WO2015103985A1 - 一种多功能全地形步履式液压挖掘机 - Google Patents

一种多功能全地形步履式液压挖掘机 Download PDF

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Publication number
WO2015103985A1
WO2015103985A1 PCT/CN2015/070317 CN2015070317W WO2015103985A1 WO 2015103985 A1 WO2015103985 A1 WO 2015103985A1 CN 2015070317 W CN2015070317 W CN 2015070317W WO 2015103985 A1 WO2015103985 A1 WO 2015103985A1
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WO
WIPO (PCT)
Prior art keywords
leg
walking
telescopic
hydraulic cylinder
hydraulic
Prior art date
Application number
PCT/CN2015/070317
Other languages
English (en)
French (fr)
Inventor
陈秀峰
施晓明
薛峰
许敬科
张云
顾程鹏
邬俊奇
曹永�
高然
张�杰
张丽平
王福德
刘磊
刘玉香
魏宇明
朱凯
魏雪峰
彭之晗
丁联凤
韩静
刘静
Original Assignee
徐工集团工程机械股份有限公司道路机械分公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 徐工集团工程机械股份有限公司道路机械分公司 filed Critical 徐工集团工程机械股份有限公司道路机械分公司
Publication of WO2015103985A1 publication Critical patent/WO2015103985A1/zh
Priority to US15/206,883 priority Critical patent/US20160319513A1/en
Priority to ZA2016/04850A priority patent/ZA201604850B/en

Links

Classifications

    • 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 invention relates to an excavator, in particular to a multifunctional all-terrain walking hydraulic excavator.
  • Excavators are an important category among them, and they have also gotten faster and better. development of.
  • the crawler type excavator has better climbing ability than the tire type excavator, and the stability is better, but the traveling speed is good. It is not high, and the chassis of the two are fixed structures.
  • the terrain adaptability is limited. For some places with complex terrain such as mountains and swamps, there is no way to drive and work in these areas. At present, most excavators The function is less scalable.
  • the existing one-step excavator has poor function expansion capability; only has two front wheel steering functions, two rear wheels do not have steering function, and the front wheel steering structure is complicated, and the protection against the oil cylinder is poor;
  • the hinges are different, the production and processing technology is not good; the connection freedom between the front claws and the legs is small, the terrain adaptability and the reliability of the grip are poor.
  • Other types of walking hydraulic excavators, the terrain adaptability of the excavator is still limited, and its use of ordinary work equipment, low walking performance, and poor function expansion.
  • the invention provides a multifunctional all-terrain walking type hydraulic excavator, which has strong function expansion capability, and can enter mountainous, steep slope, swamp and woodland by relying on the performance of the walking chassis and the multifunctional working device. Such as driving and working in complex areas, the terrain adaptability is strong.
  • a multifunctional all-terrain walking type hydraulic excavator comprises a multifunctional working device 2, a cab 3, a rotary platform assembly 4, a walking chassis 5, and a slewing bearing 6, wherein the multifunctional working device 2 is integrally hinged Mounted on the right front portion of the swing platform assembly 4; the cab 3 is fixed to the left half of the swing platform assembly 4; the swing platform assembly 4 carries the cab 3, the multifunctional working device 2, and the swing platform The assembly 4 is connected to the walking chassis 5 via a slewing ring 6.
  • the multifunctional working device 2 includes a bucket 2.1, a quick change device 2.2, a telescopic stick 2.3, an arm telescopic hydraulic cylinder 2.3-3, a hydraulic quick joint 2.4, a bending short arm 2.5, a connecting rod 2.6, Rocker 2.7, the bending short arm 2.5 is driven by a single hydraulic cylinder
  • the telescopic stick 2.3 includes a telescopic stick two-section arm 2.3-1, an arm telescopic hydraulic cylinder 2.3-2, a telescopic stick basic arm 2.3-3, wherein the telescopic stick two-section arm 2.3-1 and the telescopic stick basic arm 2.3-3 have a rectangular structure, and the telescopic stick two-section arm 2.3-1 is sleeved on the telescopic stick basic Inside the arm 2.3-3, a nylon slider is fixed on each of the upper, lower, left and right sides of the rear end of the telescopic stick two-section arm 2.3-1.
  • the front end of the telescopic stick basic arm 2.3-3 is fixed with a nylon on each of the upper, lower, left and right sides.
  • the piston rod end of the slider and the stick telescopic hydraulic cylinder 2.3-2 is hinged to the inside of the telescopic stick two-section arm 2.3-1 through the pin shaft connection, and the cylinder end of the stick telescopic hydraulic cylinder 2.3-2 passes through the pin.
  • the way of the shaft connection is hinged to the inside of the telescopic stick basic arm 2.3-3, and the telescopic movement of the telescopic stick 2.3 is
  • the hydraulic cylinder is driven by 2.3-2.
  • the rotary motion of the telescopic stick 2.3 is driven by a hydraulic cylinder.
  • Two hydraulic quick couplings 2.4 are provided on both sides of the telescopic stick basic arm 2.3-3, two on each side.
  • the hydraulic quick joints 2.4 are respectively connected to the output ports of the three-position four-way reversing valves through hydraulic hoses, and are connected to the pressure reducing valves and the oil tanks through the input ports of the three-position four-way reversing valves, and the pressure reducing valves and the hydraulic pumps are respectively connected.
  • the source connection, the rocker 2.7, the connecting rod 2.6 are connected to the quick change device 2.2 through a hydraulic cylinder, and together with the telescopic stick 2.3 constitute a link mechanism, and the bucket 2.1 is mounted on the quick change device 2.2.
  • the quick change device 2.2 includes a quick change frame 2.2-1, a quick change cylinder 2.2-2, a lock tongue 2.2-3, and the quick change frame 2.2-1 is provided with a telescopic stick two arm 2.3-1.
  • the connected hinge hole 2.2-4 and the hinge hole 2.2-5 connected to the rocker 2.7 are provided with an open connection hole 2.2-7 and a hook connection hole 2.2-6 which are quickly connected with the work tool, and the lock tongue 2.2-3
  • the middle and the rear end are respectively provided with a hinge hole 2.2-8 and a hinge hole 2.2-9, and the front end has a circular arc structure, and the bolt 2.2-3 is connected with the quick change frame 2.2-1 through the middle hinge hole 2.2-8.
  • the end hinge hole 2.2-9 is connected with the piston rod end of the quick change cylinder 2.2-2, and the cylinder end of the quick change cylinder 2.2-2 is hingedly fixed to the quick change frame 2.2-1.
  • the base 5.3 front end is mounted with a hydraulic winch 5.9
  • Each of the four corners of the base 5.3 is provided with a hinge hole
  • the left front walking leg 5.6, the right front walking leg 5.5, the left rear walking leg 5.2 and the right rear walking leg 5.4 are respectively hinged through the left front leg joint 5.6-1 and the right front leg hinge 5.5- 1.
  • the left rear leg hinge 5.2-1 and the right rear leg hinge 5.4-1 are connected with the four hinge holes of the base 5.3.
  • the up and down movements of the above walking legs are respectively moved by the left front walking leg lifting hydraulic cylinder 5.10, left rear walking The leg lift hydraulic cylinder 5.11, the right front walking leg lifting hydraulic cylinder 5.8 and the right rear walking leg lifting hydraulic cylinder 5.7 are driven.
