US20160319513A1 - Multifunctional all-terrain walking hydraulic excavator - Google Patents

Multifunctional all-terrain walking hydraulic excavator Download PDF

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Publication number
US20160319513A1
US20160319513A1 US15/206,883 US201615206883A US2016319513A1 US 20160319513 A1 US20160319513 A1 US 20160319513A1 US 201615206883 A US201615206883 A US 201615206883A US 2016319513 A1 US2016319513 A1 US 2016319513A1
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United States
Prior art keywords
leg
walking
hydraulic
multifunctional
telescopic
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
Application number
US15/206,883
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English (en)
Inventor
Xiufeng Chen
Xiaoming Shi
Feng Xue
Jingke Xu
Yun Zhang
Chengpeng Gu
Junqi Wu
Yong Cao
Ran Gao
Jie Zhang
Liping Zhang
Fude Wang
Lei Liu
Yuxiang Liu
Yuming Wei
Kai Zhu
Xuefeng Wei
Zhihan Peng
Lianfeng Ding
Jing Han
Jing Liu
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Xuzhou XCMG Road Construction Machinery Co Ltd
Original Assignee
Xuzhou XCMG Road Construction Machinery Co Ltd
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Filing date
Publication date
Application filed by Xuzhou XCMG Road Construction Machinery Co Ltd filed Critical Xuzhou XCMG Road Construction Machinery Co Ltd
Assigned to XCMG CONSTRUCTION MACHINERY CO., LTD. ROAD MACHINERY BRANCH reassignment XCMG CONSTRUCTION MACHINERY CO., LTD. ROAD MACHINERY BRANCH ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: CAO, YONG, CHEN, XIUFENG, DING, LIANFENG, GAO, Ran, GU, Chengpeng, HAN, Jing, LIU, JING, LIU, LEI, LIU, YUXIANG, PENG, Zhihan, SHI, XIAOMING, WANG, Fude, WEI, Xuefeng, WEI, Yuming, WU, Junqi, XU, Jingke, XUE, FENG, ZHANG, JIE, ZHANG, LIPING, ZHANG, YUN, ZHU, KAI
Publication of US20160319513A1 publication Critical patent/US20160319513A1/en
Abandoned legal-status Critical Current

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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/02—Travelling-gear, e.g. associated with slewing gears
    • E02F9/024—Travelling-gear, e.g. associated with slewing gears with laterally or vertically adjustable wheels or tracks
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
    • E02F3/306—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom with telescopic dipper-arm or boom
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
    • E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
    • E02F3/325—Backhoes of the miniature type
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/3604—Devices to connect tools to arms, booms or the like
    • E02F3/3609—Devices to connect tools to arms, booms or the like of the quick acting type, e.g. controlled from the operator seat
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/38—Cantilever beams, i.e. booms;, e.g. manufacturing processes, forms, geometry or materials used for booms; Dipper-arms, e.g. manufacturing processes, forms, geometry or materials used for dipper-arms; Bucket-arms
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/02—Travelling-gear, e.g. associated with slewing gears
    • E02F9/028—Travelling-gear, e.g. associated with slewing gears with arrangements for levelling the machine
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/02—Travelling-gear, e.g. associated with slewing gears
    • E02F9/04—Walking gears moving the dredger forward step-by-step
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/08—Superstructures; Supports for superstructures
    • E02F9/085—Ground-engaging fitting for supporting the machines while working, e.g. outriggers, legs
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/08—Superstructures; Supports for superstructures
    • E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
    • E02F9/12—Slewing or traversing gears
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/08—Superstructures; Supports for superstructures
    • E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
    • E02F9/12—Slewing or traversing gears
    • E02F9/121—Turntables, i.e. structure rotatable about 360°
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/16—Cabins, platforms, or the like, for drivers
    • E02F9/163—Structures to protect drivers, e.g. cabins, doors for cabins; Falling object protection structure [FOPS]; Roll over protection structure [ROPS]
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/96—Dredgers; Soil-shifting machines mechanically-driven with arrangements for alternate or simultaneous use of different digging elements
    • E02F3/963—Arrangements on backhoes for alternate use of different tools

Definitions

  • the present disclosure generally relates to the technical field of excavators, more particularly, relates to a multifunctional all-terrain walking hydraulic excavator.
  • Excavators one of the important categories of construction machinery, have gained rapid developments.
  • Excavators include a wide range of products, which may be divided into crawler type, wheeled type and walking type according to the walking mode of the excavators.
  • Crawler excavators exhibit better climbing capacity and stability but lower running speed than wheeled excavators, however, both of them have chassis with a fixed structure, resulting in a limited terrain adaptability.
  • Crawler excavators and wheeled excavators may not be operated at complex terrains, such as mountains, and swamps, etc., where they may be unable to travel and work.
  • the present invention provides a multifunctional all-terrain walking hydraulic excavator having a desired functional expansibility and adaptability to complex terrains. Relying on a chassis with strong terrain trafficability and a multifunction work apparatus, the disclosed multifunctional all-terrain walking hydraulic excavator is able to be operated at mountains, steep slopes, swamps, woodlands and other complex sites.
