive, comprise hydraulic means so can be provided with, mechanical device, electric device and mixing arrangement thereof or partially mixed device are at interior various drive units, and existing said apparatus, above Zhuan Zhi power, usually do power with the power section of vehicle, certainly also can adopt vehicle to produce to comprise the electricity energy or with electric energy do power, also can adopt external electric energy to comprise that the electrical network electric energy does power, so, above drive unit can pass through arrangement of clutch, transmission device or transmission object are connected with the power section of vehicle, that above drive unit can certainly be connected that vehicle produced comprises the electricity energy, with electric energy or external electric energy comprise the electrical network electric energy

Can adopt Artificial Control, automatically control or artificial with combine control technology automatically, comprise and adopting or part adopts and has control technology and improved existing control technology now;

2, according to claim 1 many with environmental sanitation car, multiservice car, it is characterized in that:

Can adopt fixed angle formula digging arm and device thereof, instrument and adjustable angle formula digging arm and device thereof, instrument, comprise described excavator arm and on device or instrument, can adopt the fixed angle formula of prior art, also can adopt the adjustable angle formula; The machine driving of said apparatus or instrument can adopt the outer driving type of prior art, also can adopt driving type in interior driving type, the arm,

Scraper bowl, manipulator, handgrip, grab bucket, perching knife, hammer, rammer, brill, drill bit, platform, basket, basket, the sprinkling pipeline that scraper bowl comprises crack with holes can be set on the arm of described excavator comprise shower nozzle or sprinkler head, and the suction and pumping device comprises suction and pumping pipeline and first-class device, instrument, the parts that need usefulness of pipeline;

3, according to claim 1 many with environmental sanitation car, multiservice car, it is characterized in that adopting or the part employing:

Motor, power strengthens button, all can advanced control system be the motor of ACS, built-in Contronic device, new A PC are automatic power output control system, rationally H, M, the L pattern of power output, the electrical control system of motor-oil pump, fault detection system utilizes the display that is installed in driver's cabin to provide the working condition of each critical piece, system and complete machine for the driver, so that operate control;

4, a kind of novel excavator comprises excavator, creeper truck, it is characterized in that:

Excavator is located on the vehicle and ship on, be located at that excavator on the vehicle can adopt or part adopts and comprises crooked extended position arm, telescopic arm, ascending/decending arm, rotary arm, linear motion type arm, curvilinear motion formula arm, scissor-type frame for movement arm, and the arm of existing various excavators, and above-mentioned compound arm, use the formula arm, replace formula arm, hybrid arm, partially mixed formula arm at interior various arms; The joint number of above-mentioned arm is not limit, and can adopt 1 joint, can adopt more than 1 joint yet; Be located at the excavator on the ship, its digging arm is 2 joints and the above crooked extended position arm of 2 joints, reach telescopic arm, ascending/decending arm, rotary arm, linear motion type arm, curvilinear motion formula arm, scissor-type frame for movement arm, reach above-mentioned compound arm, use the formula arm, replace formula arm, hybrid arm, partially mixed formula arm, and the arm that combines with above-mentioned arm of crooked extended position arm, the arm that crooked extended position arm combines with above-mentioned part arm, the joint number of these arms is not limit, can adopt 1 joint, also can adopt more than 1 joint;

The crooked extended position arm of prior art excavator is improved to 3 joints and the above crooked extended position arm of 3 joints, perhaps be improved to telescopic arm, ascending/decending arm, rotary arm, linear motion type arm, curvilinear motion formula arm, scissor-type frame for movement arm, reach above-mentioned compound arm, use the formula arm, replace formula arm, hybrid arm, partially mixed formula arm, and the arm that combines with above-mentioned arm of crooked extended position arm, the arm that crooked extended position arm combines with above-mentioned part arm, the joint number of these arms is not limit, can adopt 1 joint, also can adopt more than 1 joint;

Described excavator be used for excavating, shovel digs, draw thing, wash in a pan and ladle out, grab thing, bore thing, push away thing, outside the desilting, ditch cleaning, fragmentation, can also be used for work high above the ground, lifting, ramming, loading and unloading, shipment, suction and pumping, sprinkling,

Described excavator can have lifting gear, can have the suction and pumping device, can have flusher, multidirectional multi-angle device can be set or wherein part is set, also can be provided with 3 grades with drive unit more than 3 grades;

Described flusher, lifting gear, the suction and pumping device, usually adopt the power of the power section of vehicle or ship, certainly also can adopt vehicle or ship to produce to comprise the electricity energy or with electric energy do power, also can adopt external electric energy to comprise that the electrical network electric energy does power, so, more than device can pass through arrangement of clutch, transmission device or transmission object are connected with the power section of vehicle or ship, and that said apparatus can certainly be connected that vehicle or ship produce comprises the electricity energy, with electric energy or external electric energy comprise the electrical network electric energy;

5, excavator according to claim 4 is characterized in that:

Every joint arm of described digger arm can adopt or the part employing comprises ball formula, ring type, wheeled mobilizable joint, mobilizable fixed part, mobilizable link; Above-mentioned spherical joint, chain shaft type joint, universal member or the multidirectional parts of comprising, the two-way whirligig of axial-radial,

Described digger arm and on device, instrument can adopt the adjustable angle formula; The machine driving of said apparatus or instrument can adopt driving type in interior driving type, the arm,

Described digger arm can have outside existing apparatus, the instrument, and scraper bowl, platform, basket, basket, the sprinkling pipeline that also can be provided with or be replaced by crack with holes comprise shower nozzle or sprinkler head, and reach the suction and pumping device and comprise suction and pumping pipeline and pipeline head,

Described digger arm can adopt tubular type, rod-type, bar formula, board-like, piece formula, bevel-type, netted, net like, truss-like, stent-type, frame type, exposed throughout type, abnormal shape or above-mentioned hybrid or partially mixed formula;

6, a kind of New Type of Robot Arm comprises arm and drive unit thereof, control device and instrument, annex, it is characterized in that:

3 joints or the above crooked extended position arm of 3 joints,

1 joint arm is driven by the drive unit of adjacent both direction, all links drive unit on both direction adjacent on the 1 joint arm,

Dribbling shape joint, band chain shaft type joint, band universal member or multidirectional parts, tape spool are to radially two-way whirligig,

Can be provided with: multidirectional multi-angle device or setting part wherein, 3 grades of drive units, the drive unit more than 3 grades sprays pipeline and comprises shower nozzle or sprinkler head, and the suction and pumping device comprises suction and pumping pipeline and pipeline head,

Can adopt hybrid arm.

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