  • left front walking leg 5.6 and the right front walking leg 5.5 respectively include a left front leg hinge 5.6-1 and a right front leg hinge 5.5-1, a left front leg joint 5.6-2 and a right front leg joint 5.5-2, and a left front leg hub 5.6-.
  • the right front pawl 5.5-5 includes a longitudinal axis 5.5-5-1 connected by a longitudinal axis 5.5-5-1 in a sleeve at the front end of the right front leg 5.5-4, which is bent by an M-shape Plate 5.5-5-2 and three vertical plates 5.5-5-3 with "M" shaped grip teeth are welded.
  • the front and rear ends of the M-shaped bending plate 5.5-5-2 are provided with " M-shaped gripping teeth, the first two teeth of the three vertical plates 5.5-5-3 can be used to grasp the ground when the slope angle is small, and three vertical plates 5.5-5-3 can be used when the slope angle is large. The latter two teeth are gripped, and the left front pawl 5.6-5 has the same structure as the right front pawl 5.5-5.
  • the four wheels 5.1 are coupled to the left front leg hub 5.6-3, the right front leg hub 5.5-3, the left rear leg hub 5.2-3, and the right rear leg hub 5.4-3 by four hydraulic motors, respectively.
  • left front walking leg 5.6, the right front walking leg 5.5, the left rear walking leg 5.2, and the right rear walking leg 5.4 can be independently or synchronously oscillated by the hydraulic cylinder, and the steering of the wheel 5.1 is driven by the wheel steering cylinder 5.5-7.
  • the swing of the right front walking leg 5.5 is driven by the left front walking leg swing cylinder 5.5-6.
  • the hinged seat is arranged in a cross-symmetrical structure.
  • the front wheel and the rear wheel of the present invention employ a wide base tire with a small grounding pressure and are connected to the front leg hub and the rear leg hub by a hydraulic motor, respectively.
  • the slewing platform assembly is a bearing member of the upper cab, the multi-function working device and the power unit, and is connected to the walking chassis through the slewing bearing, and 360° full rotation can be realized by the hydraulic slewing motor.
  • the utility model has the beneficial effects that the invention effectively realizes the terrain passability and adaptability of the whole machine, and significantly improves the mobility flexibility of the whole machine in a complicated working environment, and the whole machine can have various functions and realize various types.
  • the operation improves the scope of work and the efficiency of the work, and the overall structure is simple, which improves the efficiency of production and processing. Specifically in:
  • the left and right swing angles are used to adjust the width of the walking chassis to achieve the purpose of working through narrow roads and across the sulcus; fourthly, it is possible to lift one of the walking legs during driving, using three-wheel driving to reach a single The purpose of the legs avoiding road obstacles.
  • the overall machine adaptability of the whole machine is greatly improved by walking through the operation of the walking leg and the working device.
  • This program can realize large-angle slopes of climbing, crossing vertical obstacles, crossing trenches, and wading.
  • the lifting hooks on the connecting rods of the working device can be used for reliably tying the lifting ropes or hooks to prevent the tethers from falling off;
  • the hydraulic quick joints placed on both sides of the working device can be realized as hydraulic drilling rigs, Hydraulic hydraulic shovel and other hydraulic tools provide hydraulic power to expand the function of the whole machine.
  • the quick change device in the working device can realize the operator to quickly change the bucket, grab, hammer and other operations in the cab.
  • the machine is equipped with a hydraulic winch mounted on the front end of the base to realize the functions of towing the vehicle and rescue.
  • the main body of the chassis adopts a symmetrical structure, and the arrangement of the hinged seats of the upper and lower lifting cylinders of the four walking legs is a cross-symmetric structure, so that the left front leg hinge and the right rear leg hinge adopt the same structure, the right front leg
  • the hinge and the left rear leg are hinged to the same structure, which reduces the number of structural parts, makes machining and assembly easier, and improves the efficiency of production and processing.
  • Figure 1 is a schematic view of the structure of the present invention.
  • Figure 2 is an enlarged schematic view of A in Figure 1.
  • Figure 3 is a schematic diagram of a quick change device.
  • FIG. 4 is a schematic view of a walking chassis of the present invention.
  • Figure 5 is a schematic illustration of the right front walking leg of the present invention.
  • Fig. 6 is a schematic view of the walking chassis all-wheel steering + front and rear walking leg swinging.
  • Figure 7 is a schematic illustration of a walking hill climb of the present invention.
  • Figure 8 is a schematic illustration of the operation of the sulcus according to the present invention.
  • Figure 9 is a schematic illustration of the ramping operation of the present invention.
  • a multifunctional all-terrain walking hydraulic excavator includes a multifunctional working device 2, a cab 3, a swing platform assembly 4, a walking chassis 5, and a slewing ring 6.
  • the multifunctional working device 2 is integrally hingedly mounted on the right front portion of the swing platform assembly 4; the cab 3 is fixed to the left half of the swing platform assembly 4; the swing platform assembly 4 is the upper cab 3,
  • the carrier member of the multi-function working device 2 or the like is connected to the walking chassis 5 via the slewing ring 6.
  • the multifunctional working device 2 adopts a “bending short arm + telescopic stick” structure, including a bending short arm 2.5, a telescopic stick 2.3, a bucket 2.1, a connecting rod 2.6, and a rocker. 2.7, quick change device 2.2, stick telescopic hydraulic cylinder 2.3-3, hydraulic quick joint 2.4, the bent short boom 2.5 is driven by a single hydraulic cylinder.
  • the telescopic stick 2.3 includes a telescopic stick two-section arm 2.3-1, an arm extension hydraulic cylinder 2.3-2, and a telescopic stick basic arm 2.3-3.
  • the telescopic stick two-section arm 2.3-1 and the telescopic stick basic arm 2.3-3 have a rectangular structure, and the telescopic stick two-section arm 2.3-1 is sleeved on the telescopic stick basic arm 2.3-3.
  • a nylon slider is fixed to each of the upper, lower, left, and right sides of the rear end of the telescopic stick two-section arm 2.3-1.
  • the front end of the telescopic stick basic arm 2.3-3 is fixed with a nylon slider. As shown in Fig.
  • the piston rod end of the stick telescopic hydraulic cylinder 2.3-2 is hinged to the inside of the telescopic stick two-section arm 2.3-1 through the pin shaft, and the cylinder of the stick telescopic hydraulic cylinder 2.3-2 The end is hinged to the inside of the telescopic stick base arm 2.3-3 by a pin connection.
  • the telescopic movement of the telescopic stick 2.3 is driven by the telescopic hydraulic cylinder 2.3-2, so that the telescopic stick two-section arm 2.3-1 slides inside the telescopic stick basic arm 2.3-3.
  • the rotary motion of the telescopic stick 2.3 is driven by a hydraulic cylinder.
  • Two hydraulic quick connectors 2.4 are provided on both sides of the telescopic stick basic arm 2.3-3, and the number of hydraulic quick connectors 2.4 can also be increased according to actual needs.
  • the two hydraulic quick connectors 2.4 on each side are respectively connected to the output port of the three-position four-way reversing valve through hydraulic hoses, and are connected to the pressure reducing valve and the fuel tank through the input ports of the three-position four-way reversing valve, respectively.