  • a multifunctional all-terrain walking hydraulic excavator including: a multifunctional working apparatus 2 , a cab 3 , a slew assembly 4 , a slewing bearing 6 , and a walking-type chassis 5 .
  • the multifunctional working apparatus 2 is entirely hinged at the right front part of the slew assembly 4 , and the cab 3 is fixed in the left half of the slew assembly 4 .
  • the slew assembly 4 carries the cab 3 and the multifunctional working apparatus 2 , and is connected to the walking-type chassis 5 through the slewing bearing 6 .
  • the multifunctional working apparatus 2 includes a bucket 2 . 1 , a quick hitch device 2 . 2 , a telescopic stick 2 . 3 , a stick telescopic hydraulic cylinder 2 . 3 - 2 , hydraulic quick connectors 2 . 4 , a curved short boom 2 . 5 , a connecting rod 2 . 6 , and a rocker arm 2 . 7 .
  • the curved short boom 2 . 5 is driven by a single hydraulic cylinder.
  • the telescopic stick 2 . 3 includes a telescopic stick double-section arm 2 . 3 - 1 , the stick telescopic hydraulic cylinder 2 . 3 - 2 , and a telescopic stick base arm 2 .
  • the telescopic stick double-section arm 2 . 3 - 1 and the telescopic stick base arm 2 . 3 - 3 have a cross section of rectangular shape, respectively.
  • the telescopic stick double-section arm 2 . 3 - 1 is sleeved inside the telescopic stick base arm 2 . 3 - 3 .
  • the top surface, bottom surface, left surface and right surface of a rear end of the telescopic stick base arm 2 . 3 - 3 are fixedly provided with a nylon slider, respectively.
  • the top surface, bottom surface, left surface and right surface of a front end of the telescopic stick base arm 2 . 3 - 3 are also fixedly provided with a nylon slider, respectively.
  • a piston end of the stick telescopic hydraulic cylinder 2 . 3 - 2 is hinged to the inside of the telescopic stick double-section arm 2 . 3 - 1 through a hinge pin, and a barrel end of the stick telescopic hydraulic cylinder 2 . 3 - 2 is hinged to the inside of the telescopic stick base arm 2 . 3 - 3 through a hinge pin.
  • the telescopic movement of the telescopic stick 2 . 3 is driven by the stick telescopic hydraulic cylinder 2 . 3 - 2
  • the rotational movement of the telescopic stick 2 . 3 is driven by a hydraulic cylinder.
  • Two side surfaces of the telescopic stick base arm 2 Two side surfaces of the telescopic stick base arm 2 .
  • the two hydraulic quick connectors 2 . 4 at each side surface are respectively connected to an output terminal of a three-position four-way directional control valve through hydraulic hose and, meanwhile, are respectively connected to a relief valve and an oil reservoir through an input terminal of a three-position four-way directional control valve, while the relief valve is further connected to a hydraulic power system.
  • the connecting rod 2 . 6 and the rocker arm 2 . 7 are connected to the quick hitch device 2 . 2 through the hydraulic cylinder.
  • the connecting rod 2 . 6 , the rocker arm 2 . 7 , and the telescopic stick 2 . 3 further form a linkage mechanism.
  • the bucket 2 . 1 is mounted on the quick hitch device 2 . 2 .
  • the quick hitch device 2 . 2 includes a quick-hitch rack 2 . 2 - 1 , a quick-hitch cylinder 2 . 2 - 2 , and a lock tongue 2 . 2 - 3 .
  • the quick-hitch rack 2 . 2 - 1 is provided with a hinge hole 2 . 2 - 4 connected to the telescopic stick double-section arm 2 . 3 - 1 , and a hinge hole 2 . 2 - 5 connected to the rocker arm 2 . 7 .
  • the quick-hitch rack 2 . 2 - 1 is provided with an open engaging hole 2 . 2 - 7 and a hook-shaped engaging hole 2 . 2 - 6 , both of which are able to be quickly connected to operation equipment.
  • a hinge hole 2 . 2 - 8 and a hinge hole 2 . 2 - 9 are provided in the middle and rear end of the lock tongue 2 . 2 - 3 , respectively, and an arc structure is provided in the front end of the lock tongue 2 . 2 - 3 .
  • the lock tongue 2 . 2 - 3 is connected to the quick-hitch rack 2 . 2 - 1 through the hinge hole 2 . 2 - 8 disposed in the middle of the lock tongue 2 . 2 - 3 and, meanwhile, connected to a piston end of the quick-hitch cylinder 2 . 2 - 2 through the hinge hole 2 . 2 - 9 disposed in the rear end of the lock tongue 2 . 2 - 3 .
  • a barrel end of the quick-hitch cylinder 2 . 2 - 2 is hinged and fixed to the quick-hitch rack 2 . 2 - 1 .
  • the walking-type chassis 5 includes a base 5 . 3 , a left-forward walking leg 5 . 6 , a right-forward walking leg 5 . 5 , a left-rear walking leg 5 . 2 , a right-rear walking leg 5 . 4 , four wheels 5 . 1 and a hydraulic capstan 5 . 9 .
  • the hydraulic capstan 5 . 9 is arranged at the forward end or front end of the base 5 . 3 .
  • the base 5 . 3 have four corners, each of which is provided with a hinge hole.
  • the upward and downward movement of the left-forward walking leg 5 . 6 , the right-forward walking leg 5 . 5 , the left-rear walking leg 5 . 2 , the right-rear walking leg 5 . 4 are driven by a left-forward-walking-leg hydraulic lifting cylinder 5 . 10 , a left-rear-walking-leg hydraulic lifting cylinder 5 . 11 , a right-forward-walking-leg hydraulic lifting cylinder 5 . 8 , and a right-rear-walking-leg hydraulic lifting cylinder 5 . 7 , respectively.
  • the left-forward walking leg 5 . 6 includes the left-forward-leg hinge 5 . 6 - 1 , a left-forward-leg joint 5 . 6 - 2 , a left-forward-leg wheel hub 5 . 6 - 3 , a left forward supporting leg 5 . 6 - 4 , and a left forward paw 5 . 6 - 5 , all of which are connected to each other through hinged joints.
  • the right-forward walking leg 5 . 5 includes the right-forward-leg hinge 5 . 5 - 1 , a right-forward-leg joint 5 . 5 - 2 , a right-forward-leg wheel hub 5 . 5 - 3 , a right forward supporting leg 5 .
  • the right forward paw 5 . 5 - 5 includes a longitudinal axis 5 . 5 - 5 - 1 , through which the right forward paw 5 . 5 - 5 is connected to the sleeve located in the front end of the right forward supporting leg 5 . 5 - 4 .
  • the right forward paw 5 . 5 - 5 is formed by welding an M-shaped bend board 5 . 5 - 5 - 2 and three vertical boards having “M” shaped grip teeth 5 . 5 - 5 - 3 together. The front and rear ends of the M-shaped bend board 5 .
  • the left forward paw 5 . 6 - 5 has a same structure as the right forward paw 5 . 5 - 5 .
  • the four wheels 5 . 1 are connected to the left-forward-leg wheel hub 5 . 6 - 3 , the right-forward-leg wheel hub 5 . 5 - 3 , a left-rear-leg wheel hub 5 . 2 - 3 , and a right-rear-leg wheel hub 5 . 4 - 3 through four hydraulic motors, respectively.
  • left-forward walking leg 5 . 6 , the right-forward walking leg 5 . 5 , the left-rear walking leg 5 . 2 , and the right-rear walking leg 5 . 4 are independently or simultaneously driven by hydraulic cylinders to swing side-to-side.
  • the steering of the wheels 5 . 1 are driven by a wheel steering hydraulic cylinder 5 . 5 - 7 .
  • the swing of the right-forward walking leg 5 . 5 is driven by a right-rear-walking-leg swing hydraulic cylinder 5 . 5 - 6 .
  • the left-forward-walking-leg hydraulic lifting cylinder 5 . 10 , the left-rear-walking-leg hydraulic lifting cylinder 5 . 11 , the right-forward-walking-leg hydraulic lifting cylinder 5 . 8 , and the right-rear-walking-leg hydraulic lifting cylinder 5 . 7 which drive the four walking legs to move upward and downward, are provided with hinging seats arranged crossing symmetrical.
  • the front wheels and rear wheels are adopted as the front wheels and rear wheels are, and the ground bearing pressure is small.
  • the front wheels and rear wheels are connected to the forward-leg wheel hubs and rear-leg wheel hubs through the hydraulic motors.
  • the slew assembly 4 is a load-bearing component for carrying the cab 3 , the multifunctional working apparatus 2 and power apparatus.
  • the slew assembly 4 is connected to the walking-type chassis 5 through the slewing bearing 6 , and is driven by a hydraulic rotary motor to achieve a full 360° rotation.
  • the disclosed multifunctional all-terrain walking hydraulic excavator may have various advantages.
  • the terrain trafficability and adaptability to complex terrains of the whole excavator are enhanced, and the mobility and flexibility in complex operating environments may be significantly improved.
  • the disclosed multifunctional all-terrain walking hydraulic excavator as a whole may perform a variety of functions, achieve a variety of operations, enlarge the operation scope, and improve the operating efficiency.
  • the overall structure may be simple, and the production efficiency may be improved.
  • the advantages of the disclosed multifunctional all-terrain walking hydraulic excavator are explained in details as follows.
  • a four-wheel driving with independent hydraulic motors may be realized.
  • two front wheel steering, two rear-wheel steering, all-wheel steering, swinging and steering synchronization in the forward-leg, swinging and steering synchronization in the rear-leg, and crab steering may be realized, featured with small turning radius.
  • the ground clearance of the base may be adjusted through adjusting the up-and-down swing angle of each leg, thus, the disclosed multifunctional all-terrain walking hydraulic excavator may be able to get around obstacles and wade in water.