  • the rocker 2.7 and the connecting rod 2.6 are connected to the quick change device 2.2 through a hydraulic cylinder, and together with the telescopic stick 2.3 constitute a link mechanism, and the bucket 2.1 is mounted on the quick change device 2.2.
  • the quick change device 2.2 is composed of a quick change frame 2.2-1, a quick change cylinder 2.2-2, and a lock tongue 2.2-3.
  • the quick change frame 2.2-1 is provided with a hinge hole 2.2-4 connected to the telescopic stick two-section arm 2.3-1 and a hinge hole 2.2-5 connected with the rocker 2.7, and is provided with a bucket and a breaker, for example.
  • the working tool has a quick connecting open hole 2.2-7 and a hook connecting hole 2.2-6, and the middle and rear ends of the locking tongue 2.2-3 are respectively provided with a hinge hole 2.2-8 and a hinge hole 2.2-9, and the front end is provided with Arc structure, the bolt 2.2-3 is connected to the quick change frame 2.2-1 through the middle hinge hole 2.2-8, and is connected with the piston rod end of the quick change cylinder 2.2-2 through the rear hinge hole 2.2-9, the quick change cylinder The cylinder end of 2.2-2 is hingedly fixed to the quick change frame 2.2-1.
  • the quick change device 2.2 is connected to a connecting shaft of the machine through a hook-shaped connecting hole 2.2-6, and then the locking tongue 2.2-3 is rotated around the middle hinge hole 2.2-8 by the quick-change cylinder 2.2-2, by the bolt 2.2
  • the arc structure of the front end of the -3 is matched with the connecting hole 2.2-7 of the locking frame 2.2-1 to form a 3/4 circular connecting hole which is connected with the other connecting shaft of the work tool; when disconnecting, it only needs to be retracted.
  • the opening of the connecting hole is increased to disengage the connecting shaft of the work tool from the quick change device 2.2.
  • the entire replacement process of the work tool is only required by the operator to operate the quick change cylinder 2.2-2 in the cab, which is easy to operate and quick to replace.
  • All the components of the working device 2 are hingedly connected, and various working operations are completed by the expansion and contraction of each hydraulic cylinder.
  • the bending short arm 2.5 and the telescopic stick 2.3 are box-shaped welded structures, and the connecting rod 2.6 is a steel plate welded structure. As shown in FIG. 2, the connecting rod 2.6 is welded with a lifting hook 2.6-1.
  • the rocker 2.7 is a single thick plate, and the bucket 2.1 is a steel plate welded structure.
  • the walking chassis 5 is a left-right symmetric structure including a base 5.3, a left front walking leg 5.6, a right front walking leg 5.5, a left rear walking leg 5.2, a right rear walking leg 5.4, a wheel 5.1, and Hydraulic winch 5.9.
  • the front end of the base 5.3 is mounted with a hydraulic winch 5.9, and each of the four corners of the base 5.3 is provided with a hinge hole, and the left front walking leg 5.6, the right front walking leg 5.5, the left rear walking leg 5.2, and the right rear walking leg 5.4 pass through the left front respectively.
  • the leg hinge 5.6-1, the right front leg hinge 5.5-1, the left rear leg hinge 5.2-1 and the right rear leg hinge 5.4-1 are connected with the four hinge holes of the base 5.3, and the up and down movements of the above walking legs are respectively It is driven by the left front walking leg lifting hydraulic cylinder 5.10, the left rear walking leg lifting hydraulic cylinder 5.11, the right front walking leg lifting hydraulic cylinder 5.8 and the right rear walking leg lifting hydraulic cylinder 5.7.
  • the left front walking leg 5.6 and the right front walking leg 5.5 are respectively hinged by the left front leg joint 5.6-1 and the right front leg 5.5-1, the left front leg joint 5.6-2 and the right front leg joint 5.5-2, the left front leg hub 5.6-3 and the right front respectively.
  • the hub 5.5-3, the left front leg 5.6-4 and the right front leg 5.5-4, the left front pawl 5.6-5 and the right front pawl 5.5-5 are formed, and the components of each walking leg are connected in an articulated manner.
  • the right front pawl 5.5-5 includes a longitudinal axis 5.5-5-1 connected by a longitudinal axis 5.5-5-1 in a sleeve at the front end of the right front leg 5.5-4, the right front pawl 5.5-5 being M-shaped
  • the bending plate 5.5-5-2 and three vertical plates 5.5-5-3 provided with "M" shaped grip teeth are welded, and the front end and the rear end of the M-shaped bending plate 5.5-5-2 are respectively provided. There are “M” shaped grip teeth.
  • the left front pawl 5.6-5 has the same structure as the right front pawl 5.5-5.
  • the left rear walking leg 5.2 and the right rear walking leg 5.4 are similar in structure to the right front walking leg 5.5 and the left front walking leg 5.6 except that there is no front leg.
  • the four wheels 5.1 are coupled to the left front leg hub 5.6-3, the right front leg hub 5.5-3, the left rear leg hub 5.2-3, and the right rear leg hub 5.4-3 by four hydraulic motors, respectively.
  • the left front walking leg 5.6, the right front walking leg 5.5, the left rear walking leg 5.2, and the right rear walking leg 5.4 can be independently or synchronously swinged up and down and left and right by hydraulic cylinder driving.
  • the wheel steering cylinder 5.5-7 and the right front walking leg oscillating cylinder 5.5-6 are arranged up and down.
  • the piston rod end of the wheel steering cylinder 5.5-7 is hinged to the right front leg hub 5.5-3, and the wheel steering cylinder 5.5-7
  • the cylinder end is hinged to the right front leg hinge 5.5-1
  • the right front walking leg swing cylinder 5.5-6 piston rod end is hinged to the right front leg joint 5.5-2
  • the hinge 5.5-1 is hinged.
  • the steering of the wheel 5.1 is driven by the wheel steering cylinder 5.5-7, and the swing of the right front walking leg 5.5 is driven by the right front walking leg oscillating cylinder 5.5-6.
  • the wheel steering and walking leg swings of the left front walking leg 5.6, the left rear walking leg 5.2, and the right rear walking leg 5.4 employ the same principles as the right front walking leg 5.5. Therefore, the excavator of the present scheme has a small turning radius, and can realize four walking leg swinging and four wheel turning, and its schematic diagram is shown in FIG. 6.
  • the main body of the chassis 5.3 adopts a symmetrical structure, and the left front walking leg lifting hydraulic cylinder 5.10, the left rear walking leg lifting hydraulic cylinder 5.11, the right front walking leg lifting hydraulic cylinder 5.8 are driven on the upper and lower legs.
  • the hinged seat of the right rear walking leg lifting hydraulic cylinder 5.7 is arranged in a cross-symmetric structure, such that the left front leg articulation 5.6-1 and the right rear leg hinge 5.4-1 adopt the same structure, and the right front leg is hinged 5.5-1 It has the same structure as the left rear leg hinge 5.2-1, which can reduce the types of parts, make processing and assembly easier, and improve production and processing efficiency.
  • the four wheels 5.1 adopt a wide base tire, and the grounding specific pressure is small, so that the whole machine is more suitable for driving and working in a swamp area, a forest area and the like.
  • the implementation method of the pedestrian climbing of the scheme is as follows: the excavator drives to the slope, the wheel without the front paw faces the ramp, adjusts the multifunctional working device 2 toward the downhill direction, and manipulates the left front walking leg 5.6.
  • the cylinders of the right front walking leg 5.5 and the left rear walking leg 5.2 and the right rear walking leg 5.4 extend the walking legs to the maximum unfolded state, and the telescopic stick 2.3 is shortened to the shortest position, and the ground is supported by the bucket 2.1 to make the left front walk.
  • the leg 5.6 and the right front walking leg 5.5 are lifted up, and the force of the telescopic boom 2.5 and the telescopic stick 2.3 telescopic force is used to push the excavator to move on the slope while driving the two front pawl wheels 5.1 to make the excavator climb the slope;
  • the telescopic stick 2.3 is extended to the maximum stroke, the telescopic stick 2.3 movement and the two front pawless wheels 5.1 are driven at the same time, and the left front walking leg 5.6 and the right front walking leg 5.5 are placed on the ground, with the left front pawl 5.6-5 and After the right front pawl 5.5-5 supports the excavator to be placed horizontally, the bucket 2.1 slowly leaves the ground, and thus a walking climb is completed.
  • the realization of the obstacle across the vertical obstacle is: adjust the excavator to two front wheels 5.1 in front, two rear wheels 5.1 in the back, drive to the vicinity of the vertical obstacle, operate the stick telescopic hydraulic cylinder 2.3-3 to make the telescopic stick 2.3 Shrink to the shortest bucket 2.1 supported on the obstacle, slowly raise the two front wheels 5.1, simultaneously drive the two rear wheels 5.1, close to the obstacle, place the two front wheels 5.1 on the obstacle and press the parking brake, then turn
  • the slewing platform assembly 4 supports the bucket 2.1 on the ground near the obstacle, slowly raising the two rear wheels 5.1 while driving the two front wheels 5.1 forward until the two rear wheels 5.1 can be safely placed on the obstacle So far, complete the obstacle across the vertical.
  • the implementation of the operation of crossing the trench is: according to the width of the trench, the hydraulic cylinder is operated to adjust the angle of the left front walking leg 5.6, the right front walking leg 5.5 and the left rear walking leg 5.2, and the right rear walking leg 5.4 outward.
  • the wheelbase of the wheel 5.1 is increased, and then the work and travel can be carried across the trench.
  • the implementation of the wading operation is: when the wheeled wading, the hydraulic cylinder can be adjusted according to the water depth to adjust the left front walking leg 5.6, the right front walking leg 5.5 and the left rear walking leg 5.2, right rear The angle of the walking leg 5.4 swings, so that the chassis is raised, and then the driving wading can be operated; when walking and wading, the wading can be carried out by walking the climbing.