  • the width of the walking-type chassis may be adjusted through adjusting the left-and-right swing angle of each leg, thus, the disclosed multifunctional all-terrain walking hydraulic excavator may be able to pass through a narrow road and stand across trenches.
  • the disclosed multifunctional all-terrain walking hydraulic excavator may be able to achieve a three-wheel driving and get around obstacles by lifting one of the four walking legs.
  • the adaptability to complex terrains may be significantly improved by coordinating the forward legs, the rear legs and the working apparatus.
  • the disclosed multifunctional all-terrain walking hydraulic excavator may be able to climb steep slopes, cross vertical obstacles and ditches, and wade in water.
  • the disclosed multifunctional all-terrain walking hydraulic excavator may exhibit a significantly improved stability and safety when being operated at slopes.
  • the slew assembly may remain in a horizontal or near horizontal state.
  • the forward supporting legs may be able to provide a rigid support to the hydraulic excavator, improving the operating stability.
  • the hydraulic capstan arranged at the forward end of the chassis may provide a tether, thus, the operating safety may be guaranteed.
  • the disclosed multifunctional all-terrain walking hydraulic excavator as a whole may have an enhanced functional versatility.
  • a lifting hook in the connecting rod may be able to reliably tether lifting ropes or hooks, thus, the tether may be prevented from falling off.
  • the hydraulic quick connectors disposed at the side surfaces of the working apparatus may provide hydraulic power to various hydraulic equipment, such as hydraulic drilling machine and hydraulic vibroshovels, enhancing the functional expansibility.
  • the quick hitch device may enable the operators in the cab to switch buckets, grapples, hammers and other operations equipment speedily.
  • the hydraulic capstan arranged at the forward end of the chassis may enable vehicle towing, and rescue, etc.
  • the main body of the chassis may have a symmetrical structure.
  • the arrangement of the hinging seats is crossing symmetrical.
  • the left-forward-leg hinge and the right-rear-leg hinge may have a similar structure, reducing the types of structure, simplifying the fabrication and assembling, and increasing the production efficiency.
  • FIG. 1 is a schematic diagram of a multifunctional all-terrain walking hydraulic excavator of the present invention.
  • FIG. 2 is an enlarged schematic view of part A in FIG. 1 .
  • FIG. 3 is a schematic diagram of a quick hitch device.
  • FIG. 4 is a schematic view of a walking-type chassis of the present invention.
  • FIG. 5 is a schematic view of a right-forward walking leg of the present invention.
  • FIG. 6 is a schematic view of a full wheel steering of a walking-type chassis, and swinging and steering of a forward walking leg and a rear walking leg.
  • FIG. 7 is a schematic view of climbing of the present invention.
  • FIG. 8 is a schematic view of crossing a trench of the present invention.
  • FIG. 9 is a schematic view of slope operation of the present invention.
  • 1 is a breaking hammer
  • 2 is a multifunctional working apparatus
  • 2 . 1 is a bucket
  • 2 . 2 is a quick hitch device
  • 2 . 2 - 1 is a quick-hitch rack
  • 2 . 2 - 2 is a quick-hitch cylinder
  • 2 . 2 - 3 is a lock tongue
  • 2 . 2 - 4 is a connecting hole
  • 2 . 2 - 5 is a connecting hole
  • 2 . 2 - 6 is a connecting hole
  • 2 . 2 - 7 is a connecting hole
  • 2 . 2 - 8 is a connecting hole
  • 2 . 2 - 9 is a connecting hole
  • 2 . 3 is a telescopic stick
  • 2 . 1 is a bucket
  • 2 . 2 is a quick hitch device
  • 2 . 2 - 1 is a quick-hitch rack
  • 2 . 2 - 2 is a quick-hitch cylinder
  • 3 - 1 is a telescopic stick double-section arm
  • 2 . 3 - 2 is a stick telescopic hydraulic cylinder
  • 2 . 3 - 3 is a telescopic stick base arm
  • 2 . 4 are hydraulic quick connectors
  • 2 . 5 is curved short boom
  • 2 . 6 is a connecting rod
  • 2 . 6 - 1 is a lifting hook
  • 2 . 7 is a rocker arm
  • 3 is a cab
  • 4 is a slew assembly
  • 5 is a walking-type chassis
  • 5 . 1 are wheels
  • 5 . 2 is a left-rear walking leg
  • 5 . 2 - 1 is a left-rear-leg hinge
  • 2 - 2 is a left-rear-leg joint
  • 5 . 2 - 3 is a left-rear-leg wheel hub
  • 5 . 3 is a base
  • 5 . 4 is a right-rear walking leg
  • 5 . 4 - 1 is a right-rear-leg hinge
  • 5 . 4 - 2 is a right-rear-leg joint
  • 5 . 4 - 3 is a right-rear-leg wheel hub
  • 5 . 5 is a right-forward walking leg
  • 5 . 5 - 1 is a right-forward-leg hinge
  • 5 . 5 - 2 is a right-forward-leg joint
  • 5 . 5 - 3 is a right-forward-leg wheel hub, 5 .