  • the implementation of the work on the slope is: Manipulating the hydraulic cylinder to adjust the up and down and left and right swing angles of the left front walking leg 5.6, the right front walking leg 5.5 and the left rear walking leg 5.2, and the right rear walking leg 5.4, can ensure that the slewing platform assembly 4 on the slope remains horizontal or close to the horizontal state. Therefore, the operator's work comfort is greatly improved, and the damage of the slewing bearing, the engine, the slewing reducer and the like can be avoided by the tilting operation, and as shown in Fig. 7, the left front walking leg 5.6 and the right front walking leg 5.5 can be used.
  • the left front pawl 5.6-1 and the right front pawl 5.5-1 support the ground to achieve a rigid support to improve the stability of the work.
  • the safety of the work can be ensured by the tethering of the hydraulic winch 5.9 installed in the front part of the walking chassis 5.3 during the operation.
  • the realization of the three-wheeled obstacle avoidance is that during the running, the driving can be realized by manipulating the hydraulic cylinder to raise one of the left front walking leg 5.6, the right front walking leg 5.5, the left rear walking leg 5.2 and the right rear walking leg 5.4. Avoid obstacles.

Abstract

一种多功能全地形步履式液压挖掘机，包括多功能工作装置（2）、驾驶室（3）、回转平台总成（4）、回转支承（6）、步行式底盘（5）；挖掘机通过安装在步行式底盘（5）前端的液压绞盘（5.9）实施自救、牵引救援；步行式底盘（5）可通过调整前后步行腿（5.2，5.4，5.5，5.6）的摆动角度来适应地形，从而实现到复杂地形进行行走和作业。

Description

一种多功能全地形步履式液压挖掘机 Technical Field
本发明涉及一种挖掘机，特别涉及一种多功能全地形步履式液压挖掘机。
Background Art
在国家政策引导和技术进步的影响下，近几年我国工程机械显现出迅猛的发展势头，产品种类、系列也越加齐全，挖掘机就是其中的一个重要门类，也得到了较快较好的发展。挖掘机的种类繁多，按照行走方式可以分为履带式、轮胎式和步履式等，履带式挖掘机与轮胎式挖掘机相比具有较好的爬坡能力，稳定性较好，但是其行驶速度不高，另外两者的底盘均采用固定式结构，地形适应能力有限，对于一些如山地、沼泽地带等地形复杂的场所却束手无策，无法在这些地区进行行驶和作业，而且目前大多数挖掘机的功能扩展性较差。现有的一种步履式挖掘机功能扩展能力较差；只具备两只前轮转向功能，两后轮不具备转向功能，而且其前轮转向结构较为复杂，对油缸的防护性差；底盘的四个铰接各不相同，生产加工工艺不好；其前爪与支腿的联接自由度少，地形适应能力和抓地可靠性差。其他类型的步履式液压挖掘机，该挖掘机的地形适应能力仍然有限，而且其采用普通的工作装置，步行性能较低，功能扩展能力也较差。
Technical Solution
为了克服现有的履带式和轮胎式挖掘机以及步履式挖掘机的不足, 本发明提供一种多功能全地形步履式液压挖掘机，该挖掘机具有较强的功能扩展能力，依托强大地形通过性能的步行式底盘和多功能工作装置，可进入山地、陡坡、沼泽、林地等复杂地带行驶和作业，地形适应能力强。
本发明解决其技术问题所采用的技术方案是：
一种多功能全地形步履式液压挖掘机，包括多功能工作装置2、驾驶室3、回转平台总成4、步行式底盘5、回转支承6，其特征在于所述多功能工作装置2整体铰接安装在回转平台总成4的右前部；所述驾驶室3固定在回转平台总成4的左半部；所述回转平台总成4承载驾驶室3、多功能工作装置2，所述回转平台总成4通过回转支承6与步行式底盘5相连接。
进一步地，所述多功能工作装置2包括铲斗2.1、快换装置2.2、伸缩式斗杆2.3、斗杆伸缩液压油缸2.3-3、液压快速接头2.4、弯短动臂2.5、连杆2.6、摇杆2.7，所述弯短动臂2.5由单根液压油缸驱动，伸缩式斗杆2.3包括伸缩式斗杆二节臂2.3-1、斗杆伸缩液压油缸2.3-2、伸缩式斗杆基本臂2.3-3，其中伸缩式斗杆二节臂2.3-1和伸缩式斗杆基本臂2.3-3的截面均为矩形结构，伸缩式斗杆二节臂2.3-1套接在伸缩式斗杆基本臂2.3-3的内部，在伸缩式斗杆二节臂2.3-1后端上下左右四面各固定有一个尼龙滑块，伸缩式斗杆基本臂2.3-3的前端上下左右四面各固定有一个尼龙滑块，斗杆伸缩液压油缸2.3-2的活塞杆端通过销轴连接的方式铰接于伸缩式斗杆二节臂2.3-1的内部，斗杆伸缩液压油缸2.3-2的缸筒端通过销轴连接的方式铰接于伸缩式斗杆基本臂2.3-3的内部，伸缩式斗杆2.3的伸缩运动由伸缩液压油缸2.3-2驱动，伸缩式斗杆2.3的旋转运动由一根液压油缸驱动，在伸缩式斗杆基本臂2.3-3的两侧各设有两个液压快速接头2.4，每侧的两个液压快速接头2.4通过液压胶管分别连接至三位四通换向阀的输出口，通过三位四通换向阀的输入口接分别连接至减压阀和油箱，减压阀再与液压泵源连接，所述摇杆2.7、连杆2.6通过液压油缸与快换装置2.2相连，并与伸缩式斗杆2.3一起组成连杆机构，铲斗2.1安装在快换装置2.2上。
进一步地，所述快换装置2.2包括快换架2.2-1、快换油缸2.2-2、锁舌2.2-3，快换架2.2-1上设有与伸缩式斗杆二节臂2.3-1连接的铰接孔2.2-4和与摇杆2.7连接的铰接孔2.2-5，同时设有与作业机具快速连接的开口式连接孔2.2-7和钩形连接孔2.2-6，锁舌2.2-3中间和后端分别设有铰接孔2.2-8和铰接孔2.2-9，前端带有圆弧结构，锁舌2.2-3通过中间的铰接孔2.2-8与快换架2.2-1连接，通过后端铰接孔2.2-9与快换油缸2.2-2的活塞杆端连接，快换油缸2.2-2的缸筒端铰接固定于快换架2.2-1上。