  • 5 - 4 is a right-forward supporting leg
  • 5 . 5 - 5 is a right-forward paw
  • 5 . 5 - 5 - 1 is a longitudinal axis
  • 5 . 5 - 5 - 2 is a bend board
  • 5 . 5 - 5 - 3 are vertical boards
  • 5 . 5 - 6 is a right-forward-walking-leg swing hydraulic cylinder
  • 5 . 5 - 7 is a wheel steering hydraulic cylinder
  • 5 . 6 is a left-forward walking leg
  • 5 . 6 - 1 is a left-forward-leg hinge
  • 5 . 6 - 2 is a left-forward-leg joint
  • 5 . 6 - 3 is a left-forward-leg wheel hub, 5 .
  • 6 - 4 is a left-forward supporting leg
  • 5 . 6 - 5 is a left-forward paw
  • 5 . 7 is a right-rear-walking-leg hydraulic lifting cylinder
  • 5 . 8 is a right-forward-walking-leg hydraulic lifting cylinder
  • 5 . 9 is a hydraulic capstan
  • 5 . 10 is a left-forward-walking-leg hydraulic lifting cylinder
  • 5 . 11 is a left-rear-walking-leg hydraulic lifting cylinder
  • 6 is a slewing bearing.
  • a multifunctional all-terrain walking hydraulic excavator may include a multifunctional working apparatus 2 , a cab 3 , a slew assembly 4 , a walking-type chassis 5 , and a slewing bearing 6 .
  • the multifunctional apparatus 2 may be entirely hinged at the right front part of the slew assembly 4 , and the cab 3 may be fixed in the left half of the slew assembly 4 .
  • the slew assembly 4 which may be a load-bearing component for carrying the cab 3 and the multifunctional working apparatus 2 , may be connected to the walking-type chassis 5 through the slewing bearing 6 .
  • the multifunctional working apparatus 2 may adopt a “curved short boom +telescopic stick” structure.
  • the multifunctional working apparatus 2 may include a curved short boom 2 . 5 , a telescopic stick 2 . 3 , a bucket 2 . 1 , a connecting rod 2 . 6 , a rocker arm 2 . 7 , a quick hitch device 2 . 2 , a telescopic stick base arm 2 . 3 - 3 , and hydraulic quick connectors 2 . 4 .
  • the curved short boom 2 . 5 may be driven by a single hydraulic cylinder.
  • the telescopic stick 2 . 3 may include a telescopic stick double-section arm 2 .
  • the telescopic stick double-section arm 2 . 3 - 1 and the telescopic stick base arm 2 . 3 - 3 may have a cross section of rectangular shape, respectively.
  • the telescopic stick double-section arm 2 . 3 - 1 may be sleeved inside the telescopic stick base arm 2 . 3 - 3 .
  • a piston end of the stick telescopic hydraulic cylinder 2 . 3 - 2 may be hinged to the inside of the telescopic stick double-section arm 2 . 3 - 1 through a hinge pin, while a barrel end of the stick telescopic hydraulic cylinder 2 . 3 - 2 may be hinged to the inside of the telescopic stick base arm 2 . 3 - 3 through a hinge pin.
  • the telescopic movement of the telescopic stick 2 may be fixedly provided with a nylon slider, respectively; and the top surface, bottom surface, left surface and right surface of a front end of the telescopic stick base arm 2 . 3 - 3 may be also fixedly provided with a nylon slider, respectively.
  • a piston end of the stick telescopic hydraulic cylinder 2 . 3 - 2 may be hinged to the inside of the telescopic stick double-section arm 2 . 3 - 1 through a hinge pin
  • the telescopic stick 2 . 3 may be driven by the stick telescopic hydraulic cylinder 2 . 3 - 2 , such that the telescopic stick double-section arm 2 . 3 - 1 may be able to slide inside the telescopic stick base arm 2 . 3 - 3 .
  • the rotational movement of the telescopic stick 2 . 3 may be driven by a hydraulic cylinder.
  • Two side surfaces of the telescopic stick base arm 2 . 3 - 3 may be provided with two hydraulic quick connectors 2 . 4 , respectively.
  • the number of the hydraulic quick connectors 2 . 4 may vary according to various practical applications.
  • the 4 at each side surface may be respectively connected to an output terminal of a three-position four-way directional control valve through hydraulic hose and, meanwhile, may be respectively connected to a relief valve and an oil reservoir through an input terminal of a three-position four-way directional control valve.
  • the relief valve may be further connected to a hydraulic power system.
  • the connecting rod 2 . 6 and the rocker arm 2 . 7 may be connected to the quick hitch device 2 . 2 through the hydraulic cylinder.
  • the connecting rod 2 . 6 , the rocker arm 2 . 7 , and the telescopic stick 2 . 3 may further form a linkage mechanism.
  • the bucket 2 . 1 may be mounted on the quick hitch device 2 . 2 . As shown in FIGS. 2-3 , the quick hitch device 2 .
  • the quick-hitch rack 2 . 2 - 1 may be provided with a hinge hole 2 . 2 - 4 connected to the telescopic stick double-section arm 2 . 3 - 1 , and a hinge hole 2 . 2 - 5 connected to the rocker arm 2 . 7 .