进一步地，包括底座5.3、左前步行腿5.6、右前步行腿5.5、左后步行腿5.2、右后步行腿5.4、四个车轮5.1、和液压绞盘5.9，所述底座5.3前端安装液压绞盘5.9，所述底座5.3的四角各设有一个铰接孔，所述左前步行腿5.6、右前步行腿5.5、左后步行腿5.2和右后步行腿5.4分别通过左前腿铰节5.6-1、右前腿铰接5.5-1、左后腿铰接5.2-1和右后腿铰节5.4-1与底座5.3的四个铰接孔相连接，上述各步行腿的上下升降运动分别由左前步行腿升降液压油缸5.10、左后步行腿升降液压油缸5.11、右前步行腿升降液压油缸5.8和右后步行腿升降液压油缸5.7驱动。
进一步地，所述左前步行腿5.6和右前步行腿5.5分别包括左前腿铰节5.6-1和右前腿铰接5.5-1、左前腿关节5.6-2和右前腿关节5.5-2、左前腿轮毂5.6-3和右前轮毂5.5-3、左前支腿5.6-4和右前支腿5.5-4、左前爪5.6-5和右前爪5.5-5，所述步行腿各部件之间均采用铰接方式相连接，所述右前爪5.5-5包含一个纵向轴5.5-5-1，通过纵向轴5.5-5-1连接在右前支腿5.5-4前端的轴套中，所述右前爪5.5-5由M形折弯板5.5-5-2和三块设有“M”形抓地齿的立板5.5-5-3焊接而成，所述M形折弯板5.5-5-2前端和后端均设有“M”形的抓地齿，在斜坡角度较小时可使用三块立板5.5-5-3的前两个齿抓地，在斜坡角度较大时可使用三块立板5.5-5-3的后两个齿进行抓地，所述左前爪5.6-5与右前爪5.5-5的结构相同。
进一步地，所述四个车轮5.1通过四个液压马达分别与左前腿轮毂5.6-3、右前腿轮毂5.5-3、左后腿轮毂5.2-3和右后腿轮毂5.4-3连接在一起。
进一步地，所述左前步行腿5.6、右前步行腿5.5、左后步行腿5.2和右后步行腿5.4通过液压油缸驱动均能独立或同步左右摆动，车轮5.1的转向通过车轮转向油缸5.5-7驱动，右前步行腿5.5的摆动由左前步行腿摆动油缸5.5-6驱动。
进一步地，所述底盘5.3上的驱动四个步行腿上下升降的左前步行腿升降液压油缸5.10、左后步行腿升降液压油缸5.11、右前步行腿升降液压油缸5.8和右后步行腿升降液压油缸5.7的铰接座的布置方式为交叉对称式结构。
本发明的前车轮和后车轮采用宽基轮胎，接地比压小，通过液压马达分别与前腿轮毂和后腿轮毂相连接。所述回转平台总成是上部驾驶室、多功能工作装置和动力装置等的承载部件，通过回转支承与步行式底盘相连接，由液压回转马达驱动可实现360°全回转。
 Advantageous Effects
本实用新型的有益效果是，本发明有效实现了整机的地形通过性和适应性，显著提升了整机在复杂作业环境里的机动灵活性，同时整机可具备多种功能，实现多种作业，提高作业范围和作业效率，而且整体结构简单，提升了生产加工效率。具体表现在：
第一，显著提升整机行驶时的地形通过性。一是可实现四轮独立液压马达驱动行驶，可实现两前轮转向、两后轮转向、全轮转向、前步行腿同步摆动转向、后步行腿同步摆动转向以及蟹行转向功能，转弯半径小；二是可实现在行驶状态下通过调整各步行腿的上下摆动角度来调整底座离地高度，达到避开路障和涉水行驶等的目的；三是可实现在行驶状态下通过调整各步行腿的左右摆动角度来调整步行式底盘的宽度，达到通过狭窄路面、跨在壕沟两侧进行作业等目的；四是可实现在行驶过程中，抬起其中一条步行腿，采用三轮行驶，达到单腿避开路面障碍的目的。
第二，通过步行通过操纵前后步行腿、工作装置的配合实现的整机行进大大提升整机的地形适应性。本方案可以实现爬坡大角度斜坡、跨越垂直障碍、跨越壕沟、涉水等作业。
第三，显著提高斜坡作业稳定性和安全性。一是可以实现独立调整各步行腿的上下左右摆动角度，保证在斜坡上回转平台保持水平状态或接近水平状态，大大改善了操作人员的作业舒适度，同时可以避免倾斜作业造成对回转支承、发动机、回转减速机等元件的损伤；二是可以通过用前支腿支承地面实现刚性支承来提高作业的稳定性；三是通过安装在步行式底盘前部的液压绞盘可以实现作业过程中的栓系来保证作业安全。
第四，增强整机的多功能性。一是所述工作装置中连杆上的起重钩可用于可靠栓系起重的绳索或吊钩，避免栓系脱落；二是安置在工作装置两侧的液压快速接头可实现为液压钻机、液压振动铲等多种液压机具提供液压动力，扩展整机的功能；三是所述工作装置中的快换装置可实现操作人员在驾驶室内快速更换铲斗、抓斗、破碎锤等多种作业机具；四是安装在底座前端的液压绞盘可实现牵引车辆、救援等功能。
第五，底盘的主体采用对称结构，其上四个步行腿上下升降油缸的铰接座的布置方式为交叉对称式结构，这样布置可以使得左前腿铰接和右后腿铰接采用相同的结构，右前腿铰接和左后腿铰接采用相同的结构，这样就可减少结构件的种类，使得加工和装配更加简单，提升生产加工的效率。
 Description of Drawings
下面结合附图和实施例对本发明进一步说明。
图1是本发明的结构示意图。
图2是图1中A出放大示意图。
图3是快换装置示意图。
图4是本发明的的步行式底盘示意图。
图5是本发明右前步行腿的示意图。
图6是步行式底盘全轮转向+前后步行腿部摆动转向的示意图。
图7是本发明步行爬坡的示意图。
图8是本发明跨壕沟作业的示意图。
图9是本发明斜坡作业的示意图。
图中： 1 破碎锤 2 多功能工作装置，2.1 铲斗，2.2 快换装置，2.2-1 快换架，2.2-2 快换油缸，2.2-3 锁舌，2.2-4 连接孔，2.2-5 连接孔，2.2-6 连接孔，2.2-7 连接孔，2.2-8 连接孔，2.2-9 连接孔，2.3 伸缩式斗杆，2.3-1伸缩式斗杆二节臂，2.3-2 伸缩式斗杆基本臂，2.3-3 斗杆伸缩液压油缸， 2.4 液压动力快换接口，2.5 短弯动臂，2.6 连杆，2.6-1 起重钩，2.7 摇杆，3 驾驶室，4 回转平台总成，5 步行式底盘，5.1 车轮，5.2 左后步行腿，5.2-1 左后腿铰节，5.2-2 左后腿关节，5.2-3 左后腿轮毂，5.2-2 左后腿关节，5.3 底座，5.4 右后步行腿 ，5.4-1 右后腿铰节，5.4-2 右后腿关节，5.4-3 右后腿轮毂，5.5 右前步行腿，5.5-1 右前腿铰节，5.5-2 右前腿关节，5.5-3 右前腿轮毂，5.5-4 右前支腿，5.5-5 右前爪，5.5-5-1 纵向轴，5.5-5-2 折弯板，5.5-5-3 立板，5.5-6 车轮转向油缸，5.5-7 右前步行腿摆动油缸，5.6 左前步行腿，5.6-1 左前腿铰节，5.6-2 左前腿关节，5.6-3 左前腿轮毂，5.6-4 左前支腿，5.6-5 左前爪，5.7 右后步行腿升降液压油缸，5.8 右前步行腿升降液压油缸，5.9 液压绞盘，5.10 左前步行腿升降液压油缸，5.11 左后步行腿升降液压油缸,6 回转支承。
 Mode for Invention
下面将参考附图，对本发明的具体实施方式进行详细描述。
如图1所示，一种多功能全地形步履式液压挖掘机包括多功能工作装置2、驾驶室3、回转平台总成4、步行式底盘5、回转支承6。所述多功能工作装置2整体铰接安装在回转平台总成4的右前部；所述驾驶室3固定在回转平台总成4的左半部；所述回转平台总成4是上部驾驶室3、多功能工作装置2等的承载部件，通过回转支承6与步行式底盘5相连接。