  • the quick-hitch rack 2 . 2 - 1 may also be provided with an open engaging hole 2 . 2 - 7 and a hook-shaped engaging hole 2 .
  • a hinge hole 2 . 2 - 8 and a hinge hole 2 . 2 - 9 may be provided in the middle and rear end of the lock tongue 2 . 2 - 3 , respectively, and an arc structure may be provided in the front end of the lock tongue 2 . 2 - 3 .
  • the lock tongue 2 . 2 - 3 may be connected to the quick-hitch rack 2 . 2 - 1 through the hinge hole 2 . 2 - 8 disposed in the middle of the lock tongue 2 . 2 - 3 and, meanwhile, connected to a piston end of the quick-hitch cylinder 2 . 2 - 2 through the hinge hole 2 .
  • a barrel end of the quick-hitch cylinder 2 . 2 - 2 may be hinged and fixed to the quick-hitch rack 2 . 2 - 1 .
  • the quick hitch device 2 . 2 may be connected to a connecting shaft of the operation equipment through the hook-shaped engaging hole 2 . 2 - 6 , and further push the lock tongue 2 . 2 - 3 to rotate around the hinge hole 2 . 2 - 8 disposed in the middle of the lock tongue 2 . 2 - 3 .
  • the arc structure disposed in the front end of the lock tongue 2 . 2 - 3 and the engaging hole 2 . 2 - 7 in the quick-hitch rack 2 .
  • the quick hitch device 2 . 2 may be connected to another connecting shaft of the operation equipment.
  • the quick-hitch cylinder 2 . 2 - 2 may be retracted, the lock tongue 2 . 2 - 3 may rotate around the hinge hole 2 . 2 - 8 disposed in the middle of the lock tongue 2 . 2 - 3 , the circle connection hole formed by the arc structure in the front end of the lock tongue 2 . 2 - 3 and the engaging hole 2 . 2 - 7 in the quick-hitch rack 2 .
  • the various components of the quick hitch device 2 . 2 may be connected to each other through hinged joints, performing various actions enabled by the telescopic movement of the telescopic hydraulic cylinders.
  • the curved short boom 2 . 5 and the telescopic stick 2 . 3 may have a box-sectioned welding structure, respectively, and the connecting rod 2 . 6 may have a sheet plate welded structure.
  • the connecting rod 2 . 6 may be weld with a lifting hook 2 . 6 - 1 .
  • the rocker arm 2 . 7 may be a single thickness plate, and the bucket 2 . 1 may have a sheet plate welded structure.
  • the walking-type chassis 5 may have a symmetrical structure.
  • the walking-type chassis 5 may include a base 5 . 3 , a left-forward walking leg 5 . 6 , a right-forward walking leg 5 . 5 , a left-rear walking leg 5 . 2 , a right-rear walking leg 5 . 4 , four wheels 5 . 1 and a hydraulic capstan 5 . 9 .
  • the hydraulic capstan 5 . 9 may be arranged at the forward end of the base 5 . 3 .
  • the base 5 . 3 may have four corners, each of which may be provided with a hinge hole.
  • the left-rear walking leg 5 . 2 , the right-rear walking leg 5 . 4 may be connected to the four corners of the base 5 . 3 through a left-forward-leg hinge 5 . 6 - 1 , a right-forward-leg hinge 5 . 5 - 1 , a left-rear-leg hinge 5 . 2 - 1 , and a right-rear-leg hinge 5 . 4 - 1 , respectively.
  • the upward and downward movement of the left-forward walking leg 5 . 6 , the right-forward walking leg 5 . 5 , the left-rear walking leg 5 . 2 , the right-rear walking leg 5 . 4 may be driven by a left-forward-walking-leg hydraulic lifting cylinder 5 .
  • the left-forward walking leg 5 . 6 may include the left-forward-leg hinge 5 . 6 - 1 , a left-forward-leg joint 5 . 6 - 2 , a left-forward-leg wheel hub 5 . 6 - 3 , a left forward supporting leg 5 . 6 - 4 , and a left forward paw 5 . 6 - 5 , all of which may be connected to each other through hinged joints.
  • the right-forward walking leg 5 may include the left-forward-leg hinge 5 . 6 - 1 , a left-forward-leg joint 5 . 6 - 2 , a left-forward-leg wheel hub 5 . 6 - 3 , a left forward supporting leg 5 . 6 - 4 , and a left forward paw 5 . 6 - 5 , all of which may be connected to each other through hinged joints.
  • the right-forward walking leg 5 may include the left-forward-leg hinge 5 . 6 - 1 , a left-forward-leg joint 5 . 6
  • the right forward paw 5 may include the right-forward-leg hinge 5 . 5 - 1 , a right-forward-leg joint 5 . 5 - 2 , a right-forward-leg wheel hub 5 . 5 - 3 , a right forward supporting leg 5 . 5 - 4 , and a right forward paw 5 . 5 - 5 , all of which may be connected to each other through hinged joints.
  • the right forward paw 5 . 5 - 5 may include a longitudinal axis 5 . 5 - 5 - 1 , through which the right forward paw 5 . 5 - 5 may be connected to the sleeve located in the front end of the right forward supporting leg 5 . 5 - 4 .
  • the right forward paw 5 .
  • the front and rear ends of the M-shaped bend board 5 . 5 - 5 - 2 may be provided with a plurality of “M” shaped grip teeth, respectively.
  • the two front vertical boards of the three vertical boards 5 . 5 - 5 - 3 may be used to grip the ground or earth.
  • the two rear vertical boards of the three vertical boards 5 . 5 - 5 - 3 may be used to grip the ground or earth.
  • the left forward paw 5 . 6 - 5 may have a similar structure as the right forward paw 5 . 5 - 5 .
  • the left-rear walking leg 5 . 2 and the right-rear walking leg 5 . 4 may have a similar structure as the right-forward walking leg 5 . 5 and the left-forward walking leg 5 . 6 , but without any forward supporting legs.
  • the four wheels 5 . 1 may be respectively connected to the left-forward-leg wheel hub 5 . 6 - 3 , the right-forward-leg wheel hub 5 . 5 - 3 , a left-rear-leg wheel hub 5 . 2 - 3 , and a right-rear-leg wheel hub 5 . 4 - 3 through four hydraulic motors.
  • the left-forward walking leg 5 . 6 , the right-forward walking leg 5 . 5 , the left-rear walking leg 5 . 2 , the right-rear walking leg 5 . 4 may be driven by the hydraulic cylinders to swing side-to-side individually or simultaneously.
  • a wheel steering hydraulic cylinder 5 . 5 - 7 may be arranged above a right-rear-walking-leg swing hydraulic cylinder 5 . 5 - 6 .
  • a piston end of the wheel steering hydraulic cylinder 5 . 5 - 7 may be hinged to the right-forward-leg wheel hub 5 . 5 - 3 , and a barrel end of the wheel steering hydraulic cylinder 5 .
  • a piston end of the right-rear-walking-leg swing hydraulic cylinder 5 . 5 - 6 may be hinged to the right-forward-leg joint 5 . 5 - 2 , and a barrel end of the right-rear-walking-leg swing hydraulic cylinder 5 . 5 - 6 may be hinged to the right-forward-leg hinge 5 . 5 - 1 .
  • the steering of the wheels 5 . 1 may be driven by the wheel steering hydraulic cylinder 5 . 5 - 7
  • the swing of the right-forward walking leg 5 . 5 may be driven by the right-rear-walking-leg swing hydraulic cylinder 5 . 5 - 6 .
  • the wheel steering and swing of the left-forward walking leg 5 . 6 , the left-rear walking leg 5 . 2 , and the right-rear walking leg 5 . 4 may be driven in a same way as the right-forward walking leg 5 . 5 .
  • the disclosed multifunctional all-terrain walking hydraulic excavator may exhibit small turning radius, and a four-wheel steering and four-leg swing may be realized, as shown in FIG. 6 .
  • the main body of the base 5 . 3 may have a symmetrical structure.
  • the hinging seats in the left-forward-walking-leg hydraulic lifting cylinder 5 . 10 , the left-rear-walking-leg hydraulic lifting cylinder 5 . 11 , the right-forward-walking-leg hydraulic lifting cylinder 5 . 8 , and the right-rear-walking-leg hydraulic lifting cylinder 5 . 7 may be arranged to have a crossing symmetrical structure.
  • the left-forward-leg hinge 5 . 6 - 1 may have a similar structure as the right-rear-leg hinge 5 . 4 - 1
  • the right-forward-leg hinge 5 . 5 - 1 may have a similar structure as the left-rear-leg hinge 5 . 2 - 1 , reducing the types of structure, simplifying the fabrication and assembling, and increasing the production efficiency.
  • the four wheels 5 . 1 may be wide-base tires, and the ground bearing pressure may be small.
  • the entire excavator may be preferably to be operated in marshes, woodlands, etc.
  • the excavator may climb a slope as follows.
  • the wheels without the paws may face the ramp, while the multifunctional working apparatus 2 may be adjusted to face the leg of the slope.
  • the hydraulic cylinders corresponding to the left-forward walking leg 5 . 6 , the right-forward walking leg 5 . 5 , the left-rear walking leg 5 . 2 , and the right-rear walking leg 5 . 4 may be operated to realize a maximum expansion of the left-forward walking leg 5 . 6 , the right-forward walking leg 5 . 5 , the left-rear walking leg 5 . 2 , and the right-rear walking leg 5 . 4 .
  • the telescopic stick 2 . 3 may be shrunk to a minimum length, and the bucket may stand on the ground. Thus, the left-forward walking leg 5 . 6 and the right-forward walking leg 5 . 5 may be lifted. The excavator may be pushed upwards by the curved short boom 2 . 5 and the retractable power generated by the telescopic stick 2 . 3 . Meanwhile, the two wheels 5 . 1 without the forward paws may also be driven, such that the excavator may be able to climb the slope. When the telescopic stick 2 . 3 extends to a maximum length, the driving of the telescopic stick 2 . 3 and the two wheels 5 . 1 without the forward paws may be terminated.