如图1所示，所述多功能工作装置2采用“弯短动臂+伸缩式斗杆”结构，包括弯短动臂2.5、伸缩式斗杆2.3、铲斗2.1、连杆2.6、摇杆2.7、快换装置2.2、斗杆伸缩液压油缸2.3-3、液压快速接头2.4，所述弯短动臂2.5由单根液压油缸驱动。伸缩式斗杆2.3包括伸缩式斗杆二节臂2.3-1、斗杆伸缩液压油缸2.3-2、伸缩式斗杆基本臂2.3-3。伸缩式斗杆二节臂2.3-1和伸缩式斗杆基本臂2.3-3的截面均为矩形结构，伸缩式斗杆二节臂2.3-1套接在伸缩式斗杆基本臂2.3-3的内部，在伸缩式斗杆二节臂2.3-1后端上下左右四面各固定有一个尼龙滑块，伸缩式斗杆基本臂2.3-3的前端上下左右四面各固定有一个尼龙滑块。如图1所示，斗杆伸缩液压油缸2.3-2的活塞杆端通过销轴连接的方式铰接于伸缩式斗杆二节臂2.3-1的内部，斗杆伸缩液压油缸2.3-2的缸筒端通过销轴连接的方式铰接于伸缩式斗杆基本臂2.3-3的内部。伸缩式斗杆2.3的伸缩运动由伸缩液压油缸2.3-2驱动，使得伸缩式斗杆二节臂2.3-1在伸缩式斗杆基本臂2.3-3的内部滑动实现。伸缩式斗杆2.3的旋转运动由一根液压油缸驱动。在伸缩式斗杆基本臂2.3-3的两侧各设有两个液压快速接头2.4，液压快速接头2.4的数量还可根据实际需要增加。每侧的两个液压快速接头2.4通过液压胶管分别连接至三位四通换向阀的输出口，通过三位四通换向阀的输入口接分别连接至减压阀和油箱，减压阀再与液压泵源连接。所述摇杆2.7、连杆2.6通过液压油缸与快换装置2.2相连，并与伸缩式斗杆2.3一起组成连杆机构，铲斗2.1安装在快换装置2.2上。如图2～3所示，所述快换装置2.2，由快换架2.2-1、快换油缸2.2-2、锁舌2.2-3组成。快换架2.2-1上设有与伸缩式斗杆二节臂2.3-1连接的铰接孔2.2-4和与摇杆2.7连接的铰接孔2.2-5，同时设有与如铲斗、破碎锤等的作业机具快速连接的开口式连接孔2.2-7和钩形连接孔2.2-6，锁舌2.2-3中间和后端分别设有铰接孔2.2-8和铰接孔2.2-9，前端带有圆弧结构，锁舌2.2-3通过中间的铰接孔2.2-8与快换架2.2-1连接，通过后端铰接孔2.2-9与快换油缸2.2-2的活塞杆端连接，快换油缸2.2-2的缸筒端铰接固定于快换架2.2-1上。所述快换装置2.2，通过钩形连接孔2.2-6联接机具的一个连接轴，再通过快换油缸2.2-2推动锁舌2.2-3绕中间的铰接孔2.2-8旋转，由锁舌2.2-3前端带有的圆弧结构与锁紧架2.2-1的连接孔2.2-7配合形成3/4圆连接孔与作业机具的另一个连接轴相连接；断开连接时，只需缩回快换油缸2.2-2，使锁舌2.2-3绕中间的铰接孔2.2-8旋转，使锁舌2.2-3前端带有的圆弧结构与锁紧架2.2-1的连接孔2.2-7形成的连接孔开口增大，从而使作业机具的连接轴从快换装置2.2中脱离出来。作业机具的整个更换过程仅需操作员在驾驶室内操控快换油缸2.2-2来实现，操作简单、更换快捷。所述工作装置2各部件间全部采用铰接连接，通过各液压油缸的伸缩完成各种作业动作。所述弯短动臂2.5、伸缩式斗杆2.3均为箱形焊接结构，连杆2.6为钢板焊接结构，如图2所示，连杆2.6上焊接有起重钩2.6-1。摇杆2.7为单厚板，铲斗2.1为钢板焊接结构。
如图4～5所示，所述步行式底盘5为左右对称式结构，包括底座5.3、左前步行腿5.6、右前步行腿5.5、左后步行腿5.2、右后步行腿5.4、车轮5.1、和液压绞盘5.9。所述底座5.3前端安装有液压绞盘5.9，所述底座5.3的四角各设有一个铰接孔，所述左前步行腿5.6、右前步行腿5.5、左后步行腿5.2和右后步行腿5.4分别通过左前腿铰节5.6-1、右前腿铰接5.5-1、左后腿铰接5.2-1和右后腿铰节5.4-1与底座5.3的四个铰接孔相连接，上述各步行腿的上下升降运动分别由左前步行腿升降液压油缸5.10、左后步行腿升降液压油缸5.11、右前步行腿升降液压油缸5.8和右后步行腿升降液压油缸5.7驱动。所述左前步行腿5.6和右前步行腿5.5分别由左前腿铰节5.6-1和右前腿铰接5.5-1、左前腿关节5.6-2和右前腿关节5.5-2、左前腿轮毂5.6-3和右前轮毂5.5-3、左前支腿5.6-4和右前支腿5.5-4、左前爪5.6-5和右前爪5.5-5等组成，所述各步行腿各部件之间均为采用铰接方式相连接。所述右前爪5.5-5包含一个纵向轴5.5-5-1，通过纵向轴5.5-5-1连接在右前支腿5.5-4前端的轴套中，所述右前爪5.5-5的由M形折弯板5.5-5-2和三块设有“M”形抓地齿的立板5.5-5-3焊接而成，所述M形折弯板5.5-5-2前端和后端均设有“M”形的抓地齿，在斜坡角度较小时可使用三块立板5.5-5-3的前两个齿抓地，在斜坡角度较大时可使用三块立板5.5-5-3的后两个齿进行抓地。所述左前爪5.6-5与右前爪5.5-5的结构相同。
所述左后步行腿5.2和右后步行腿5.4与右前步行腿5.5和左前步行腿5.6的结构相似，只是没有前支腿。所述四个车轮5.1通过四个液压马达分别与左前腿轮毂5.6-3、右前腿轮毂5.5-3、左后腿轮毂5.2-3和右后腿轮毂5.4-3连接在一起。
如图4所示，所述左前步行腿5.6、右前步行腿5.5、左后步行腿5.2和右后步行腿5.4通过液压油缸驱动均能独立或同步上下左右摆动。如图5所示，车轮转向油缸5.5-7和右前步行腿摆动油缸5.5-6上下排布，车轮转向油缸5.5-7的活塞杆端与右前腿轮毂5.5-3铰接，车轮转向油缸5.5-7的缸筒端与右前腿铰节5.5-1铰接，右前步行腿摆动油缸5.5-6的活塞杆端与右前腿关节5.5-2铰接，右前步行腿摆动油缸5.5-6的缸筒端与右前腿铰节5.5-1铰接。车轮5.1的转向通过车轮转向油缸5.5-7驱动，右前步行腿5.5的摆动由右前步行腿摆动油缸5.5-6驱动。所述左前步行腿5.6、左后步行腿5.2和右后步行腿5.4的车轮转向和步行腿摆动与右前步行腿5.5采用相同的原理。因此，本方案的挖掘机具有较小的转弯半径，可实现四个步行腿摆动转向和四个车轮转向，其示意图如图6所示。
如图4所示，所述底盘5.3的主体采用对称结构，其上驱动四个步行腿上下升降的左前步行腿升降液压油缸5.10、左后步行腿升降液压油缸5.11、右前步行腿升降液压油缸5.8和右后步行腿升降液压油缸5.7的铰接座的布置方式为交叉对称式结构，这样布置可以使得左前腿铰接5.6-1和右后腿铰接5.4-1采用相同的结构，右前腿铰接5.5-1和左后腿铰接5.2-1采用相同的结构，这样就可减少零部件的种类，使得加工和装配更加简单，提升生产加工效率。
如图4所示，所述四个车轮5.1采用宽基轮胎，接地比压小，使得整机更适宜在沼泽地带、森林地带等场所行驶和作业。
如图7所示，本方案步行爬坡的实现方法为：挖掘机行驶至坡下，无前爪的车轮面对坡道，调整多功能工作装置2朝着下坡方向，操纵左前步行腿5.6、右前步行腿5.5和左后步行腿5.2、右后步行腿5.4的油缸使各步行腿外展至最大展开状态，操纵伸缩式斗杆2.3缩至最短，用铲斗2.1支撑地面，使左前步行腿5.6和右前步行腿5.5抬起，利用弯短动臂2.5、伸缩式斗杆2.3伸缩的力量推动挖掘机向坡上运动的同时驱动两个无前爪车轮5.1，使挖掘机爬坡；当伸缩式斗杆2.3伸至最大行程时，同时停止伸缩式斗杆2.3运动和两个无前爪车轮5.1驱动，并将左前步行腿5.6和右前步行腿5.5放置地面，用左前爪5.6-5和右前爪5.5-5支撑挖掘机使其处于水平放置状态后，铲斗2.1缓慢离开地面，至此便完成一次步行爬坡。
跨越垂直障碍的实现方案是：将挖掘机调整为两个前车轮5.1在前，两个后车轮5.1在后，行驶至垂直障碍附近，操纵斗杆伸缩液压油缸2.3-3使伸缩式斗杆2.3缩至最短铲斗2.1支撑在障碍上，缓慢升高两个前车轮5.1，同时驱动两个后车轮5.1，靠近障碍，将两个前车轮5.1放置在障碍上并按下停车制动后，转动回转平台总成4，将铲斗2.1支撑在障碍附近的地面上，缓慢升高两个后车轮5.1，同时驱动两个前车轮5.1向前，直至可安全将两个后车轮5.1放置在障碍上为止，即完成跨越垂直障碍。