  • the left-forward walking leg 5 . 6 and the right-forward walking leg 5 . 5 may be lowered to the ground.
  • a left forward paw 5 . 6 - 5 and a right forward paw 5 . 5 - 5 may support the excavator, realizing a horizontal state. After that, the bucket 2 . 1 may slowly get off the ground, thus, one climbing may be completed.
  • the excavator may get over a vertical obstacle as follows.
  • the two front wheels 5 . 1 of the excavator may be arranged in front, and the two rear wheels 5 . 1 of the excavator may be arranged in back.
  • the telescopic stick 2 . 3 may shrink to a minimum length through controlling the stick telescopic hydraulic cylinder 2 . 3 - 2 , and the bucket 2 . 1 may stand on the vertical obstacle.
  • the two front wheels 5 . 1 may be slowly lifted, and the two rear wheels 5 . 1 may be driven to get close to the vertical obstacle.
  • a parking brake the excavator may be pressed down.
  • the slew assembly 4 may be rotated, and the bucket 2 . 1 may stand on the ground near the vertical obstacle.
  • the two rear wheels 5 . 1 may be slowly lifted and, meanwhile, the two front wheels 5 . 1 may be driven forward until the two rear wheels 5 . 1 touch the vertical obstacle, such that the excavator may cross the vertical obstacle.
  • the excavator may get over a trench as follows. According to the width of the trench, the outward swing angles of the left-forward walking leg 5 . 6 , the right-forward walking leg 5 . 5 , the left-rear walking leg 5 . 2 , the right-rear walking leg 5 . 4 may be adjusted through controlling the corresponding hydraulic cylinders. Thus, the left-to-right axle distance of the wheels 5 . 1 may be increased, and the excavator may be able to stand across the trench and perform various operations.
  • the excavator may wade in water as follows. According to the water depth, the downward swing angles of the left-forward walking leg 5 . 6 , the right-forward walking leg 5 . 5 , the left-rear walking leg 5 . 2 , the right-rear walking leg 5 . 4 may be adjusted through controlling the corresponding hydraulic cylinders. Thus, the chassis may be raised, and the excavator may be able to wade in water. In particular, when wading in water, the excavator may be operated in a similar way as climbing a slope.
  • the excavator may be operated on a slope as follows.
  • the swing angles of the left-forward walking leg 5 . 6 , the right-forward walking leg 5 . 5 , the left-rear walking leg 5 . 2 , and the right-rear walking leg 5 . 4 may be adjusted through controlling the corresponding hydraulic cylinders.
  • the slew assembly 4 may remain in a horizontal or near horizontal state, and the operators may experience greatly improved operating comfort. Meanwhile, damages to the slewing bearing, engine, and slewing reducer may be reduced.
  • FIG. 7 when standing on the ground, the left-forward walking leg 5 . 6 , the right-forward walking leg 5 . 5 , the left-rear walking leg 5 .
  • the hydraulic capstan 5 . 9 arranged at the forward end of the chassis 5 . 3 may provide a tether to enhance the safety.
  • the excavator may be able to achieve a three-wheel driving and get around obstacles by lifting one of the four walking legs. That is, when the excavator is moving, any one of the left-forward walking leg 5 . 6 , the right-forward walking leg 5 . 5 , the left-rear walking leg 5 . 2 , and the right-rear walking leg 5 . 4 may be lifted to get around the obstacles.
US15/206,883 2014-01-10 2016-07-11 Multifunctional all-terrain walking hydraulic excavator Abandoned US20160319513A1 (en)

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CN2014-10011760.2 2014-01-10
PCT/CN2015/070317 WO2015103985A1 (zh) 2014-01-10 2015-01-08 一种多功能全地形步履式液压挖掘机

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CN111218960A (zh) * 2020-04-09 2020-06-02 宜宾钢猫科技有限公司 水泥库底清理机器人及清理方法
CN112919332A (zh) * 2021-01-22 2021-06-08 廊坊市融通石油机械设备有限公司 一种基于挖掘机平台的全地形多功能吊管机
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CN106541988A (zh) * 2016-11-08 2017-03-29 柳州柳工挖掘机有限公司 轮式挖掘机
US10260214B2 (en) * 2017-05-04 2019-04-16 Caterpillar Inc. Slewing assist system
CN109895979A (zh) * 2019-04-12 2019-06-18 罗高生 一种水下自适应外圆管的磁吸附机器人底盘结构
US11241982B2 (en) * 2019-06-28 2022-02-08 Honda Motor Co., Ltd. Walking infant seat
CN111218960A (zh) * 2020-04-09 2020-06-02 宜宾钢猫科技有限公司 水泥库底清理机器人及清理方法
CN112919332A (zh) * 2021-01-22 2021-06-08 廊坊市融通石油机械设备有限公司 一种基于挖掘机平台的全地形多功能吊管机

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ZA201604850B (en) 2017-06-28

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