如图8所示，跨越壕沟作业的实现方案是：根据壕沟的宽度，操纵液压油缸调整左前步行腿5.6、右前步行腿5.5和左后步行腿5.2、右后步行腿5.4向外摆动的角度，使车轮5.1左右轴距增大，然后即可跨在壕沟上方进行作业和行驶。
如图1所示，涉水作业的实现方案是：当轮式行驶涉水时，可根据水深的情况，操纵液压油缸调整左前步行腿5.6、右前步行腿5.5和左后步行腿5.2、右后步行腿5.4下摆动的角度，使底盘提高，然后即可操纵行驶涉水；当步行行驶涉水时，可应用步行爬坡的方式进行涉水行进。
如图9所示，斜坡上作业的实现方案是: 操纵液压油缸调整左前步行腿5.6、右前步行腿5.5和左后步行腿5.2、右后步行腿5.4的上下和左右摆动角度，可保证在斜坡上的回转平台总成4保持水平状态或接近水平状态，从而大大改善操作人员的作业舒适度，同时可以避免倾斜作业造成对回转支承、发动机、回转减速机等元件的损伤，另外如图7所示，可以通过用左前步行腿5.6和右前步行腿5.5的左前爪5.6-1和右前爪5.5-1支承地面实现刚性支承来提高作业的稳定性。为加强在斜披上作业安全性，可通过安装在步行式底盘5.3前部的液压绞盘5.9在作业过程中的栓系来保证作业安全。
三轮行驶避障的实现方案是：在行驶过程中，可通过操纵液压油缸抬高左前步行腿5.6、右前步行腿5.5、左后步行腿5.2和右后步行腿5.4中的一个来实现在行进中避障行驶。
以上所述仅为本发明的较佳实施例，并不用于限制本发明，凡在在本发明的原理和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (8)

  1. 一种多功能全地形步履式液压挖掘机，包括多功能工作装置（2）、驾驶室（3）、回转平台总成（4）、步行式底盘（5）、回转支承（6），其特征在于所述多功能工作装置（2）整体铰接安装在回转平台总成（4）的右前部；所述驾驶室（3）固定在回转平台总成（4）的左半部；所述回转平台总成（4）承载驾驶室（3）、多功能工作装置（2），所述回转平台总成（4）通过回转支承（6）与步行式底盘（5）相连接。
  2. 如权利要求1所述的多功能全地形步履式液压挖掘机，其特征在于所述多功能工作装置（2）包括铲斗（2.1）、快换装置（2.2）、伸缩式斗杆（2.3）、斗杆伸缩液压油缸（2.3-3）、液压快速接头（2.4）、弯短动臂（2.5）、连杆（2.6）、摇杆（2.7），所述弯短动臂（2.5）由单根液压油缸驱动，伸缩式斗杆（2.3）包括伸缩式斗杆二节臂（2.3-1）、斗杆伸缩液压油缸（2.3-2）、伸缩式斗杆基本臂（2.3-3），其中伸缩式斗杆二节臂（2.3-1）和伸缩式斗杆基本臂（2.3-3）的截面均为矩形结构，伸缩式斗杆二节臂（2.3-1）套接在伸缩式斗杆基本臂（2.3-3）的内部，在伸缩式斗杆二节臂（2.3-1）后端上下左右四面各固定有一个尼龙滑块，伸缩式斗杆基本臂（2.3-3）的前端上下左右四面各固定有一个尼龙滑块，斗杆伸缩液压油缸（2.3-2）的活塞杆端通过销轴连接的方式铰接于伸缩式斗杆二节臂（2.3-1）的内部，斗杆伸缩液压油缸（2.3-2）的缸筒端通过销轴连接的方式铰接于伸缩式斗杆基本臂（2.3-3）的内部，伸缩式斗杆（2.3）的伸缩运动由伸缩液压油缸（2.3-2）驱动，伸缩式斗杆（2.3）的旋转运动由一根液压油缸驱动，在伸缩式斗杆基本臂（2.3-3）的两侧各设有两个液压快速接头（2.4），每侧的两个液压快速接头（2.4）通过液压胶管分别连接至三位四通换向阀的输出口，通过三位四通换向阀的输入口接分别连接至减压阀和油箱，减压阀再与液压泵源连接，所述摇杆（2.7）、连杆（2.6）通过液压油缸与快换装置（2.2）相连，并与伸缩式斗杆（2.3）一起组成连杆机构，铲斗（2.1）安装在快换装置（2.2）上。
  3. 如权利要求2所述的多功能全地形步履式液压挖掘机，其特征在于所述快换装置（2.2）包括快换架（2.2-1）、快换油缸（2.2-2）、锁舌（2.2-3），快换架（2.2-1）上设有与伸缩式斗杆二节臂（2.3-1）连接的铰接孔（2.2-4）和与摇杆（2.7）连接的铰接孔（2.2-5），同时设有与作业机具快速连接的开口式连接孔（2.2-7）和钩形连接孔（2.2-6），锁舌（2.2-3）中间和后端分别设有铰接孔（2.2-8）和铰接孔（2.2-9），前端带有圆弧结构，锁舌（2.2-3）通过中间的铰接孔（2.2-8）与快换架（2.2-1）连接，通过后端铰接孔（2.2-9）与快换油缸（2.2-2）的活塞杆端连接，快换油缸（2.2-2）的缸筒端铰接固定于快换架（2.2-1）上。
  4. 如权利要求1所述的多功能全地形步履式液压挖掘机，其特征在于包括底座（5.3）、左前步行腿（5.6）、右前步行腿（5.5）、左后步行腿（5.2）、右后步行腿（5.4）、四个车轮（5.1）、和液压绞盘（5.9），所述底座（5.3前端安装液压绞盘（5.9），所述底座（5.3）的四角各设有一个水平铰接孔，所述左前步行腿（5.6）、右前步行腿（5.5）、左后步行腿（5.2）和右后步行腿（5.4）分别通过左前腿铰节（5.6-1）、右前腿铰接（5.5-1）、左后腿铰接（5.2-1）和右后腿铰节（5.4-1）与底座（5.3）的四个铰接孔相连接，上述各步行腿的上下升降运动分别由左前步行腿升降液压油缸（5.10）、左后步行腿升降液压油缸（5.11）、右前步行腿升降液压油缸（5.8）和右后步行腿升降液压油缸（5.7）驱动。
  5. 如权利要求4所述的多功能全地形步履式液压挖掘机，其特征在于所述左前步行腿（5.6）和右前步行腿（5.5）分别包括左前腿铰节（5.6-1）和右前腿铰接（5.5-1）、左前腿关节（5.6-2）和右前腿关节（5.5-2）、左前腿轮毂（5.6-3）和右前轮毂（5.5-3）、左前支腿（5.6-4和右前支腿（5.5-4）、左前爪（5.6-5）和右前爪（5.5-5），所述步行腿各部件之间均采用铰接方式相连接，所述右前爪（5.5-5）包含一个纵向轴（5.5-5-1），通过纵向轴（5.5-5-1）连接在右前支腿（5.5-4）前端的轴套中，所述右前爪（5.5-5）由M形折弯板（5.5-5-2）和三块设有“M”形抓地齿的立板（5.5-5-3）焊接而成，所述M形折弯板（5.5-5-2）前端和后端均设有“M”形的抓地齿，在斜坡角度较小时可使用三块立板（5.5-5-3）的前两个齿抓地，在斜坡角度较大时可使用三块立板（5.5-5-3）的后两个齿进行抓地，所述左前爪（5.6-5）与右前爪（5.5-5）的结构相同。
  6. 如权利要求5所述的多功能全地形步履式液压挖掘机，其特征在于所述四个车轮（5.1）通过四个液压马达分别与左前腿轮毂（5.6-3）、右前腿轮毂（5.5-3）、左后腿轮毂（5.2-3）和右后腿轮毂（5.4-3）连接在一起。
  7. 如权利要求6所述的多功能全地形步履式液压挖掘机，其特征在于所述左前步行腿（5.6）、右前步行腿（5.5）、左后步行腿（5.2）和右后步行腿（5.4）通过液压油缸驱动均能独立或同步左右摆动，车轮（5.1）的转向通过车轮转向油缸（5.5-7）驱动，右前步行腿（5.5）的摆动由左前步行腿摆动油缸（5.5-6）驱动。
  8. 如权利要求7所述的多功能全地形步履式液压挖掘机，其特征在于所述底盘（5.3）上的驱动四个步行腿上下升降的左前步行腿升降液压油缸（5.10）、左后步行腿升降液压油缸（5.11）、右前步行腿升降液压油缸（5.8）和右后步行腿升降液压油缸（5.7）的铰接座的布置方式为交叉对称式结构。
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